mirror of
https://github.com/mytechnotalent/Embedded-Hacking.git
synced 2026-05-28 02:02:24 +02:00
Kevin Thomas
8cbabf0f40
- PWM slice 3, channel A on GPIO6 at 50 Hz - Fractional divider 14.5 (14.5 MHz XOSC / 50 Hz / 20000) - Sweep 0-180-0 degrees in 10-degree steps - Pulse range 1000-2000 us, angle-to-pulse mapping - UART reports each angle step - 1557B FLASH, 11 source files, zero warnings
102 lines
2.7 KiB
C
102 lines
2.7 KiB
C
/**
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******************************************************************************
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* @file main.c
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* @author Kevin Thomas
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* @brief SG90 servo motor sweep demonstration.
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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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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 Kevin Thomas.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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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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#define STEP_DEGREES 10
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#define STEP_DELAY_MS 150
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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_t idx = 0;
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if (angle >= 100) {
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buf[idx++] = (char)('0' + angle / 100);
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buf[idx++] = (char)('0' + (angle / 10) % 10);
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buf[idx++] = (char)('0' + angle % 10);
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} else if (angle >= 10) {
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buf[idx++] = (char)('0' + angle / 10);
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buf[idx++] = (char)('0' + angle % 10);
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} else {
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buf[idx++] = (char)('0' + angle);
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}
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buf[idx] = '\0';
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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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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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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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/**
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* @brief Application entry point for the servo sweep demo.
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* @retval int does not return
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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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_sweep_up();
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_sweep_down();
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}
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}
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