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pwm: update drivers with PWM to use new interface

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Signed-off-by: deadprogram <ron@hybridgroup.com>
This commit is contained in:
deadprogram
2021-04-17 20:26:22 +02:00
committed by Ron Evans
parent 23776bf906
commit 6bc466f79b
5 changed files with 124 additions and 54 deletions
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examples/apa102/itsybitsy-m0/main.go
+14 -7
View File
@@ -15,7 +15,7 @@ import (
var (
apa apa102.Device
led = machine.PWM{machine.LED}
pwm = machine.TCC0
leds = make([]color.RGBA, 1)
wheel = &Wheel{Brightness: 0x10}
)
@@ -27,12 +27,19 @@ func init() {
apa = apa102.NewSoftwareSPI(machine.PA00, machine.PA01, 1)
// Configure the regular on-board LED for PWM fading
machine.InitPWM()
led.Configure()
err := pwm.Configure(machine.PWMConfig{})
if err != nil {
println("failed to configure PWM")
return
}
}
func main() {
channelLED, err := pwm.Channel(machine.LED)
if err != nil {
println("failed to configure LED PWM channel")
return
}
// We'll fade the on-board LED in a goroutine to show/ensure that the APA102
// works fine with the scheduler enabled. Comment this out to test this code
@@ -43,11 +50,11 @@ func main() {
brightening = !brightening
continue
}
var brightness uint16 = uint16(i) << 8
var brightness uint32 = uint32(i)
if !brightening {
brightness = 0xFFFF - brightness
brightness = 256 - brightness
}
led.Set(brightness)
pwm.Set(channelLED, pwm.Top()*brightness/256)
time.Sleep(5 * time.Millisecond)
}
}()
examples/l293x/speed/main.go
+18 -6
View File
@@ -8,19 +8,31 @@ import (
)
const (
maxSpeed = 30000
maxSpeed = 100
)
func main() {
machine.InitPWM()
err := machine.TCC0.Configure(machine.PWMConfig{
Period: 16384e3, // 16.384ms
})
if err != nil {
println(err.Error())
return
}
wheel := l293x.NewWithSpeed(machine.D10, machine.D11, machine.PWM{machine.D12})
spc, err := machine.TCC0.Channel(machine.D12)
if err != nil {
println(err.Error())
return
}
wheel := l293x.NewWithSpeed(machine.D10, machine.D11, spc, machine.TCC0)
wheel.Configure()
for i := 0; i <= 10; i++ {
println("Forward")
var i uint16
for i = 0; i < maxSpeed; i += 1000 {
var i uint32
for i = 0; i < maxSpeed; i += 10 {
wheel.Forward(i)
time.Sleep(time.Millisecond * 100)
}
@@ -30,7 +42,7 @@ func main() {
time.Sleep(time.Millisecond * 1000)
println("Backward")
for i = 0; i < maxSpeed; i += 1000 {
for i = 0; i < maxSpeed; i += 10 {
wheel.Backward(i)
time.Sleep(time.Millisecond * 100)
}
examples/l9110x/speed/main.go
+25 -6
View File
@@ -8,19 +8,38 @@ import (
)
const (
maxSpeed = 30000
maxSpeed = 100
)
func main() {
machine.InitPWM()
machine.D11.Configure(machine.PinConfig{Mode: machine.PinOutput})
machine.D12.Configure(machine.PinConfig{Mode: machine.PinOutput})
wheel := l9110x.NewWithSpeed(machine.PWM{machine.D11}, machine.PWM{machine.D12})
err := machine.TCC0.Configure(machine.PWMConfig{})
if err != nil {
println(err.Error())
return
}
ca, err := machine.TCC0.Channel(machine.D11)
if err != nil {
println(err.Error())
return
}
cb, err := machine.TCC0.Channel(machine.D12)
if err != nil {
println(err.Error())
return
}
wheel := l9110x.NewWithSpeed(ca, cb, machine.TCC0)
wheel.Configure()
for i := 0; i <= 10; i++ {
println("Forward")
var i uint16
for i = 0; i < maxSpeed; i += 1000 {
var i uint32
for i = 0; i < maxSpeed; i += 10 {
wheel.Forward(i)
time.Sleep(time.Millisecond * 100)
}
@@ -30,7 +49,7 @@ func main() {
time.Sleep(time.Millisecond * 1000)
println("Backward")
for i = 0; i < maxSpeed; i += 1000 {
for i = 0; i < maxSpeed; i += 10 {
wheel.Backward(i)
time.Sleep(time.Millisecond * 100)
}
l293x/l293x.go
+36 -14
View File
@@ -56,49 +56,71 @@ func (d *Device) Stop() {
d.en.Low()
}
// PWM is the interface necessary for controlling the motor driver.
type PWM interface {
Configure(config machine.PWMConfig) error
Channel(pin machine.Pin) (channel uint8, err error)
Top() uint32
Set(channel uint8, value uint32)
SetPeriod(period uint64) error
}
// PWMDevice is a motor with speed control.
// a1 and a2 are the directional GPIO pins.
// en is the PWM pin that controls the motor speed.
type PWMDevice struct {
a1, a2 machine.Pin
en machine.PWM
spc uint8
pwm PWM
}
// NewWithSpeed returns a new PWMMotor driver that uses a PWM pin to control speed.
func NewWithSpeed(direction1, direction2 machine.Pin, speedPin machine.PWM) PWMDevice {
// NewWithSpeed returns a new PWMMotor driver that uses an already configured PWM channel
// to control speed.
func NewWithSpeed(direction1, direction2 machine.Pin, spc uint8, pwm PWM) PWMDevice {
return PWMDevice{
a1: direction1,
a2: direction2,
en: speedPin,
spc: spc,
pwm: pwm,
}
}
// Configure configures the PWMDevice.
func (d *PWMDevice) Configure() {
// Configure configures the PWMDevice. Note that the PWM interface and
// channel must already be configured, this function will not do it for you.
func (d *PWMDevice) Configure() error {
d.a1.Configure(machine.PinConfig{Mode: machine.PinOutput})
d.a2.Configure(machine.PinConfig{Mode: machine.PinOutput})
d.en.Configure()
d.Stop()
return nil
}
// Forward turns motor on in forward direction at specific speed.
func (d *PWMDevice) Forward(speed uint16) {
// Forward turns motor on in forward direction at specific speed as a percentage.
func (d *PWMDevice) Forward(speed uint32) {
if speed > 100 {
speed = 100
}
d.a1.High()
d.a2.Low()
d.en.Set(speed)
d.pwm.Set(d.spc, d.pwm.Top()*speed/100)
}
// Backward turns motor on in backward direction at specific speed.
func (d *PWMDevice) Backward(speed uint16) {
// Backward turns motor on in backward direction at specific speed as a percentage.
func (d *PWMDevice) Backward(speed uint32) {
if speed > 100 {
speed = 100
}
d.a1.Low()
d.a2.High()
d.en.Set(speed)
d.pwm.Set(d.spc, d.pwm.Top()*speed/100)
}
// Stop turns motor off.
func (d *PWMDevice) Stop() {
d.a1.Low()
d.a2.Low()
d.en.Set(0)
d.pwm.Set(d.spc, 0)
}
l9110x/l9110x.go
+29 -19
View File
@@ -49,42 +49,52 @@ func (d *Device) Stop() {
d.ib.Low()
}
// PWM is the interface necessary for controlling the motor driver.
type PWM interface {
Configure(config machine.PWMConfig) error
Channel(pin machine.Pin) (channel uint8, err error)
Top() uint32
Set(channel uint8, value uint32)
SetPeriod(period uint64) error
}
// PWMDevice is a motor with speed control.
// ia and ib are the directional/speed PWM pins.
type PWMDevice struct {
ia, ib machine.PWM
pwm PWM
ca, cb uint8
}
// NewWithSpeed returns a new PWMMotor driver that uses 2 PWM pins to control both direction and speed.
func NewWithSpeed(direction1, direction2 machine.PWM) PWMDevice {
func NewWithSpeed(ca, cb uint8, pwm PWM) PWMDevice {
return PWMDevice{
ia: direction1,
ib: direction2,
pwm: pwm,
ca: ca,
cb: cb,
}
}
// Configure configures the PWMDevice.
func (d *PWMDevice) Configure() {
d.ia.Configure()
d.ib.Configure()
// Configure configures the PWMDevice. Note that the pins, PWM interface,
// and channels must all already be configured.
func (d *PWMDevice) Configure() (err error) {
d.Stop()
return
}
// Forward turns motor on in forward direction at specific speed.
func (d *PWMDevice) Forward(speed uint16) {
d.ia.Set(speed)
d.ib.Set(0)
// Forward turns motor on in forward direction at specific speed as a percentage.
func (d *PWMDevice) Forward(speed uint32) {
d.pwm.Set(d.ca, d.pwm.Top()*speed/100)
d.pwm.Set(d.cb, 0)
}
// Backward turns motor on in backward direction at specific speed.
func (d *PWMDevice) Backward(speed uint16) {
d.ia.Set(0)
d.ib.Set(speed)
// Backward turns motor on in backward direction at specific speed as a percentage.
func (d *PWMDevice) Backward(speed uint32) {
d.pwm.Set(d.ca, 0)
d.pwm.Set(d.cb, d.pwm.Top()*speed/100)
}
// Stop turns motor off.
func (d *PWMDevice) Stop() {
d.ia.Set(0)
d.ib.Set(0)
d.pwm.Set(d.ca, 0)
d.pwm.Set(d.cb, 0)
}