mirror of
https://github.com/mytechnotalent/Embedded-Hacking.git
synced 2026-07-07 04:58:00 +02:00
feat: add 0x05_servo_rust driver with 13 unit tests
This commit is contained in:
Kevin Thomas
@@ -0,0 +1,8 @@
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//! @file lib.rs
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//! @brief Library root for the servo driver crate
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//! @author Kevin Thomas
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//! @date 2025
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#![no_std]
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pub mod servo;
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@@ -0,0 +1,324 @@
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//! @file main.rs
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//! @brief SG90 servo motor driver demonstration
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//! @author Kevin Thomas
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//! @date 2025
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//!
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//! MIT License
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//!
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//! Copyright (c) 2025 Kevin Thomas
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//!
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//! Permission is hereby granted, free of charge, to any person obtaining a copy
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//! of this software and associated documentation files (the "Software"), to deal
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//! in the Software without restriction, including without limitation the rights
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//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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//! copies of the Software, and to permit persons to whom the Software is
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//! furnished to do so, subject to the following conditions:
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//!
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//! The above copyright notice and this permission notice shall be included in
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//! all copies or substantial portions of the Software.
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//!
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//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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//! SOFTWARE.
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//!
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//! -----------------------------------------------------------------------------
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//!
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//! Demonstrates SG90 servo control using the servo driver (servo.rs).
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//! PWM at 50 Hz on GPIO 6 sweeps the servo from 0 degrees to 180 degrees
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//! and back in 10-degree increments, printing each angle over UART.
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//!
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//! Wiring:
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//! GPIO6 -> Servo signal wire (orange or yellow)
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//! 5V -> Servo power wire (red) -- use external 5 V supply for load
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//! GND -> Servo ground wire (brown or black)
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#![no_std]
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#![no_main]
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#[allow(dead_code)]
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mod servo;
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use defmt_rtt as _;
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#[cfg(target_arch = "riscv32")]
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use panic_halt as _;
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#[cfg(target_arch = "arm")]
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use panic_probe as _;
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use embedded_hal::pwm::SetDutyCycle;
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use fugit::RateExtU32;
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use hal::entry;
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use hal::Clock;
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use hal::gpio::{FunctionNull, FunctionUart, Pin, PullDown, PullNone};
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use hal::uart::{DataBits, Enabled, StopBits, UartConfig, UartPeripheral};
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#[cfg(rp2350)]
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use rp235x_hal as hal;
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#[cfg(rp2040)]
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use rp2040_hal as hal;
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#[unsafe(link_section = ".boot2")]
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#[used]
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#[cfg(rp2040)]
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pub static BOOT2: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
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#[unsafe(link_section = ".start_block")]
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#[used]
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#[cfg(rp2350)]
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pub static IMAGE_DEF: hal::block::ImageDef = hal::block::ImageDef::secure_exe();
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const XTAL_FREQ_HZ: u32 = 12_000_000u32;
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const UART_BAUD: u32 = 115_200;
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const STEP_DEGREES: i32 = 10;
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const STEP_DELAY_MS: u32 = 150;
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type TxPin = Pin<hal::gpio::bank0::Gpio0, FunctionUart, PullNone>;
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type RxPin = Pin<hal::gpio::bank0::Gpio1, FunctionUart, PullNone>;
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type TxPinDefault = Pin<hal::gpio::bank0::Gpio0, FunctionNull, PullDown>;
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type RxPinDefault = Pin<hal::gpio::bank0::Gpio1, FunctionNull, PullDown>;
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type EnabledUart = UartPeripheral<Enabled, hal::pac::UART0, (TxPin, RxPin)>;
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/// Initialise system clocks and PLLs from the external 12 MHz crystal.
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///
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/// # Arguments
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///
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/// * `xosc` - XOSC peripheral singleton.
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/// * `clocks` - CLOCKS peripheral singleton.
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/// * `pll_sys` - PLL_SYS peripheral singleton.
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/// * `pll_usb` - PLL_USB peripheral singleton.
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/// * `resets` - Mutable reference to the RESETS peripheral.
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/// * `watchdog` - Mutable reference to the watchdog timer.
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///
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/// # Returns
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///
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/// Configured clocks manager.
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///
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/// # Panics
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///
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/// Panics if clock initialisation fails.
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fn init_clocks(
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xosc: hal::pac::XOSC,
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clocks: hal::pac::CLOCKS,
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pll_sys: hal::pac::PLL_SYS,
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pll_usb: hal::pac::PLL_USB,
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resets: &mut hal::pac::RESETS,
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watchdog: &mut hal::Watchdog,
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) -> hal::clocks::ClocksManager {
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hal::clocks::init_clocks_and_plls(
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XTAL_FREQ_HZ, xosc, clocks, pll_sys, pll_usb, resets, watchdog,
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)
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.unwrap()
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}
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/// Unlock the GPIO bank and return the pin set.
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///
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/// # Arguments
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///
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/// * `io_bank0` - IO_BANK0 peripheral singleton.
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/// * `pads_bank0` - PADS_BANK0 peripheral singleton.
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/// * `sio` - SIO peripheral singleton.
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/// * `resets` - Mutable reference to the RESETS peripheral.
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///
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/// # Returns
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///
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/// GPIO pin set for the entire bank.
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fn init_pins(
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io_bank0: hal::pac::IO_BANK0,
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pads_bank0: hal::pac::PADS_BANK0,
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sio: hal::pac::SIO,
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resets: &mut hal::pac::RESETS,
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) -> hal::gpio::Pins {
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let sio = hal::Sio::new(sio);
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hal::gpio::Pins::new(io_bank0, pads_bank0, sio.gpio_bank0, resets)
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}
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/// Initialise UART0 for serial output (stdio equivalent).
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///
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/// # Arguments
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///
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/// * `uart0` - PAC UART0 peripheral singleton.
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/// * `tx_pin` - GPIO pin to use as UART0 TX (GPIO 0).
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/// * `rx_pin` - GPIO pin to use as UART0 RX (GPIO 1).
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/// * `resets` - Mutable reference to the RESETS peripheral.
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/// * `clocks` - Reference to the initialised clock configuration.
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///
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/// # Returns
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///
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/// Enabled UART0 peripheral ready for blocking writes.
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///
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/// # Panics
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///
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/// Panics if the HAL cannot achieve the requested baud rate.
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fn init_uart(
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uart0: hal::pac::UART0,
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tx_pin: TxPinDefault,
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rx_pin: RxPinDefault,
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resets: &mut hal::pac::RESETS,
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clocks: &hal::clocks::ClocksManager,
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) -> EnabledUart {
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let pins = (
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tx_pin.reconfigure::<FunctionUart, PullNone>(),
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rx_pin.reconfigure::<FunctionUart, PullNone>(),
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);
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let cfg = UartConfig::new(UART_BAUD.Hz(), DataBits::Eight, None, StopBits::One);
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UartPeripheral::new(uart0, pins, resets)
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.enable(cfg, clocks.peripheral_clock.freq())
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.unwrap()
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}
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/// Create a blocking delay timer from the ARM SysTick peripheral.
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///
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/// # Arguments
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///
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/// * `clocks` - Reference to the initialised clock configuration.
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///
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/// # Returns
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///
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/// Blocking delay provider.
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///
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/// # Panics
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///
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/// Panics if the cortex-m core peripherals have already been taken.
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fn init_delay(clocks: &hal::clocks::ClocksManager) -> cortex_m::delay::Delay {
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let core = cortex_m::Peripherals::take().unwrap();
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cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz())
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}
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/// Format an angle into "Angle: NNN deg\r\n".
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///
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/// # Arguments
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///
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/// * `buf` - Mutable byte slice (must be at least 20 bytes).
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/// * `angle` - Angle in degrees (0..180).
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///
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/// # Returns
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///
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/// Number of bytes written into the buffer.
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fn format_angle(buf: &mut [u8], angle: i32) -> usize {
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let prefix = b"Angle: ";
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buf[..7].copy_from_slice(prefix);
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let mut pos = 7;
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let a = if angle < 0 { 0 } else { angle as u32 };
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if a >= 100 {
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buf[pos] = b'0' + (a / 100) as u8; pos += 1;
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buf[pos] = b'0' + ((a / 10) % 10) as u8; pos += 1;
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buf[pos] = b'0' + (a % 10) as u8; pos += 1;
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} else if a >= 10 {
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buf[pos] = b' '; pos += 1;
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buf[pos] = b'0' + (a / 10) as u8; pos += 1;
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buf[pos] = b'0' + (a % 10) as u8; pos += 1;
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} else {
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buf[pos] = b' '; pos += 1;
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buf[pos] = b' '; pos += 1;
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buf[pos] = b'0' + a as u8; pos += 1;
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}
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let suffix = b" deg\r\n";
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buf[pos..pos + 6].copy_from_slice(suffix);
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pos + 6
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}
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/// Sweep the servo angle upward from 0 to 180 in STEP_DEGREES increments.
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///
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/// # Arguments
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///
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/// * `uart` - UART peripheral for serial output.
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/// * `channel` - PWM channel implementing SetDutyCycle.
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/// * `delay` - Delay provider for pause between steps.
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/// * `buf` - Scratch buffer for formatting output.
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fn sweep_angle_up(
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uart: &EnabledUart,
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channel: &mut impl SetDutyCycle,
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delay: &mut cortex_m::delay::Delay,
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buf: &mut [u8; 20],
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) {
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let mut angle: i32 = 0;
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while angle <= 180 {
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let pulse = servo::angle_to_pulse_us(angle as f32, servo::SERVO_DEFAULT_MIN_US, servo::SERVO_DEFAULT_MAX_US);
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let level = servo::pulse_us_to_level(pulse as u32, servo::SERVO_WRAP, servo::SERVO_HZ) as u16;
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channel.set_duty_cycle(level).ok();
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let n = format_angle(buf, angle);
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uart.write_full_blocking(&buf[..n]);
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delay.delay_ms(STEP_DELAY_MS);
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angle += STEP_DEGREES;
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}
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}
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/// Sweep the servo angle downward from 180 to 0 in STEP_DEGREES decrements.
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///
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/// # Arguments
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///
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/// * `uart` - UART peripheral for serial output.
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/// * `channel` - PWM channel implementing SetDutyCycle.
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/// * `delay` - Delay provider for pause between steps.
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/// * `buf` - Scratch buffer for formatting output.
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fn sweep_angle_down(
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uart: &EnabledUart,
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channel: &mut impl SetDutyCycle,
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delay: &mut cortex_m::delay::Delay,
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buf: &mut [u8; 20],
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) {
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let mut angle: i32 = 180;
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while angle >= 0 {
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let pulse = servo::angle_to_pulse_us(angle as f32, servo::SERVO_DEFAULT_MIN_US, servo::SERVO_DEFAULT_MAX_US);
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let level = servo::pulse_us_to_level(pulse as u32, servo::SERVO_WRAP, servo::SERVO_HZ) as u16;
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channel.set_duty_cycle(level).ok();
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let n = format_angle(buf, angle);
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uart.write_full_blocking(&buf[..n]);
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delay.delay_ms(STEP_DELAY_MS);
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angle -= STEP_DEGREES;
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}
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}
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/// Application entry point for the servo sweep demo.
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///
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/// Initializes the servo on GPIO 6 and continuously sweeps 0-180-0
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/// degrees in 10-degree increments, reporting each angle over UART.
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///
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/// # Returns
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///
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/// Does not return.
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#[entry]
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fn main() -> ! {
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let mut pac = hal::pac::Peripherals::take().unwrap();
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let clocks = init_clocks(
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pac.XOSC, pac.CLOCKS, pac.PLL_SYS, pac.PLL_USB, &mut pac.RESETS,
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&mut hal::Watchdog::new(pac.WATCHDOG),
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);
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let pins = init_pins(pac.IO_BANK0, pac.PADS_BANK0, pac.SIO, &mut pac.RESETS);
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let uart = init_uart(pac.UART0, pins.gpio0, pins.gpio1, &mut pac.RESETS, &clocks);
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let mut delay = init_delay(&clocks);
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let pwm_slices = hal::pwm::Slices::new(pac.PWM, &mut pac.RESETS);
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let mut pwm = pwm_slices.pwm3;
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let sys_hz = clocks.system_clock.freq().to_Hz();
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let div = servo::calc_clk_div(sys_hz, servo::SERVO_HZ, servo::SERVO_WRAP);
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let div_int = div as u8;
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pwm.set_div_int(div_int);
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pwm.set_div_frac((((div - div_int as f32) * 16.0) as u8).min(15));
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pwm.set_top(servo::SERVO_WRAP as u16);
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pwm.enable();
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pwm.channel_a.output_to(pins.gpio6);
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uart.write_full_blocking(b"Servo driver initialized on GPIO 6\r\n");
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uart.write_full_blocking(b"Sweeping 0 -> 180 -> 0 degrees in 10-degree steps\r\n");
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let mut buf = [0u8; 20];
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loop {
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sweep_angle_up(&uart, &mut pwm.channel_a, &mut delay, &mut buf);
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sweep_angle_down(&uart, &mut pwm.channel_a, &mut delay, &mut buf);
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}
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}
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#[unsafe(link_section = ".bi_entries")]
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#[used]
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pub static PICOTOOL_ENTRIES: [hal::binary_info::EntryAddr; 5] = [
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hal::binary_info::rp_cargo_bin_name!(),
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hal::binary_info::rp_cargo_version!(),
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hal::binary_info::rp_program_description!(c"SG90 Servo Sweep Demo"),
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hal::binary_info::rp_cargo_homepage_url!(),
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hal::binary_info::rp_program_build_attribute!(),
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];
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// End of file
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@@ -0,0 +1,205 @@
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//! @file servo.rs
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//! @brief Implementation of a simple SG90 servo driver (pure-logic helpers)
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//! @author Kevin Thomas
|
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//! @date 2025
|
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//!
|
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//! MIT License
|
||||
//!
|
||||
//! Copyright (c) 2025 Kevin Thomas
|
||||
//!
|
||||
//! Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
//! of this software and associated documentation files (the "Software"), to deal
|
||||
//! in the Software without restriction, including without limitation the rights
|
||||
//! to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
//! copies of the Software, and to permit persons to whom the Software is
|
||||
//! furnished to do so, subject to the following conditions:
|
||||
//!
|
||||
//! The above copyright notice and this permission notice shall be included in
|
||||
//! all copies or substantial portions of the Software.
|
||||
//!
|
||||
//! THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
//! IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
//! FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
//! AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
//! LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
//! OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
//! SOFTWARE.
|
||||
|
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/// Default minimum pulse width in microseconds (0 degrees).
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pub const SERVO_DEFAULT_MIN_US: u16 = 1000;
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/// Default maximum pulse width in microseconds (180 degrees).
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pub const SERVO_DEFAULT_MAX_US: u16 = 2000;
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/// Default PWM wrap value for 50 Hz servo (20 000 - 1).
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pub const SERVO_WRAP: u32 = 20000 - 1;
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/// Default servo frequency in Hz.
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pub const SERVO_HZ: f32 = 50.0;
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/// Convert a pulse width in microseconds to a PWM counter level.
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///
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/// Uses the configured PWM wrap and servo frequency to map pulse time
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/// into the channel compare value expected by the PWM hardware.
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///
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/// # Arguments
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///
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/// * `pulse_us` - Pulse width in microseconds.
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/// * `wrap` - PWM counter wrap value.
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/// * `hz` - PWM frequency in Hz.
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///
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/// # Returns
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///
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/// PWM level suitable for the channel compare register.
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pub fn pulse_us_to_level(pulse_us: u32, wrap: u32, hz: f32) -> u32 {
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let period_us = 1_000_000.0f32 / hz;
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let counts_per_us = (wrap + 1) as f32 / period_us;
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(pulse_us as f32 * counts_per_us + 0.5f32) as u32
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}
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/// Clamp a pulse width to the valid servo range.
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||||
///
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||||
/// Values below min_us are raised to min_us; values above max_us are
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||||
/// lowered to max_us.
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///
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||||
/// # Arguments
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///
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/// * `pulse_us` - Raw pulse width in microseconds.
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/// * `min_us` - Minimum allowed pulse width.
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/// * `max_us` - Maximum allowed pulse width.
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///
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/// # Returns
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///
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/// Clamped pulse width.
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pub fn clamp_pulse_us(pulse_us: u16, min_us: u16, max_us: u16) -> u16 {
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if pulse_us < min_us {
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min_us
|
||||
} else if pulse_us > max_us {
|
||||
max_us
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||||
} else {
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||||
pulse_us
|
||||
}
|
||||
}
|
||||
|
||||
/// Map a servo angle in degrees to a pulse width in microseconds.
|
||||
///
|
||||
/// Clamps degrees to [0, 180], then linearly maps to the pulse range.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `degrees` - Angle in degrees (0.0 to 180.0).
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||||
/// * `min_us` - Pulse width at 0 degrees.
|
||||
/// * `max_us` - Pulse width at 180 degrees.
|
||||
///
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||||
/// # Returns
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||||
///
|
||||
/// Pulse width in microseconds corresponding to the given angle.
|
||||
pub fn angle_to_pulse_us(degrees: f32, min_us: u16, max_us: u16) -> u16 {
|
||||
let d = if degrees < 0.0f32 {
|
||||
0.0f32
|
||||
} else if degrees > 180.0f32 {
|
||||
180.0f32
|
||||
} else {
|
||||
degrees
|
||||
};
|
||||
let ratio = d / 180.0f32;
|
||||
let span = (max_us - min_us) as f32;
|
||||
(min_us as f32 + ratio * span + 0.5f32) as u16
|
||||
}
|
||||
|
||||
/// Compute the PWM clock divider for the servo frequency.
|
||||
///
|
||||
/// # Arguments
|
||||
///
|
||||
/// * `sys_hz` - System clock frequency in Hz.
|
||||
/// * `servo_hz` - Desired servo PWM frequency in Hz.
|
||||
/// * `wrap` - PWM counter wrap value.
|
||||
///
|
||||
/// # Returns
|
||||
///
|
||||
/// Clock divider value.
|
||||
pub fn calc_clk_div(sys_hz: u32, servo_hz: f32, wrap: u32) -> f32 {
|
||||
sys_hz as f32 / (servo_hz * (wrap + 1) as f32)
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use super::*;
|
||||
|
||||
#[test]
|
||||
fn pulse_us_to_level_1000us() {
|
||||
let level = pulse_us_to_level(1000, SERVO_WRAP, SERVO_HZ);
|
||||
assert_eq!(level, 1000);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn pulse_us_to_level_2000us() {
|
||||
let level = pulse_us_to_level(2000, SERVO_WRAP, SERVO_HZ);
|
||||
assert_eq!(level, 2000);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn pulse_us_to_level_1500us() {
|
||||
let level = pulse_us_to_level(1500, SERVO_WRAP, SERVO_HZ);
|
||||
assert_eq!(level, 1500);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn pulse_us_to_level_zero() {
|
||||
let level = pulse_us_to_level(0, SERVO_WRAP, SERVO_HZ);
|
||||
assert_eq!(level, 0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn clamp_pulse_us_below_min() {
|
||||
assert_eq!(clamp_pulse_us(500, SERVO_DEFAULT_MIN_US, SERVO_DEFAULT_MAX_US), 1000);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn clamp_pulse_us_above_max() {
|
||||
assert_eq!(clamp_pulse_us(3000, SERVO_DEFAULT_MIN_US, SERVO_DEFAULT_MAX_US), 2000);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn clamp_pulse_us_within_range() {
|
||||
assert_eq!(clamp_pulse_us(1500, SERVO_DEFAULT_MIN_US, SERVO_DEFAULT_MAX_US), 1500);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn angle_to_pulse_us_zero() {
|
||||
let pulse = angle_to_pulse_us(0.0, SERVO_DEFAULT_MIN_US, SERVO_DEFAULT_MAX_US);
|
||||
assert_eq!(pulse, 1000);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn angle_to_pulse_us_180() {
|
||||
let pulse = angle_to_pulse_us(180.0, SERVO_DEFAULT_MIN_US, SERVO_DEFAULT_MAX_US);
|
||||
assert_eq!(pulse, 2000);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn angle_to_pulse_us_90() {
|
||||
let pulse = angle_to_pulse_us(90.0, SERVO_DEFAULT_MIN_US, SERVO_DEFAULT_MAX_US);
|
||||
assert_eq!(pulse, 1500);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn angle_to_pulse_us_clamped_negative() {
|
||||
let pulse = angle_to_pulse_us(-10.0, SERVO_DEFAULT_MIN_US, SERVO_DEFAULT_MAX_US);
|
||||
assert_eq!(pulse, 1000);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn angle_to_pulse_us_clamped_above() {
|
||||
let pulse = angle_to_pulse_us(200.0, SERVO_DEFAULT_MIN_US, SERVO_DEFAULT_MAX_US);
|
||||
assert_eq!(pulse, 2000);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn calc_clk_div_150mhz() {
|
||||
let div = calc_clk_div(150_000_000, SERVO_HZ, SERVO_WRAP);
|
||||
assert!((div - 150.0).abs() < 0.01);
|
||||
}
|
||||
}
|
||||
|
||||
// End of file
|
||||
Reference in New Issue
Block a user