82e8b0e826
Update `struct pwm_dt_spec` use with pwm_is_ready_dt() Signed-off-by: Nick Ward <nix.ward@gmail.com>
67 lines
1.2 KiB
C
67 lines
1.2 KiB
C
/*
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* Copyright (c) 2016 Intel Corporation
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/**
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* @file Sample app to demonstrate PWM-based servomotor control
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*/
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#include <zephyr/kernel.h>
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#include <zephyr/sys/printk.h>
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#include <zephyr/device.h>
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#include <zephyr/drivers/pwm.h>
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static const struct pwm_dt_spec servo = PWM_DT_SPEC_GET(DT_NODELABEL(servo));
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static const uint32_t min_pulse = DT_PROP(DT_NODELABEL(servo), min_pulse);
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static const uint32_t max_pulse = DT_PROP(DT_NODELABEL(servo), max_pulse);
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#define STEP PWM_USEC(100)
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enum direction {
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DOWN,
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UP,
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};
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int main(void)
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{
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uint32_t pulse_width = min_pulse;
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enum direction dir = UP;
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int ret;
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printk("Servomotor control\n");
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if (!pwm_is_ready_dt(&servo)) {
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printk("Error: PWM device %s is not ready\n", servo.dev->name);
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return 0;
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}
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while (1) {
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ret = pwm_set_pulse_dt(&servo, pulse_width);
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if (ret < 0) {
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printk("Error %d: failed to set pulse width\n", ret);
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return 0;
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}
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if (dir == DOWN) {
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if (pulse_width <= min_pulse) {
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dir = UP;
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pulse_width = min_pulse;
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} else {
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pulse_width -= STEP;
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}
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} else {
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pulse_width += STEP;
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if (pulse_width >= max_pulse) {
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dir = DOWN;
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pulse_width = max_pulse;
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}
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}
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k_sleep(K_SECONDS(1));
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}
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return 0;
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}
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