diff --git a/stmhal/qstrdefsport.h b/stmhal/qstrdefsport.h
index 2c41f1b7876bb53f5a0582c16069322d08f21d92..4eb6ea12a0a29d2f8d464c8f612ca79728db592f 100644
--- a/stmhal/qstrdefsport.h
+++ b/stmhal/qstrdefsport.h
@@ -108,7 +108,10 @@ Q(dma)
// for Servo object
Q(Servo)
+Q(pulse_width)
+Q(calibrate)
Q(angle)
+Q(speed)
// for os module
Q(os)
diff --git a/stmhal/servo.c b/stmhal/servo.c
index 79a6843b7afaddbaf2d837858f7d4097e4131406..df002b8aed6cb8ddcbae6fa47aeb3a521eac3986 100644
--- a/stmhal/servo.c
+++ b/stmhal/servo.c
@@ -20,11 +20,16 @@
typedef struct _pyb_servo_obj_t {
mp_obj_base_t base;
- uint16_t servo_id;
- uint16_t time_left;
+ uint8_t servo_id;
+ uint8_t pulse_min; // units of 10us
+ uint8_t pulse_max; // units of 10us
+ uint8_t pulse_centre; // units of 10us
+ uint8_t pulse_angle_90; // units of 10us; pulse at 90 degrees, minus pulse_centre
+ uint8_t pulse_speed_100; // units of 10us; pulse at 100% forward speed, minus pulse_centre
+ uint16_t pulse_cur; // units of 10us
+ uint16_t pulse_dest; // units of 10us
int16_t pulse_accum;
- uint16_t pulse_cur;
- uint16_t pulse_dest;
+ uint16_t time_left;
} pyb_servo_obj_t;
STATIC pyb_servo_obj_t pyb_servo_obj[PYB_SERVO_NUM];
@@ -36,9 +41,14 @@ void servo_init(void) {
for (int i = 0; i < PYB_SERVO_NUM; i++) {
pyb_servo_obj[i].base.type = &pyb_servo_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_min = 64;
+ pyb_servo_obj[i].pulse_max = 242;
+ pyb_servo_obj[i].pulse_centre = 150;
+ pyb_servo_obj[i].pulse_angle_90 = 97;
+ pyb_servo_obj[i].pulse_speed_100 = 70;
+ pyb_servo_obj[i].pulse_cur = 150;
pyb_servo_obj[i].pulse_dest = 0;
+ pyb_servo_obj[i].time_left = 0;
}
}
@@ -47,6 +57,13 @@ void servo_timer_irq_callback(void) {
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) {
+ // clamp pulse to within min/max
+ if (s->pulse_dest < s->pulse_min) {
+ s->pulse_dest = s->pulse_min;
+ } else if (s->pulse_dest > s->pulse_max) {
+ s->pulse_dest = s->pulse_max;
+ }
+ // adjust cur to get closer to dest
if (s->time_left <= 1) {
s->pulse_cur = s->pulse_dest;
s->time_left = 0;
@@ -57,6 +74,7 @@ void servo_timer_irq_callback(void) {
s->time_left--;
need_it = true;
}
+ // set the pulse width
switch (s->servo_id) {
case 1: TIM5->CCR1 = s->pulse_cur; break;
case 2: TIM5->CCR2 = s->pulse_cur; break;
@@ -135,7 +153,7 @@ MP_DEFINE_CONST_FUN_OBJ_2(pyb_pwm_set_obj, pyb_pwm_set);
STATIC void pyb_servo_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 at %lu>", self->servo_id, self->pulse_cur);
+ print(env, "<Servo %lu at %luus>", self->servo_id, 10 * self->pulse_cur);
}
STATIC mp_obj_t pyb_servo_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
@@ -159,20 +177,64 @@ STATIC mp_obj_t pyb_servo_make_new(mp_obj_t type_in, uint n_args, uint n_kw, con
return s;
}
+STATIC mp_obj_t pyb_servo_pulse_width(uint n_args, const mp_obj_t *args) {
+ pyb_servo_obj_t *self = args[0];
+ if (n_args == 1) {
+ // get pulse width, in us
+ return mp_obj_new_int(10 * self->pulse_cur);
+ } else {
+ // set pulse width, in us
+ self->pulse_dest = mp_obj_get_int(args[1]) / 10;
+ self->time_left = 0;
+ servo_timer_irq_callback();
+ return mp_const_none;
+ }
+}
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_servo_pulse_width_obj, 1, 2, pyb_servo_pulse_width);
+
+STATIC mp_obj_t pyb_servo_calibrate(uint n_args, const mp_obj_t *args) {
+ pyb_servo_obj_t *self = args[0];
+ if (n_args == 1) {
+ // get calibration values
+ mp_obj_t tuple[5];
+ tuple[0] = mp_obj_new_int(10 * self->pulse_min);
+ tuple[1] = mp_obj_new_int(10 * self->pulse_max);
+ tuple[2] = mp_obj_new_int(10 * self->pulse_centre);
+ tuple[3] = mp_obj_new_int(10 * (self->pulse_angle_90 + self->pulse_centre));
+ tuple[4] = mp_obj_new_int(10 * (self->pulse_speed_100 + self->pulse_centre));
+ return mp_obj_new_tuple(5, tuple);
+ } else if (n_args >= 4) {
+ // set min, max, centre
+ self->pulse_min = mp_obj_get_int(args[1]) / 10;
+ self->pulse_max = mp_obj_get_int(args[2]) / 10;
+ self->pulse_centre = mp_obj_get_int(args[3]) / 10;
+ if (n_args == 4) {
+ return mp_const_none;
+ } else if (n_args == 6) {
+ self->pulse_angle_90 = mp_obj_get_int(args[4]) / 10 - self->pulse_centre;
+ self->pulse_speed_100 = mp_obj_get_int(args[5]) / 10 - self->pulse_centre;
+ return mp_const_none;
+ }
+ }
+
+ // bad number of arguments
+ nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_TypeError, "calibrate expecting 1, 4 or 6 arguments, got %d", n_args));
+}
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_servo_calibrate_obj, 1, 6, pyb_servo_calibrate);
+
STATIC mp_obj_t pyb_servo_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);
+ return mp_obj_new_int((self->pulse_cur - self->pulse_centre) * 90 / self->pulse_angle_90);
} else {
#if MICROPY_ENABLE_FLOAT
- machine_int_t v = 152 + 85.0 * mp_obj_get_float(args[1]) / 90.0;
+ self->pulse_dest = self->pulse_centre + self->pulse_angle_90 * mp_obj_get_float(args[1]) / 90.0;
#else
- machine_int_t v = 152 + 85 * mp_obj_get_int(args[1]) / 90;
+ self->pulse_dest = self->pulse_centre + self->pulse_angle_90 * mp_obj_get_int(args[1]) / 90;
#endif
- 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;
@@ -188,8 +250,37 @@ STATIC mp_obj_t pyb_servo_angle(uint n_args, const mp_obj_t *args) {
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_servo_angle_obj, 1, 3, pyb_servo_angle);
+STATIC mp_obj_t pyb_servo_speed(uint n_args, const mp_obj_t *args) {
+ pyb_servo_obj_t *self = args[0];
+ if (n_args == 1) {
+ // get speed
+ return mp_obj_new_int((self->pulse_cur - self->pulse_centre) * 100 / self->pulse_speed_100);
+ } else {
+#if MICROPY_ENABLE_FLOAT
+ self->pulse_dest = self->pulse_centre + self->pulse_speed_100 * mp_obj_get_float(args[1]) / 100.0;
+#else
+ self->pulse_dest = self->pulse_centre + self->pulse_speed_100 * mp_obj_get_int(args[1]) / 100;
+#endif
+ if (n_args == 2) {
+ // set speed immediately
+ self->time_left = 0;
+ } else {
+ // set speed 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;
+ }
+}
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_servo_speed_obj, 1, 3, pyb_servo_speed);
+
STATIC const mp_map_elem_t pyb_servo_locals_dict_table[] = {
+ { MP_OBJ_NEW_QSTR(MP_QSTR_pulse_width), (mp_obj_t)&pyb_servo_pulse_width_obj },
+ { MP_OBJ_NEW_QSTR(MP_QSTR_calibrate), (mp_obj_t)&pyb_servo_calibrate_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_angle), (mp_obj_t)&pyb_servo_angle_obj },
+ { MP_OBJ_NEW_QSTR(MP_QSTR_speed), (mp_obj_t)&pyb_servo_speed_obj },
};
STATIC MP_DEFINE_CONST_DICT(pyb_servo_locals_dict, pyb_servo_locals_dict_table);