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Kevin Thomas
2026-03-22 20:39:16 -04:00
parent 5a90d35b00
commit 7601201d66
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drivers/0x05_servo/0x05_servo.c
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/**
* @file 0x05_servo.c
* @brief SG90 servo motor driver for the Raspberry Pi Pico 2
* @author Kevin Thomas
* @date 2025
*
* 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.
*
* -----------------------------------------------------------------------------
*
* This driver demonstrates SG90 servo control using the servo.c/servo.h
* driver (PWM at 50 Hz on GPIO 6). The servo sweeps from 0 degrees to
* 180 degrees and back in 10-degree increments, printing each angle over
* UART.
*
* Wiring:
* GPIO6 -> Servo signal wire (orange or yellow)
* 5V -> Servo power wire (red) -- use external 5 V supply for load
* GND -> Servo ground wire (brown or black)
*/
#include <stdio.h>
#include "pico/stdlib.h"
#include "servo.h"
#define SERVO_GPIO 6
#define STEP_DEGREES 10
#define STEP_DELAY_MS 150
int main(void) {
stdio_init_all();
servo_init(SERVO_GPIO);
printf("Servo driver initialized on GPIO %d\r\n", SERVO_GPIO);
printf("Sweeping 0 -> 180 -> 0 degrees in %d-degree steps\r\n",
STEP_DEGREES);
while (true) {
for (int angle = 0; angle <= 180; angle += STEP_DEGREES) {
servo_set_angle((float)angle);
printf("Angle: %3d deg\r\n", angle);
sleep_ms(STEP_DELAY_MS);
}
for (int angle = 180; angle >= 0; angle -= STEP_DEGREES) {
servo_set_angle((float)angle);
printf("Angle: %3d deg\r\n", angle);
sleep_ms(STEP_DELAY_MS);
}
}
}
drivers/0x05_servo/CMakeLists.txt
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# Generated Cmake Pico project file
cmake_minimum_required(VERSION 3.13)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# Initialise pico_sdk from installed location
# (note this can come from environment, CMake cache etc)
# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
if(WIN32)
set(USERHOME $ENV{USERPROFILE})
else()
set(USERHOME $ENV{HOME})
endif()
set(sdkVersion 2.2.0)
set(toolchainVersion 14_2_Rel1)
set(picotoolVersion 2.2.0)
set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
if (EXISTS ${picoVscode})
include(${picoVscode})
endif()
# ====================================================================================
set(PICO_BOARD pico2 CACHE STRING "Board type")
# Pull in Raspberry Pi Pico SDK (must be before project)
include(pico_sdk_import.cmake)
project(0x05_servo C CXX ASM)
# Initialise the Raspberry Pi Pico SDK
pico_sdk_init()
# Add executable. Default name is the project name, version 0.1
add_executable(0x05_servo 0x05_servo.c servo.c)
pico_set_program_name(0x05_servo "0x05_servo")
pico_set_program_version(0x05_servo "0.1")
# Modify the below lines to enable/disable output over UART/USB
pico_enable_stdio_uart(0x05_servo 1)
pico_enable_stdio_usb(0x05_servo 0)
# Add the standard library to the build
target_link_libraries(0x05_servo
pico_stdlib
hardware_pwm
hardware_clocks)
# Add the standard include files to the build
target_include_directories(0x05_servo PRIVATE
${CMAKE_CURRENT_LIST_DIR}
)
pico_add_extra_outputs(0x05_servo)
drivers/0x05_servo/pico_sdk_import.cmake
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# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
# This can be dropped into an external project to help locate this SDK
# It should be include()ed prior to project()
# Copyright 2020 (c) 2020 Raspberry Pi (Trading) Ltd.
#
# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the
# following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following
# disclaimer.
#
# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided with the distribution.
#
# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products
# derived from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
# THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
endif ()
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG))
set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG})
message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')")
endif ()
if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG)
set(PICO_SDK_FETCH_FROM_GIT_TAG "master")
message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG")
endif()
set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK")
if (NOT PICO_SDK_PATH)
if (PICO_SDK_FETCH_FROM_GIT)
include(FetchContent)
set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
if (PICO_SDK_FETCH_FROM_GIT_PATH)
get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
endif ()
FetchContent_Declare(
pico_sdk
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
)
if (NOT pico_sdk)
message("Downloading Raspberry Pi Pico SDK")
# GIT_SUBMODULES_RECURSE was added in 3.17
if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
FetchContent_Populate(
pico_sdk
QUIET
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
GIT_SUBMODULES_RECURSE FALSE
SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src
BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build
SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild
)
else ()
FetchContent_Populate(
pico_sdk
QUIET
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src
BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build
SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild
)
endif ()
set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
endif ()
set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
else ()
message(FATAL_ERROR
"SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
)
endif ()
endif ()
get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
if (NOT EXISTS ${PICO_SDK_PATH})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
endif ()
set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
endif ()
set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
include(${PICO_SDK_INIT_CMAKE_FILE})
drivers/0x05_servo/servo.c
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/**
* @file servo.c
* @brief Implementation of a simple SG90 servo driver using PWM (50Hz)
* @author Kevin Thomas
* @date 2025
*
* 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.
*/
#include "servo.h"
#include "pico/stdlib.h"
#include "hardware/pwm.h"
#include "hardware/clocks.h"
// Default servo pulse range (SG90 typical)
static const uint16_t SERVO_DEFAULT_MIN_US = 1000;
static const uint16_t SERVO_DEFAULT_MAX_US = 2000;
// internal state
static uint8_t servo_pin = 0;
static uint servo_slice = 0;
static uint servo_chan = 0;
static uint32_t servo_wrap = 20000 - 1; // wrap to map microseconds for 50Hz
static float servo_hz = 50.0f;
static bool servo_initialized = false;
/**
* @brief Convert a pulse width in microseconds to a PWM counter level
*
* Uses the configured PWM wrap and servo frequency to map pulse time
* into the channel compare value expected by the PWM hardware.
*
* @param pulse_us Pulse width in microseconds
* @return uint32_t PWM level suitable for pwm_set_chan_level()
*/
static uint32_t pulse_us_to_level(uint32_t pulse_us) {
const float period_us = 1000000.0f / servo_hz; // 20000us
float counts_per_us = (servo_wrap + 1) / period_us;
return (uint32_t)(pulse_us * counts_per_us + 0.5f);
}
void servo_init(uint8_t pin) {
servo_pin = pin;
// Configure GPIO for PWM
gpio_set_function(servo_pin, GPIO_FUNC_PWM);
servo_slice = pwm_gpio_to_slice_num(servo_pin);
servo_chan = pwm_gpio_to_channel(servo_pin);
pwm_config config = pwm_get_default_config();
// Calculate clock divider to achieve 50 Hz with our chosen wrap
const uint32_t sys_clock_hz = clock_get_hz(clk_sys);
float clock_div = (float)sys_clock_hz / (servo_hz * (servo_wrap + 1));
pwm_config_set_clkdiv(&config, clock_div);
pwm_config_set_wrap(&config, servo_wrap);
pwm_init(servo_slice, &config, true);
servo_initialized = true;
}
void servo_set_pulse_us(uint16_t pulse_us) {
if (!servo_initialized) return; // not initialized
// clamp to defaults
if (pulse_us < SERVO_DEFAULT_MIN_US) pulse_us = SERVO_DEFAULT_MIN_US;
if (pulse_us > SERVO_DEFAULT_MAX_US) pulse_us = SERVO_DEFAULT_MAX_US;
uint32_t level = pulse_us_to_level(pulse_us);
pwm_set_chan_level(servo_slice, servo_chan, level);
}
void servo_set_angle(float degrees) {
if (degrees < 0.0f) degrees = 0.0f;
if (degrees > 180.0f) degrees = 180.0f;
// linear map 0..180 -> min_us..max_us
float ratio = degrees / 180.0f;
uint16_t pulse = (uint16_t)(SERVO_DEFAULT_MIN_US + ratio * (SERVO_DEFAULT_MAX_US - SERVO_DEFAULT_MIN_US) + 0.5f);
servo_set_pulse_us(pulse);
}
drivers/0x05_servo/servo.h
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/**
* @file servo.h
* @brief Header for SG90 servo driver (PWM)
* @author Kevin Thomas
* @date 2025
*
* 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.
*/
#ifndef SERVO_H
#define SERVO_H
#include <stdint.h>
#include <stdbool.h>
/**
* @brief Initialize servo driver on a given GPIO pin
*
* Configures PWM for a 50 Hz servo (SG90). Call once before using other API.
*
* @param pin GPIO pin number to use for servo PWM
*/
void servo_init(uint8_t pin);
/**
* @brief Set servo pulse width in microseconds (typical 1000-2000)
*
* @param pulse_us Pulse width in microseconds
*/
void servo_set_pulse_us(uint16_t pulse_us);
/**
* @brief Set servo angle in degrees (0 to 180)
*
* Maps 0..180 degrees to the configured pulse range (default 1000..2000 us).
* Values outside [0,180] will be clamped.
*
* @param degrees Angle in degrees
*/
void servo_set_angle(float degrees);
#endif // SERVO_H