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-rw-r--r--stmhal/servo.c144
1 files changed, 107 insertions, 37 deletions
diff --git a/stmhal/servo.c b/stmhal/servo.c
index 1be18b8a4e..57f1eb5d18 100644
--- a/stmhal/servo.c
+++ b/stmhal/servo.c
@@ -2,6 +2,7 @@
#include "stm32f4xx_hal.h"
+#include "nlr.h"
#include "misc.h"
#include "mpconfig.h"
#include "qstr.h"
@@ -13,25 +14,85 @@
// they are both 32-bit counters with 16-bit prescaler
// we use TIM2
-STATIC TIM_HandleTypeDef servo_TimHandle;
+#define PYB_SERVO_NUM (4)
+
+typedef struct _pyb_servo_obj_t {
+ mp_obj_base_t base;
+ uint16_t servo_id;
+ uint16_t time_left;
+ int16_t pulse_accum;
+ uint16_t pulse_cur;
+ uint16_t pulse_dest;
+} pyb_servo_obj_t;
+
+STATIC const mp_obj_type_t servo_obj_type;
+
+STATIC pyb_servo_obj_t pyb_servo_obj[PYB_SERVO_NUM];
+
+TIM_HandleTypeDef servo_TIM2_Handle;
void servo_init(void) {
// TIM2 clock enable
__TIM2_CLK_ENABLE();
+ // set up and enable interrupt
+ HAL_NVIC_SetPriority(TIM2_IRQn, 6, 0);
+ HAL_NVIC_EnableIRQ(TIM2_IRQn);
+
// PWM clock configuration
- servo_TimHandle.Instance = TIM2;
- servo_TimHandle.Init.Period = 2000; // timer cycles at 50Hz
- servo_TimHandle.Init.Prescaler = ((SystemCoreClock / 2) / 100000) - 1; // timer runs at 100kHz
- servo_TimHandle.Init.ClockDivision = 0;
- servo_TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
- HAL_TIM_PWM_Init(&servo_TimHandle);
+ servo_TIM2_Handle.Instance = TIM2;
+ servo_TIM2_Handle.Init.Period = 2000; // timer cycles at 50Hz
+ servo_TIM2_Handle.Init.Prescaler = ((SystemCoreClock / 2) / 100000) - 1; // timer runs at 100kHz
+ servo_TIM2_Handle.Init.ClockDivision = 0;
+ servo_TIM2_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
+ HAL_TIM_PWM_Init(&servo_TIM2_Handle);
+
+ // reset servo objects
+ for (int i = 0; i < PYB_SERVO_NUM; i++) {
+ pyb_servo_obj[i].base.type = &servo_obj_type;
+ pyb_servo_obj[i].servo_id = i + 1;
+ pyb_servo_obj[i].time_left = 0;
+ pyb_servo_obj[i].pulse_cur = 150; // units of 10us
+ pyb_servo_obj[i].pulse_dest = 0;
+ }
+}
+
+#include "led.h"
+void servo_timer_irq_callback(void) {
+ led_toggle(1);
+ bool need_it = false;
+ for (int i = 0; i < PYB_SERVO_NUM; i++) {
+ pyb_servo_obj_t *s = &pyb_servo_obj[i];
+ if (s->pulse_cur != s->pulse_dest) {
+ if (s->time_left <= 1) {
+ s->pulse_cur = s->pulse_dest;
+ s->time_left = 0;
+ } else {
+ s->pulse_accum += s->pulse_dest - s->pulse_cur;
+ s->pulse_cur += s->pulse_accum / s->time_left;
+ s->pulse_accum %= s->time_left;
+ s->time_left--;
+ need_it = true;
+ }
+ switch (s->servo_id) {
+ case 1: TIM2->CCR1 = s->pulse_cur; break;
+ case 2: TIM2->CCR2 = s->pulse_cur; break;
+ case 3: TIM2->CCR3 = s->pulse_cur; break;
+ case 4: TIM2->CCR4 = s->pulse_cur; break;
+ }
+ }
+ }
+ if (need_it) {
+ __HAL_TIM_ENABLE_IT(&servo_TIM2_Handle, TIM_IT_UPDATE);
+ } else {
+ __HAL_TIM_DISABLE_IT(&servo_TIM2_Handle, TIM_IT_UPDATE);
+ }
}
-STATIC void servo_init_channel(int channel_in) {
+STATIC void servo_init_channel(pyb_servo_obj_t *s) {
uint32_t pin;
uint32_t channel;
- switch (channel_in) {
+ switch (s->servo_id) {
case 1: pin = GPIO_PIN_0; channel = TIM_CHANNEL_1; break;
case 2: pin = GPIO_PIN_1; channel = TIM_CHANNEL_2; break;
case 3: pin = GPIO_PIN_2; channel = TIM_CHANNEL_3; break;
@@ -51,13 +112,13 @@ STATIC void servo_init_channel(int channel_in) {
// PWM mode configuration
TIM_OC_InitTypeDef oc_init;
oc_init.OCMode = TIM_OCMODE_PWM1;
- oc_init.Pulse = 150; // units of 10us
+ oc_init.Pulse = s->pulse_cur; // units of 10us
oc_init.OCPolarity = TIM_OCPOLARITY_HIGH;
oc_init.OCFastMode = TIM_OCFAST_DISABLE;
- HAL_TIM_PWM_ConfigChannel(&servo_TimHandle, &oc_init, channel);
+ HAL_TIM_PWM_ConfigChannel(&servo_TIM2_Handle, &oc_init, channel);
// start PWM
- HAL_TIM_PWM_Start(&servo_TimHandle, channel);
+ HAL_TIM_PWM_Start(&servo_TIM2_Handle, channel);
}
/******************************************************************************/
@@ -89,35 +150,39 @@ STATIC mp_obj_t pyb_pwm_set(mp_obj_t period, mp_obj_t pulse) {
MP_DEFINE_CONST_FUN_OBJ_2(pyb_pwm_set_obj, pyb_pwm_set);
-typedef struct _pyb_servo_obj_t {
- mp_obj_base_t base;
- uint servo_id;
-} pyb_servo_obj_t;
-
STATIC void servo_obj_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
pyb_servo_obj_t *self = self_in;
- print(env, "<Servo %lu>", self->servo_id);
+ print(env, "<Servo %lu at %lu>", self->servo_id, self->pulse_cur);
}
-STATIC mp_obj_t servo_obj_angle(mp_obj_t self_in, mp_obj_t angle) {
- pyb_servo_obj_t *self = self_in;
+STATIC mp_obj_t servo_obj_angle(uint n_args, const mp_obj_t *args) {
+ pyb_servo_obj_t *self = args[0];
+ if (n_args == 1) {
+ // get angle
+ return mp_obj_new_int((self->pulse_cur - 152) * 90 / 85);
+ } else {
#if MICROPY_ENABLE_FLOAT
- machine_int_t v = 152 + 85.0 * mp_obj_get_float(angle) / 90.0;
+ machine_int_t v = 152 + 85.0 * mp_obj_get_float(args[1]) / 90.0;
#else
- machine_int_t v = 152 + 85 * mp_obj_get_int(angle) / 90;
+ machine_int_t v = 152 + 85 * mp_obj_get_int(args[1]) / 90;
#endif
- if (v < 65) { v = 65; }
- if (v > 210) { v = 210; }
- switch (self->servo_id) {
- case 1: TIM2->CCR1 = v; break;
- case 2: TIM2->CCR2 = v; break;
- case 3: TIM2->CCR3 = v; break;
- case 4: TIM2->CCR4 = v; break;
+ if (v < 65) { v = 65; }
+ if (v > 210) { v = 210; }
+ self->pulse_dest = v;
+ if (n_args == 2) {
+ // set angle immediately
+ self->time_left = 0;
+ } else {
+ // set angle over a given time (given in milli seconds)
+ self->time_left = mp_obj_get_int(args[2]) / 20;
+ self->pulse_accum = 0;
+ }
+ servo_timer_irq_callback();
+ return mp_const_none;
}
- return mp_const_none;
}
-STATIC MP_DEFINE_CONST_FUN_OBJ_2(servo_obj_angle_obj, servo_obj_angle);
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(servo_obj_angle_obj, 1, 3, servo_obj_angle);
STATIC const mp_method_t servo_methods[] = {
{ "angle", &servo_obj_angle_obj },
@@ -131,12 +196,17 @@ STATIC const mp_obj_type_t servo_obj_type = {
.methods = servo_methods,
};
-STATIC mp_obj_t pyb_Servo(mp_obj_t servo_id) {
- pyb_servo_obj_t *o = m_new_obj(pyb_servo_obj_t);
- o->base.type = &servo_obj_type;
- o->servo_id = mp_obj_get_int(servo_id);
- servo_init_channel(o->servo_id);
- return o;
+STATIC mp_obj_t pyb_Servo(mp_obj_t servo_id_o) {
+ machine_int_t servo_id = mp_obj_get_int(servo_id_o) - 1;
+ if (0 <= servo_id && servo_id < PYB_SERVO_NUM) {
+ pyb_servo_obj_t *s = &pyb_servo_obj[servo_id];
+ s->pulse_dest = s->pulse_cur;
+ s->time_left = 0;
+ servo_init_channel(s);
+ return s;
+ } else {
+ nlr_jump(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Servo %d does not exist", servo_id));
+ }
}
MP_DEFINE_CONST_FUN_OBJ_1(pyb_Servo_obj, pyb_Servo);
generated by cgit v1.2.3 (git 2.39.1) at 2025-06-23 12:38:32 +0000