Generic servo driver

Driver for a Generic Servo actuator. More...

Files
file	arch/platform/zoul/dev/servo.c
	Driver for a generic Servo driver.
file	arch/platform/zoul/dev/servo.h
	Header file for a Generic Servo driver.

Servo public funtions
int	servo_position (uint16_t gptab, uint8_t port, uint8_t pin, uint16_t pos)
	Configures and positions a servo in a given position (by degrees) The servo will lock its position as long as it is not stopped.
int	servo_stop (uint16_t gptab, uint8_t port, uint8_t pin)
	Fully stop a servo and reconfigures back the pin/port as GPIO.

Servo default settings
#define	SERVO_DEFAULT_FREQ   50
	50 Hz

Servo general purpose timers mapping
#define	SERVO_CHANNEL_1   0x001
	GPT0-B.
#define	SERVO_CHANNEL_2   0x100
	GPT1-A.
#define	SERVO_CHANNEL_3   0x101
	GPT1-B.
#define	SERVO_CHANNEL_4   0x200
	GPT2-A.
#define	SERVO_CHANNEL_5   0x201
	GPT2-B.
#define	SERVO_CHANNEL_6   0x300
	GPT3-A.
#define	SERVO_CHANNEL_7   0x301
	GPT3-B.

Detailed Description

Driver for a Generic Servo actuator.

Function Documentation

servo_position()

int servo_position	(	uint16_t	gptab,
		uint8_t	port,
		uint8_t	pin,
		uint16_t	pos )

Configures and positions a servo in a given position (by degrees) The servo will lock its position as long as it is not stopped.

Parameters

gptab	Servo channel (PWM GPT from 1-7)
port	Port number to use as PWM
pin	Pin number to use as PWM
pos	Position to map the servo to (0-360º, integer)

Returns

SERVO_SUCCESS if successful, else SERVO_ERROR

< GPT0-B

< GPT3-B

roughly equals to 12% duty cycle

roughly equals to 3% duty cycle

roughly equals to 3% duty cycle

< 50 Hz

Definition at line 55 of file servo.c.

References count, GPIO_D_NUM, pwm_enable(), pwm_start(), SERVO_CHANNEL_1, SERVO_CHANNEL_7, and SERVO_DEFAULT_FREQ.

servo_stop()

int servo_stop	(	uint16_t	gptab,
		uint8_t	port,
		uint8_t	pin )

Fully stop a servo and reconfigures back the pin/port as GPIO.

Parameters

gptab	Servo channel (PWM GPT from 1-7)
port	Port number to use as PWM
pin	Pin number to use as PWM

Returns

SERVO_SUCCESS if successful, else SERVO_ERROR

< GPT0-B

< GPT3-B

Definition at line 105 of file servo.c.

References GPIO_D_NUM, pwm_disable(), SERVO_CHANNEL_1, and SERVO_CHANNEL_7.