104 lines
3.1 KiB
C
104 lines
3.1 KiB
C
// Copyright 2020-2021 Espressif Systems (Shanghai) Co. Ltd.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef _IOT_SERVO_H_
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#define _IOT_SERVO_H_
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#include "esp_err.h"
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#include "driver/ledc.h"
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#include "driver/gpio.h"
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/**
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* @brief Configuration of servo motor channel
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*
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*/
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typedef struct {
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gpio_num_t servo_pin[LEDC_CHANNEL_MAX]; /**< Pin number of pwm output */
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ledc_channel_t ch[LEDC_CHANNEL_MAX]; /**< The ledc channel which used */
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} servo_channel_t;
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/**
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* @brief Configuration of servo motor
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*
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*/
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typedef struct {
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uint16_t max_angle; /**< Servo max angle */
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uint16_t min_width_us; /**< Pulse width corresponding to minimum angle, which is usually 500us */
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uint16_t max_width_us; /**< Pulse width corresponding to maximum angle, which is usually 2500us */
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uint32_t freq; /**< PWM frequency */
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ledc_timer_t timer_number; /**< Timer number of ledc */
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servo_channel_t channels; /**< Channels to use */
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uint8_t channel_number; /**< Total channel number */
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} servo_config_t;
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief Initialize ledc to control the servo
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*
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* @param speed_mode Select the LEDC channel group with specified speed mode. Note that not all targets support high speed mode.
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* @param config Pointer of servo configure struct
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_INVALID_ARG Parameter error
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* - ESP_FAIL Configure ledc failed
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*/
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esp_err_t iot_servo_init(ledc_mode_t speed_mode, const servo_config_t *config);
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/**
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* @brief Deinitialize ledc for servo
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*
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* @param speed_mode Select the LEDC channel group with specified speed mode.
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*
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* @return
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* - ESP_OK Success
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*/
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esp_err_t iot_servo_deinit(ledc_mode_t speed_mode);
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/**
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* @brief Set the servo motor to a certain angle
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*
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* @note This API is not thread-safe
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*
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* @param speed_mode Select the LEDC channel group with specified speed mode.
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* @param channel LEDC channel, select from ledc_channel_t
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* @param angle The angle to go
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_INVALID_ARG Parameter error
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*/
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esp_err_t iot_servo_write_angle(ledc_mode_t speed_mode, uint8_t channel, float angle);
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/**
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* @brief Read current angle of one channel
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*
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* @param speed_mode Select the LEDC channel group with specified speed mode.
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* @param channel LEDC channel, select from ledc_channel_t
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* @param angle Current angle of the channel
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_INVALID_ARG Parameter error
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*/
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esp_err_t iot_servo_read_angle(ledc_mode_t speed_mode, uint8_t channel, float *angle);
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#ifdef __cplusplus
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}
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#endif
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#endif /* _IOT_SERVO_H_ */ |