kopia lustrzana https://github.com/pimoroni/pimoroni-pico
67 wiersze
1.7 KiB
C++
67 wiersze
1.7 KiB
C++
#include "pico/stdlib.h"
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#include <stdio.h>
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#include <math.h>
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#include "breakout_ioexpander.hpp"
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using namespace pimoroni;
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static const uint8_t IOE_SERVO_PIN = 1;
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// Settings to produce a 50Hz output from the 24MHz clock.
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// 24,000,000 Hz / 8 = 3,000,000 Hz
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// 3,000,000 Hz / 60,000 Period = 50 Hz
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static const uint8_t DIVIDER = 8;
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static const uint16_t PERIOD = 60000;
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static constexpr float CYCLE_TIME = 5.0f;
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static constexpr float SERVO_RANGE = 1000.0f; // Between 1000 and 2000us (1-2ms)
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BreakoutIOExpander ioe(0x18);
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bool toggle = false;
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int main() {
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#ifdef PICO_DEFAULT_LED_PIN
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gpio_init(PICO_DEFAULT_LED_PIN);
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gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
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#endif
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stdio_init_all();
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if(ioe.init()) {
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printf("IOExpander found...\n");
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ioe.set_pwm_period(PERIOD);
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ioe.set_pwm_control(DIVIDER);
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ioe.set_mode(IOE_SERVO_PIN, IOExpander::PIN_PWM);
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while(true) {
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#ifdef PICO_DEFAULT_LED_PIN
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gpio_put(PICO_DEFAULT_LED_PIN, toggle);
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#endif
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toggle = !toggle;
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absolute_time_t at = get_absolute_time();
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float t = to_us_since_boot(at) / 1000000.0f;
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float s = sinf((t * M_PI * 2.0f) / CYCLE_TIME) / 2.0f;
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float servo_us = 1500.0f + (s * SERVO_RANGE);
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float duty_per_microsecond = (float)PERIOD / (float)(20 * 1000); // Default is 3 LSB per microsecond
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uint16_t duty_cycle = (uint16_t)(roundf(servo_us * duty_per_microsecond));
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printf("Cycle Time: %.2f, Pulse: %.1fus, Duty Cycle: %d\n", fmodf(t, CYCLE_TIME), servo_us, duty_cycle);
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ioe.output(IOE_SERVO_PIN, duty_cycle);
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sleep_ms(20);
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}
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}
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else {
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printf("IOExpander not found :'(\n");
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#ifdef PICO_DEFAULT_LED_PIN
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gpio_put(PICO_DEFAULT_LED_PIN, true);
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#endif
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}
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return 0;
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}
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