mirror of
https://github.com/RIOT-OS/RIOT.git
synced 2024-12-29 04:50:03 +01:00
6dc2a60597
The previous servo driver didn't provide any benefit over using PWM directly, as users controlled the servo in terms of PWM duty cycles. This changes the interface to provide a high level interface that abstracts the gory PWM details. In addition, a SAUL layer and auto-initialization is provided. Co-authored-by: benpicco <benpicco@googlemail.com>
59 lines
1.4 KiB
C
59 lines
1.4 KiB
C
/*
|
|
* 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.
|
|
*/
|
|
|
|
/**
|
|
* @ingroup drivers_saul
|
|
* @ingroup sys_auto_init_saul
|
|
* @{
|
|
*
|
|
* @file
|
|
* @brief Auto initialization for servo motors
|
|
*
|
|
* @author Marian Buschsieweke <marian.buschsieweke@ovgu.de>
|
|
*
|
|
* @}
|
|
*/
|
|
|
|
#include <string.h>
|
|
#include <stdint.h>
|
|
|
|
#include "assert.h"
|
|
#include "kernel_defines.h"
|
|
#include "log.h"
|
|
#include "phydat.h"
|
|
#include "saul.h"
|
|
#include "saul/periph.h"
|
|
#include "saul_reg.h"
|
|
#include "servo.h"
|
|
#include "servo_params.h"
|
|
|
|
#define SERVO_NUMOF ARRAY_SIZE(servo_params)
|
|
|
|
static servo_t servos[SERVO_NUMOF];
|
|
static saul_reg_t saul_entries[SERVO_NUMOF];
|
|
|
|
void auto_init_servo(void)
|
|
{
|
|
for (unsigned i = 0; i < SERVO_NUMOF; i++) {
|
|
LOG_DEBUG("[servo] auto-init servo #%u\n", i);
|
|
int retval = servo_init(&servos[i], &servo_params[i]);
|
|
if (retval != 0) {
|
|
LOG_WARNING("[servo] auto-init of servo #%u failed: %d\n",
|
|
i, retval);
|
|
continue;
|
|
}
|
|
saul_reg_t *e = &saul_entries[i];
|
|
|
|
e->dev = &servos[i];
|
|
e->name = servo_saul_info[i].name;
|
|
e->driver = &servo_saul_driver;
|
|
|
|
saul_reg_add(e);
|
|
}
|
|
}
|