servo.h

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/*
 * Copyright (C) 2014 Freie Universität Berlin
 * Copyright (C) 2015 Eistec AB
 * Copyright (C) 2022 Otto-von-Guericke-Universität Magdeburg
 *
 * This file is subject to the terms and conditions of the GNU Lesser General
 * Public License v2.1. See the file LICENSE in the top level directory for more
 * details.
 */
 
#pragma once

 
#include <stddef.h>
#include <stdint.h>
 
#include "periph/pwm.h"
#include "periph/timer.h"
#include "saul.h"
#include "saul_reg.h"
#include "time_units.h"
 
#ifndef SERVO_TIMER_MAX_CHAN
#define SERVO_TIMER_MAX_CHAN    4
#endif
 
#ifdef __cplusplus
extern "C" {
#endif

extern const saul_driver_t servo_saul_driver;

typedef struct {
    uint16_t res;           
    uint16_t freq;          
    pwm_t pwm;              
} servo_pwm_params_t;

typedef struct servo servo_t;

typedef struct {
    servo_t *servo_map[SERVO_TIMER_MAX_CHAN];
} servo_timer_ctx_t;

typedef struct {
    tim_t timer;            
    uint32_t timer_freq;    
    uint16_t servo_freq;    
    servo_timer_ctx_t *ctx; 
} servo_timer_params_t;

typedef struct {
#if defined(MODULE_SERVO_PWM) || defined(DOXYGEN)
    const servo_pwm_params_t *pwm;
#endif
#if defined(MODULE_SERVO_TIMER) || defined(DOXYGEN)
    const servo_timer_params_t *timer;
    gpio_t servo_pin;
#endif
    uint16_t min_us;    
    uint16_t max_us;    
#ifdef MODULE_SERVO_PWM
    uint8_t pwm_chan;
#endif
#ifdef MODULE_SERVO_TIMER
    uint8_t timer_chan;
#endif
} servo_params_t;

struct servo {
    const servo_params_t *params;   
    uint16_t min;
    uint16_t max;
#ifdef MODULE_SERVO_TIMER
    uint16_t current; 
#endif
};
 
#if defined(MODULE_SERVO_TIMER) || DOXYGEN
extern servo_timer_ctx_t servo_timer_default_ctx;
#endif

int servo_init(servo_t *dev, const servo_params_t *params);

void servo_set(servo_t *dev, uint8_t pos);
 
#ifdef __cplusplus
}
#endif