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drivers/servo: allow for overriding default parameters

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This is mandatory on platforms where both settings are strongly tied (eg. lm4f120)
This commit is contained in:
Marc Poulhiès 2015-12-03 13:10:23 +01:00
parent 281b0ba46e
commit 738d05e6b1
1 changed files with 10 additions and 5 deletions
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15
drivers/servo/servo.c
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@ -27,16 +27,21 @@
#define ENABLE_DEBUG (0)
#include "debug.h"
#define FREQUENCY (100U)
#define RESOLUTION (SEC_IN_USEC / FREQUENCY)
#ifndef SERVO_FREQUENCY
#define SERVO_FREQUENCY (100U)
#endif
#ifndef SERVO_RESOLUTION
#define SERVO_RESOLUTION (SEC_IN_USEC / SERVO_FREQUENCY)
#endif
int servo_init(servo_t *dev, pwm_t pwm, int pwm_channel, unsigned int min, unsigned int max)
{
int actual_frequency;
actual_frequency = pwm_init(pwm, PWM_LEFT, FREQUENCY, RESOLUTION);
actual_frequency = pwm_init(pwm, PWM_LEFT, SERVO_FREQUENCY, SERVO_RESOLUTION);
DEBUG("servo: requested %d hz, got %d hz\n", FREQUENCY, actual_frequency);
DEBUG("servo: requested %d hz, got %d hz\n", SERVO_FREQUENCY, actual_frequency);
if (actual_frequency < 0) {
/* PWM error */
@ -78,7 +83,7 @@ int servo_init(servo_t *dev, pwm_t pwm, int pwm_channel, unsigned int min, unsig
* to actual hardware ticks.
*/
dev->scale_nom = actual_frequency;
dev->scale_den = FREQUENCY;
dev->scale_den = SERVO_FREQUENCY;
return 0;
}