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https://github.com/RIOT-OS/RIOT.git
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71 lines
1.3 KiB
C
71 lines
1.3 KiB
C
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/*
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* Copyright (C) 2022 Otto-von-Guericke-Universität Magdeburg
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup drivers_saul
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* @{
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*
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* @file
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* @brief SAUL wrapper for servo motors
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*
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* @author Marian Buschsieweke <marian.buschsieweke@ovgu.de>
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*
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* @}
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*/
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#include <string.h>
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#include <stdint.h>
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#include "assert.h"
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#include "phydat.h"
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#include "saul.h"
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#include "saul/periph.h"
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#include "saul_reg.h"
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#include "servo.h"
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static int write(const void *dev, const phydat_t *state)
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{
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servo_t *s = (void *)dev;
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int32_t num = state->val[0];
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switch (state->unit) {
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case UNIT_PERCENT:
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num *= 100;
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num >>= 8;
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break;
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case UNIT_PERMILL:
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num *= 1000;
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num >>= 8;
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break;
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case UNIT_BOOL:
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num = (num) ? 255 : 0;
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break;
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case UNIT_NONE:
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case UNIT_UNDEF:
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break;
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default:
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return -EINVAL;
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}
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if (num > UINT8_MAX) {
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num = UINT8_MAX;
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}
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if (num < 0) {
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num = 0;
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}
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servo_set(s, num);
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return 1;
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}
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const saul_driver_t servo_saul_driver = {
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.read = saul_read_notsup,
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.write = write,
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.type = SAUL_ACT_SERVO,
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};
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