295 lines
10 KiB
C
295 lines
10 KiB
C
#include <stdio.h>
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#include "stm32f4xx_hal.h"
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#include "nlr.h"
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#include "misc.h"
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#include "mpconfig.h"
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#include "qstr.h"
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#include "obj.h"
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#include "runtime.h"
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#include "timer.h"
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#include "servo.h"
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// this servo driver uses hardware PWM to drive servos on PA0, PA1, PA2, PA3 = X1, X2, X3, X4
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// TIM2 and TIM5 have CH1, CH2, CH3, CH4 on PA0-PA3 respectively
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// they are both 32-bit counters with 16-bit prescaler
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// we use TIM5
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#define PYB_SERVO_NUM (4)
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typedef struct _pyb_servo_obj_t {
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mp_obj_base_t base;
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uint8_t servo_id;
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uint8_t pulse_min; // units of 10us
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uint8_t pulse_max; // units of 10us
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uint8_t pulse_centre; // units of 10us
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uint8_t pulse_angle_90; // units of 10us; pulse at 90 degrees, minus pulse_centre
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uint8_t pulse_speed_100; // units of 10us; pulse at 100% forward speed, minus pulse_centre
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uint16_t pulse_cur; // units of 10us
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uint16_t pulse_dest; // units of 10us
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int16_t pulse_accum;
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uint16_t time_left;
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} pyb_servo_obj_t;
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STATIC pyb_servo_obj_t pyb_servo_obj[PYB_SERVO_NUM];
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void servo_init(void) {
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timer_tim5_init();
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// reset servo objects
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for (int i = 0; i < PYB_SERVO_NUM; i++) {
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pyb_servo_obj[i].base.type = &pyb_servo_type;
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pyb_servo_obj[i].servo_id = i + 1;
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pyb_servo_obj[i].pulse_min = 64;
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pyb_servo_obj[i].pulse_max = 242;
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pyb_servo_obj[i].pulse_centre = 150;
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pyb_servo_obj[i].pulse_angle_90 = 97;
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pyb_servo_obj[i].pulse_speed_100 = 70;
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pyb_servo_obj[i].pulse_cur = 150;
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pyb_servo_obj[i].pulse_dest = 0;
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pyb_servo_obj[i].time_left = 0;
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}
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}
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void servo_timer_irq_callback(void) {
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bool need_it = false;
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for (int i = 0; i < PYB_SERVO_NUM; i++) {
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pyb_servo_obj_t *s = &pyb_servo_obj[i];
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if (s->pulse_cur != s->pulse_dest) {
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// clamp pulse to within min/max
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if (s->pulse_dest < s->pulse_min) {
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s->pulse_dest = s->pulse_min;
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} else if (s->pulse_dest > s->pulse_max) {
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s->pulse_dest = s->pulse_max;
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}
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// adjust cur to get closer to dest
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if (s->time_left <= 1) {
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s->pulse_cur = s->pulse_dest;
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s->time_left = 0;
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} else {
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s->pulse_accum += s->pulse_dest - s->pulse_cur;
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s->pulse_cur += s->pulse_accum / s->time_left;
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s->pulse_accum %= s->time_left;
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s->time_left--;
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need_it = true;
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}
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// set the pulse width
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switch (s->servo_id) {
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case 1: TIM5->CCR1 = s->pulse_cur; break;
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case 2: TIM5->CCR2 = s->pulse_cur; break;
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case 3: TIM5->CCR3 = s->pulse_cur; break;
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case 4: TIM5->CCR4 = s->pulse_cur; break;
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}
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}
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}
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if (need_it) {
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__HAL_TIM_ENABLE_IT(&TIM5_Handle, TIM_IT_UPDATE);
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} else {
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__HAL_TIM_DISABLE_IT(&TIM5_Handle, TIM_IT_UPDATE);
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}
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}
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STATIC void servo_init_channel(pyb_servo_obj_t *s) {
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uint32_t pin;
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uint32_t channel;
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switch (s->servo_id) {
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case 1: pin = GPIO_PIN_0; channel = TIM_CHANNEL_1; break;
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case 2: pin = GPIO_PIN_1; channel = TIM_CHANNEL_2; break;
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case 3: pin = GPIO_PIN_2; channel = TIM_CHANNEL_3; break;
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case 4: pin = GPIO_PIN_3; channel = TIM_CHANNEL_4; break;
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default: return;
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}
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// GPIO configuration
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_InitStructure.Pin = pin;
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GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
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GPIO_InitStructure.Pull = GPIO_NOPULL;
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GPIO_InitStructure.Alternate = GPIO_AF2_TIM5;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStructure);
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// PWM mode configuration
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TIM_OC_InitTypeDef oc_init;
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oc_init.OCMode = TIM_OCMODE_PWM1;
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oc_init.Pulse = s->pulse_cur; // units of 10us
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oc_init.OCPolarity = TIM_OCPOLARITY_HIGH;
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oc_init.OCFastMode = TIM_OCFAST_DISABLE;
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HAL_TIM_PWM_ConfigChannel(&TIM5_Handle, &oc_init, channel);
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// start PWM
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HAL_TIM_PWM_Start(&TIM5_Handle, channel);
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}
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/******************************************************************************/
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// Micro Python bindings
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STATIC mp_obj_t pyb_servo_set(mp_obj_t port, mp_obj_t value) {
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int p = mp_obj_get_int(port);
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int v = mp_obj_get_int(value);
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if (v < 50) { v = 50; }
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if (v > 250) { v = 250; }
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switch (p) {
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case 1: TIM5->CCR1 = v; break;
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case 2: TIM5->CCR2 = v; break;
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case 3: TIM5->CCR3 = v; break;
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case 4: TIM5->CCR4 = v; break;
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}
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_2(pyb_servo_set_obj, pyb_servo_set);
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STATIC mp_obj_t pyb_pwm_set(mp_obj_t period, mp_obj_t pulse) {
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int pe = mp_obj_get_int(period);
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int pu = mp_obj_get_int(pulse);
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TIM5->ARR = pe;
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TIM5->CCR3 = pu;
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return mp_const_none;
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}
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MP_DEFINE_CONST_FUN_OBJ_2(pyb_pwm_set_obj, pyb_pwm_set);
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STATIC void pyb_servo_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
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pyb_servo_obj_t *self = self_in;
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print(env, "<Servo %lu at %luus>", self->servo_id, 10 * self->pulse_cur);
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}
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STATIC mp_obj_t pyb_servo_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
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// check arguments
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mp_arg_check_num(n_args, n_kw, 1, 1, false);
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// get servo number
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machine_int_t servo_id = mp_obj_get_int(args[0]) - 1;
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// check servo number
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if (!(0 <= servo_id && servo_id < PYB_SERVO_NUM)) {
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "Servo %d does not exist", servo_id + 1));
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}
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// get and init servo object
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pyb_servo_obj_t *s = &pyb_servo_obj[servo_id];
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s->pulse_dest = s->pulse_cur;
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s->time_left = 0;
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servo_init_channel(s);
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return s;
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}
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STATIC mp_obj_t pyb_servo_pulse_width(uint n_args, const mp_obj_t *args) {
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pyb_servo_obj_t *self = args[0];
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if (n_args == 1) {
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// get pulse width, in us
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return mp_obj_new_int(10 * self->pulse_cur);
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} else {
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// set pulse width, in us
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self->pulse_dest = mp_obj_get_int(args[1]) / 10;
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self->time_left = 0;
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servo_timer_irq_callback();
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return mp_const_none;
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}
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_servo_pulse_width_obj, 1, 2, pyb_servo_pulse_width);
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STATIC mp_obj_t pyb_servo_calibrate(uint n_args, const mp_obj_t *args) {
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pyb_servo_obj_t *self = args[0];
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if (n_args == 1) {
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// get calibration values
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mp_obj_t tuple[5];
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tuple[0] = mp_obj_new_int(10 * self->pulse_min);
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tuple[1] = mp_obj_new_int(10 * self->pulse_max);
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tuple[2] = mp_obj_new_int(10 * self->pulse_centre);
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tuple[3] = mp_obj_new_int(10 * (self->pulse_angle_90 + self->pulse_centre));
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tuple[4] = mp_obj_new_int(10 * (self->pulse_speed_100 + self->pulse_centre));
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return mp_obj_new_tuple(5, tuple);
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} else if (n_args >= 4) {
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// set min, max, centre
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self->pulse_min = mp_obj_get_int(args[1]) / 10;
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self->pulse_max = mp_obj_get_int(args[2]) / 10;
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self->pulse_centre = mp_obj_get_int(args[3]) / 10;
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if (n_args == 4) {
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return mp_const_none;
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} else if (n_args == 6) {
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self->pulse_angle_90 = mp_obj_get_int(args[4]) / 10 - self->pulse_centre;
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self->pulse_speed_100 = mp_obj_get_int(args[5]) / 10 - self->pulse_centre;
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return mp_const_none;
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}
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}
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// bad number of arguments
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nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_TypeError, "calibrate expecting 1, 4 or 6 arguments, got %d", n_args));
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_servo_calibrate_obj, 1, 6, pyb_servo_calibrate);
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STATIC mp_obj_t pyb_servo_angle(uint n_args, const mp_obj_t *args) {
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pyb_servo_obj_t *self = args[0];
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if (n_args == 1) {
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// get angle
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return mp_obj_new_int((self->pulse_cur - self->pulse_centre) * 90 / self->pulse_angle_90);
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} else {
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#if MICROPY_ENABLE_FLOAT
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self->pulse_dest = self->pulse_centre + self->pulse_angle_90 * mp_obj_get_float(args[1]) / 90.0;
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#else
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self->pulse_dest = self->pulse_centre + self->pulse_angle_90 * mp_obj_get_int(args[1]) / 90;
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#endif
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if (n_args == 2) {
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// set angle immediately
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self->time_left = 0;
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} else {
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// set angle over a given time (given in milli seconds)
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self->time_left = mp_obj_get_int(args[2]) / 20;
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self->pulse_accum = 0;
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}
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servo_timer_irq_callback();
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return mp_const_none;
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}
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_servo_angle_obj, 1, 3, pyb_servo_angle);
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STATIC mp_obj_t pyb_servo_speed(uint n_args, const mp_obj_t *args) {
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pyb_servo_obj_t *self = args[0];
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if (n_args == 1) {
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// get speed
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return mp_obj_new_int((self->pulse_cur - self->pulse_centre) * 100 / self->pulse_speed_100);
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} else {
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#if MICROPY_ENABLE_FLOAT
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self->pulse_dest = self->pulse_centre + self->pulse_speed_100 * mp_obj_get_float(args[1]) / 100.0;
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#else
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self->pulse_dest = self->pulse_centre + self->pulse_speed_100 * mp_obj_get_int(args[1]) / 100;
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#endif
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if (n_args == 2) {
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// set speed immediately
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self->time_left = 0;
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} else {
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// set speed over a given time (given in milli seconds)
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self->time_left = mp_obj_get_int(args[2]) / 20;
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self->pulse_accum = 0;
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}
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servo_timer_irq_callback();
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return mp_const_none;
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}
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(pyb_servo_speed_obj, 1, 3, pyb_servo_speed);
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STATIC const mp_map_elem_t pyb_servo_locals_dict_table[] = {
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{ MP_OBJ_NEW_QSTR(MP_QSTR_pulse_width), (mp_obj_t)&pyb_servo_pulse_width_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_calibrate), (mp_obj_t)&pyb_servo_calibrate_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_angle), (mp_obj_t)&pyb_servo_angle_obj },
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{ MP_OBJ_NEW_QSTR(MP_QSTR_speed), (mp_obj_t)&pyb_servo_speed_obj },
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};
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STATIC MP_DEFINE_CONST_DICT(pyb_servo_locals_dict, pyb_servo_locals_dict_table);
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const mp_obj_type_t pyb_servo_type = {
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{ &mp_type_type },
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.name = MP_QSTR_Servo,
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.print = pyb_servo_print,
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.make_new = pyb_servo_make_new,
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.locals_dict = (mp_obj_t)&pyb_servo_locals_dict,
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};
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