mirror of
https://github.com/mytechnotalent/Embedded-Hacking.git
synced 2026-05-21 07:06:54 +02:00
Kevin Thomas
118 lines
3.3 KiB
C
118 lines
3.3 KiB
C
/**
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* @file main.c
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* @brief SG90 servo motor sweep demonstration.
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* @author Kevin Thomas
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* @date 2026
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*
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* Demonstrates servo control using the servo driver. The servo
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* sweeps from 0 to 180 degrees and back in 10-degree steps,
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* reporting each angle over UART.
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*
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* Wiring:
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* GPIO0 -> UART TX (USB-to-UART adapter RX)
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* GPIO1 -> UART RX (USB-to-UART adapter TX)
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* GPIO6 -> Servo signal (orange/yellow)
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* 5V -> Servo power (red)
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* GND -> Servo ground (brown/black)
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*
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* MIT License
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*
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* Copyright (c) 2026 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 all
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* 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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#include "rp2350_servo.h"
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#include "rp2350_uart.h"
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#include "rp2350_delay.h"
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/** @brief Servo angle increment per step in degrees */
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#define STEP_DEGREES 10
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/** @brief Delay between servo sweep steps in milliseconds */
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#define STEP_DELAY_MS 150
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/**
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* @brief Convert a uint8_t to a decimal string.
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* @param value number to convert (0-255)
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* @param buf output buffer (at least 4 bytes)
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* @retval None
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*/
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static void uint8_to_str(uint8_t value, char *buf)
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{
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uint8_t idx = 0;
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if (value >= 100)
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buf[idx++] = (char)('0' + value / 100);
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if (value >= 10)
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buf[idx++] = (char)('0' + (value / 10) % 10);
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buf[idx++] = (char)('0' + value % 10);
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buf[idx] = '\0';
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}
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/**
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* @brief Print an angle value as a decimal string over UART.
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* @param angle angle in degrees (0-180)
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* @retval None
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*/
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static void print_angle(uint8_t angle)
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{
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char buf[4];
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uint8_to_str(angle, buf);
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uart_puts("Angle: ");
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uart_puts(buf);
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uart_puts(" deg\r\n");
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}
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/**
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* @brief Sweep servo angle upward from 0 to 180 degrees.
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* @retval None
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*/
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static void sweep_up(void)
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{
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for (uint8_t angle = 0; angle <= 180; angle += STEP_DEGREES)
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{
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servo_set_angle(angle);
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print_angle(angle);
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delay_ms(STEP_DELAY_MS);
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}
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}
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/**
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* @brief Sweep servo angle downward from 180 to 0 degrees.
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* @retval None
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*/
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static void sweep_down(void)
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{
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for (int16_t angle = 180; angle >= 0; angle -= STEP_DEGREES)
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{
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servo_set_angle((uint8_t)angle);
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print_angle((uint8_t)angle);
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delay_ms(STEP_DELAY_MS);
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}
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}
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int main(void)
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{
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uart_puts("Servo driver initialized on GPIO6\r\n");
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uart_puts("Sweeping 0 -> 180 -> 0 degrees\r\n");
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while (1)
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{
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sweep_up();
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sweep_down();
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}
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}
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