Devel

servo/example.c

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+#include "servo.h"
+
+// Define servo configuration (replace with your values)
+ledc_channel_t channel = LEDC_CHANNEL_0;
+ledc_mode_t mode = LEDC_HIGH_SPEED_MODE;
+int min_angle = 0;
+int max_angle = 180;
+uint32_t timer_freq = 50;  // Adjust timer frequency if needed
+
+// Create servo object
+servo_t* myservo = servo_create(channel, mode, min_angle, max_angle, linear_angle_to_duty_ratio, timer_freq);
+if (myservo == NULL) {
+    printf("Failed to create servo object\n");
+    // Handle error, perhaps by exiting the program or taking appropriate action
+    return 1;
+}
+
+// Attach the servo
+int attach_result = servo_attach(myservo);
+if (attach_result != 0) {
+    printf("Failed to attach servo: %s\n", servo_get_error_message(attach_result));
+    // Handle error, perhaps by detaching the servo and exiting the program or taking appropriate action
+    servo_detach(myservo);
+    return 1;
+}
+
+// Control the servo
+servo_write(myservo, 90);  // Set servo to 90 degrees
+servo_writeMicroseconds(myservo, 1500);  // Set pulse width to 1500 microseconds
+
+// Detach the servo when finished
+int detach_result = servo_detach(myservo);
+if (detach_result != 0) {
+    printf("Failed to detach servo: %s\n", servo_get_error_message(detach_result));
+    // Handle error, perhaps by exiting the program or taking appropriate action
+    return 1;
+}
+
+return 0;

servo/servo.c

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+#include "servo.h"
+#include "esp_log.h"
+
+static const char* TAG = "Servo";
+servo_t* servo_create(ledc_channel_t channel, ledc_mode_t mode, int min_angle, int max_angle, 
+                       float (*angle_to_duty_ratio)(int angle), uint32_t timer_freq) {
+  servo_t* servo = (servo_t*)malloc(sizeof(servo_t));
+  if (servo == NULL) {
+    ESP_LOGE(TAG, "Failed to allocate memory for servo");
+    return NULL;
+  }
+
+  servo->channel = channel;
+  servo->mode = mode;
+  servo->min_angle = min_angle;
+  servo->max_angle = max_angle;
+  if (angle_to_duty_ratio == NULL) {
+    ESP_LOGE(TAG, "Invalid angle_to_duty_ratio function");
+    free(servo);
+    return NULL;
+  }
+  servo->angle_to_duty_ratio = angle_to_duty_ratio;
+  servo->timer_freq = timer_freq;
+  return servo;
+}
+
+void servo_attach(servo_t* servo) {
+  if (servo == NULL) {
+    ESP_LOGE(TAG, "Invalid servo pointer");
+    return;
+  }
+
+  ledc_config_t ledc_config;
+  ledc_config.duty_resolution = LEDC_TIMER_13_BIT;
+  ledc_config.freq_hz = servo->timer_freq;  // Use specified timer frequency
+  ledc_config.speed_mode = servo->mode;
+  ledc_config.clk_cfg = LEDC_AUTO_CLK;
+  ledc_config.gpio_sel = (ledc_channel_config_t){
+   .channel = servo->channel,
+   .duty = 0,
+   .gpio_num = -1, // Let hardware pick a free GPIO pin
+   .intr_type = LEDC_INTR_DISABLE,
+   .duty_cycle = 0,
+   .hpoint = 0,
+  };
+  if (ledc_config_channel(servo->channel, &ledc_config)!= ESP_OK) {
+    ESP_LOGE(TAG, "Failed to configure LEDC channel");
+  }
+}
+
+void servo_detach(servo_t* servo) {
+  if (servo == NULL) {
+    ESP_LOGE(TAG, "Invalid servo pointer");
+    return;
+  }
+
+  ledc_stop(servo->channel, servo->mode);
+  free(servo);
+}
+
+void servo_write(servo_t* servo, int angle) {
+  if (servo == NULL) {
+    ESP_LOGE(TAG, "Invalid servo pointer");
+    return;
+  }
+
+  // Clip angle to valid range
+  angle = constrain(angle, servo->min_angle, servo->max_angle);
+
+  // Calculate duty cycle based on angle
+  float duty_ratio = servo->angle_to_duty_ratio(angle);
+
+  // Convert duty ratio to LEDC units
+  uint32_t duty = (duty_ratio * ((1 << LEDC_TIMER_13_BIT) - 1));
+
+  // Set LEDC duty cycle
+  ledc_set_duty(servo->mode, servo->channel, duty);
+  ledc_update_duty(servo->mode, servo->channel);
+}
+
+void servo_writeMicroseconds(servo_t* servo, int pulse_width) {
+  if (servo == NULL) {
+    ESP_LOGE(TAG, "Invalid servo pointer");
+    return;
+  }
+
+  // Clip pulse width to valid range
+  pulse_width = constrain(pulse_width, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+
+  // Calculate duty cycle from pulse width and frequency
+  float duty_ratio = (float)pulse_width / (1000000.0f / servo->timer_freq);
+
+  // Convert duty ratio to LEDC units
+  uint32_t duty = (duty_ratio * ((1 << LEDC_TIMER_13_BIT) - 1));
+
+  // Set LEDC duty cycle
+  ledc_set_duty(servo->mode, servo->channel, duty);
+  ledc_update_duty(servo->mode, servo->channel);
+}
+
+float linear_angle_to_duty_ratio(int angle) {
+  // Adjust this function based on your servo motor's characteristics
+  return (angle - 0) / (180.0f - 0.0f);
+}

servo/servo.h

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+#ifndef SERVO_H
+#define SERVO_H
+
+#include <driver/ledc.h>
+
+#define MIN_PULSE_WIDTH 500  // Minimum pulse width for servo (in microseconds)
+#define MAX_PULSE_WIDTH 2500 // Maximum pulse width for servo (in microseconds)
+
+typedef struct {
+  ledc_channel_t channel;
+  ledc_mode_t mode;
+  int min_angle;
+  int max_angle;
+  float (*angle_to_duty_ratio)(int angle);
+  uint32_t timer_freq;  // PWM timer frequency (in Hz)
+} servo_t;
+
+// Default angle to duty ratio function
+float default_angle_to_duty_ratio(int angle);
+
+servo_t* servo_create(ledc_channel_t channel, ledc_mode_t mode, int min_angle, int max_angle, 
+                       float (*angle_to_duty_ratio)(int angle), uint32_t timer_freq);
+servo_t* servo_create_default(ledc_channel_t channel, ledc_mode_t mode, int min_angle, int max_angle, uint32_t timer_freq);
+
+void servo_attach(servo_t* servo);
+void servo_detach(servo_t* servo);
+void servo_write(servo_t* servo, int angle);
+void servo_writeMicroseconds(servo_t* servo, int pulse_width); // Similar to Arduino writeMicroseconds
+
+#endif