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Fix for frequency changes enabling servo PWM

This commit is contained in:
ZodiusInfuser 2022-03-10 03:22:01 +00:00
parent 3e9597e186
commit d96db62353
3 changed files with 6 additions and 11 deletions
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4
drivers/servo/servo.cpp
View File

@ -96,7 +96,7 @@ namespace servo {
pwm_set_clkdiv_int_frac(pin_num, div, mod);
// If the the period is larger, update the pwm before setting the new wraps
if(pre_update_pwm) {
if(state.is_enabled() && pre_update_pwm) {
apply_pulse(state.get_pulse());
}
@ -104,7 +104,7 @@ namespace servo {
pwm_set_wrap(pin_num, pwm_period - 1);
// If the the period is smaller, update the pwm after setting the new wraps
if(!pre_update_pwm) {
if(state.is_enabled() && !pre_update_pwm) {
apply_pulse(state.get_pulse());
}

8
drivers/servo/servo_cluster.cpp
View File

@ -136,8 +136,9 @@ namespace servo {
// Update the pwm before setting the new wrap
uint8_t servo_count = pwms.get_chan_count();
for(uint servo = 0; servo < servo_count; servo++) {
float current_pulse = servos[servo].get_pulse();
apply_pulse(servo, current_pulse, false);
if(servos[servo].is_enabled()) {
apply_pulse(servo, servos[servo].get_pulse(), false);
}
pwms.set_chan_offset(servo, (uint32_t)(servo_phases[servo] * (float)pwm_period), false);
}
@ -145,8 +146,7 @@ namespace servo {
pwms.set_wrap(pwm_period, true);
// Apply the new divider
// This is done after loading new PWM values to avoid a lockup condition
uint8_t div = div16 >> 4;
uint16_t div = div16 >> 4;
uint8_t mod = div16 % 16;
pwms.set_clkdiv_int_frac(div, mod);

5
micropython/modules/servo/README.md
View File

@ -172,8 +172,6 @@ frequency(
freq # float: the frequency between 10 and 350Hz
)
```
If the servo is disabled, this will enable it with the last pulse it was provided with.
TODO change this behaviour!
#### Useful Values
@ -397,9 +395,6 @@ frequency(
freq # float: the frequency between 10 and 350Hz
)
```
If the servo is disabled, this will enable it with the last pulse it was provided with.
TODO change this behaviour!
Note, currently the frequency changes immediately, even if part-way through a pulse. It is recommended to disable all servos first before changing the frequency.
#### Useful Values