servo_params.h

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/*
 * Copyright (C) 2022 Otto-von-Guericke-Universität Magdeburg
 *
 * This file is subject to the terms and conditions of the GNU Lesser
 * General Public License v2.1. See the file LICENSE in the top level
 * directory for more details.
 */
 
#pragma once

 
#include "board.h"
#include "macros/units.h"
#include "periph/gpio.h"
#include "periph/pwm.h"
#include "periph/timer.h"
#include "saul_reg.h"
#include "servo.h"
 
#ifdef __cplusplus
extern "C" {
#endif

#ifndef SERVO_PWM_PARAM_DEV
#define SERVO_PWM_PARAM_DEV             PWM_DEV(0)
#endif
 
#ifndef SERVO_PWM_PARAM_RES
#define SERVO_PWM_PARAM_RES             UINT16_MAX
#endif
 
#ifndef SERVO_PWM_PARAM_FREQ
#define SERVO_PWM_PARAM_FREQ            50
#endif
 
#ifndef SERVO_PWM_PARAMS
#define SERVO_PWM_PARAMS    {\
        .pwm    = SERVO_PWM_PARAM_DEV, \
        .freq   = SERVO_PWM_PARAM_FREQ, \
        .res    = SERVO_PWM_PARAM_RES, \
    }
#endif

static const servo_pwm_params_t servo_pwm_params[] =
{
    SERVO_PWM_PARAMS
};

#ifndef SERVO_TIMER_PARAM_DEV
#define SERVO_TIMER_PARAM_DEV           TIMER_DEV(1)
#endif
 
#ifndef SERVO_TIMER_PARAM_TIMER_FREQ
#define SERVO_TIMER_PARAM_TIMER_FREQ    MHZ(1)
#endif
 
#ifndef SERVO_TIMER_PARAM_SERVO_FREQ
#define SERVO_TIMER_PARAM_SERVO_FREQ    50
#endif
 
#ifndef SERVO_TIMER_PARAM_TIMER_CTX
extern servo_timer_ctx_t servo_timer_default_ctx;
#define SERVO_TIMER_PARAM_TIMER_CTX     (&servo_timer_default_ctx)
#endif
 
#ifndef SERVO_TIMER_PARAMS
#define SERVO_TIMER_PARAMS    {\
        .timer      = SERVO_TIMER_PARAM_DEV, \
        .timer_freq = SERVO_TIMER_PARAM_TIMER_FREQ, \
        .servo_freq = SERVO_TIMER_PARAM_SERVO_FREQ, \
        .ctx        = SERVO_TIMER_PARAM_TIMER_CTX, \
    }
#endif

static const servo_timer_params_t servo_timer_params[] =
{
    SERVO_TIMER_PARAMS
};

#ifndef SERVO_PARAM_PWM_PARAMS
#define SERVO_PARAM_PWM_PARAMS          (&servo_pwm_params[0])
#endif
 
#ifndef SERVO_PARAM_TIMER_PARAMS
#define SERVO_PARAM_TIMER_PARAMS        (&servo_timer_params[0])
#endif
 
#ifndef SERVO_PARAM_PWM_CHAN
#define SERVO_PARAM_PWM_CHAN            0
#endif
 
#ifndef SERVO_PARAM_TIMER_CHAN
#define SERVO_PARAM_TIMER_CHAN          1
#endif
 
#ifndef SERVO_PARAM_PIN
#define SERVO_PARAM_PIN                 GPIO_UNDEF
#endif
 
#ifndef SERVO_PARAM_MIN_US
#define SERVO_PARAM_MIN_US              900UL
#endif
 
#ifndef SERVO_PARAM_MAX_US
#define SERVO_PARAM_MAX_US              2100UL
#endif
 
#ifndef SERVO_PARAMS
#ifdef MODULE_SERVO_PWM
#define SERVO_PARAMS    {\
        .pwm        = SERVO_PARAM_PWM_PARAMS, \
        .min_us     = SERVO_PARAM_MIN_US, \
        .max_us     = SERVO_PARAM_MAX_US, \
        .pwm_chan   = SERVO_PARAM_PWM_CHAN, \
    }
#endif
#ifdef MODULE_SERVO_TIMER
#define SERVO_PARAMS    {\
        .timer      = SERVO_PARAM_TIMER_PARAMS, \
        .servo_pin  = SERVO_PARAM_PIN, \
        .min_us     = SERVO_PARAM_MIN_US, \
        .max_us     = SERVO_PARAM_MAX_US, \
        .timer_chan = SERVO_PARAM_TIMER_CHAN, \
    }
#endif
#endif

static const servo_params_t servo_params[] =
{
    SERVO_PARAMS
};
 
#ifndef SERVO_SAULINFO
#define SERVO_SAULINFO  { .name = "servo" }
#endif

static const saul_reg_info_t servo_saul_info[] =
{
    SERVO_SAULINFO
};
 
#ifdef __cplusplus
}
#endif