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Fix servo example in rp2040-servo, remove unusable aliases.

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The servo example included phase correction, which does not work with the
provided divider. Updated comments to explain numbers and also explain
alternate calculation with phase correction enabled.

Remove unusable aliases from all servo pins. The board includes a 180 Ohm
resistor on all servo data pins, which makes the lines not very usable for
Spi, Uart or I2C. The aliases were removed given they will rarely, if ever,
be used with this board.
This commit is contained in:
Paul Daniel Faria 2022-09-18 11:31:59 -07:00 committed by 9names
parent e7454087d1
commit d3b0156269
2 changed files with 24 additions and 165 deletions
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25
boards/pimoroni-servo2040/examples/pimoroni_servo2040_pwm_servo.rs
View file

@ -67,10 +67,31 @@ fn main() -> ! {
const MAX_PULSE: u16 = 2000;
let mut pwm: hal::pwm::Slice<_, _> = pwm_slices.pwm0;
pwm.set_ph_correct();
// 50Hz
// 50Hz desired frequency
// Rp2040 clock = 125MHz
// Top = 65_535, resolution for counter (maximum possible u16 value)
// Wrap = Top+1 (number of possible values)
// Phase correction multiplier = 2 if phase correction enabled, else 1
// Divider = rp2040_clock / (Wrap * phase_correction_multiplier * desired_frequency)
// Divider = 125,000,000/(65_536 * 1 * 50)
// Divider = 38.14639
// Divider int = 38
// Divider frac = 3 (3/16 = 0.1875, smallest frac greater than desired clock divider).
pwm.set_div_int(38);
pwm.set_div_frac(3);
// If phase correction enabled, then values would be:
// Divider = rp2040_clock / (Wrap * phase_correction_multiplier * desired_frequency)
// Divider = 125,000,000/(65_536 * 2 * 50)
// Divider = 19.073195
// Divider int = 19
// Divider frac = 2 (2/16 = .1250, smallest frac greater than desired clock divider).
// pwm.set_ph_correct();
// pwm.set_div_int(19);
// pwm.set_div_frac(2);
pwm.set_top(TOP);
pwm.enable();

164
boards/pimoroni-servo2040/src/lib.rs
View file

@ -40,21 +40,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI0 RX` | [crate::Servo1Spi0Rx] |
/// | `UART0 TX` | [crate::Servo1Uart0Tx] |
/// | `I2C0 SDA` | [crate::Servo1I2C0Sda] |
/// | `PWM0 A` | [crate::Servo1Pwm0A] |
/// | `PIO0` | [crate::Servo1Pio0] |
/// | `PIO1` | [crate::Servo1Pio1] |
Gpio0 {
name: servo1,
aliases: {
/// UART Function alias for pin [crate::Pins::servo1].
FunctionUart: Servo1Uart0Tx,
/// SPI Function alias for pin [crate::Pins::servo1].
FunctionSpi: Servo1Spi0Rx,
/// I2C Function alias for pin [crate::Pins::servo1].
FunctionI2C: Servo1I2C0Sda,
/// PWM Function alias for pin [crate::Pins::servo1].
FunctionPwm: Servo1Pwm0A,
/// PIO0 Function alias for pin [crate::Pins::servo1].
@ -68,21 +59,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI0 CSn` | [crate::Servo2Spi0Csn] |
/// | `UART0 RX` | [crate::Servo2Uart0Rx] |
/// | `I2C0 SCL` | [crate::Servo2I2C0Scl] |
/// | `PWM0 B` | [crate::Servo2Pwm0B] |
/// | `PIO0` | [crate::Servo2Pio0] |
/// | `PIO1` | [crate::Servo2Pio1] |
Gpio1 {
name: servo2,
aliases: {
/// UART Function alias for pin [crate::Pins::servo2].
FunctionUart: Servo2Uart0Rx,
/// SPI Function alias for pin [crate::Pins::servo2].
FunctionSpi: Servo2Spi0Csn,
/// I2C Function alias for pin [crate::Pins::servo2].
FunctionI2C: Servo2I2C0Scl,
/// PWM Function alias for pin [crate::Pins::servo2].
FunctionPwm: Servo2Pwm0B,
/// PIO0 Function alias for pin [crate::Pins::servo2].
@ -96,21 +78,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI0 SCK` | [crate::Servo3Spi0Sck] |
/// | `UART0 CTS` | [crate::Servo3Uart0Cts] |
/// | `I2C1 SDA` | [crate::Servo3I2C1Sda] |
/// | `PWM1 A` | [crate::Servo3Pwm1A] |
/// | `PIO0` | [crate::Servo3Pio0] |
/// | `PIO1` | [crate::Servo3Pio1] |
Gpio2 {
name: servo3,
aliases: {
/// UART Function alias for pin [crate::Pins::servo3].
FunctionUart: Servo3Uart0Cts,
/// SPI Function alias for pin [crate::Pins::servo3].
FunctionSpi: Servo3Spi0Sck,
/// I2C Function alias for pin [crate::Pins::servo3].
FunctionI2C: Servo3I2C1Sda,
/// PWM Function alias for pin [crate::Pins::servo3].
FunctionPwm: Servo3Pwm1A,
/// PIO0 Function alias for pin [crate::Pins::servo3].
@ -124,21 +97,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI0 TX` | [crate::Servo4Spi0Tx] |
/// | `UART0 RTS` | [crate::Servo4Uart0Rts] |
/// | `I2C1 SCL` | [crate::Servo4I2C1Scl] |
/// | `PWM1 B` | [crate::Servo4Pwm1B] |
/// | `PIO0` | [crate::Servo4Pio0] |
/// | `PIO1` | [crate::Servo4Pio1] |
Gpio3 {
name: servo4,
aliases: {
/// UART Function alias for pin [crate::Pins::servo4].
FunctionUart: Servo4Uart0Rts,
/// SPI Function alias for pin [crate::Pins::servo4].
FunctionSpi: Servo4Spi0Tx,
/// I2C Function alias for pin [crate::Pins::servo4].
FunctionI2C: Servo4I2C1Scl,
/// PWM Function alias for pin [crate::Pins::servo4].
FunctionPwm: Servo4Pwm1B,
/// PIO0 Function alias for pin [crate::Pins::servo4].
@ -152,21 +116,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI0 RX` | [crate::Servo5Spi0Rx] |
/// | `UART1 TX` | [crate::Servo5Uart1Tx] |
/// | `I2C0 SDA` | [crate::Servo5I2C0Sda] |
/// | `PWM2 A` | [crate::Servo5Pwm2A] |
/// | `PIO0` | [crate::Servo5Pio0] |
/// | `PIO1` | [crate::Servo5Pio1] |
Gpio4 {
name: servo5,
aliases: {
/// UART Function alias for pin [crate::Pins::servo5].
FunctionUart: Servo5Uart1Tx,
/// SPI Function alias for pin [crate::Pins::servo5].
FunctionSpi: Servo5Spi0Rx,
/// I2C Function alias for pin [crate::Pins::servo5].
FunctionI2C: Servo5I2C0Sda,
/// PWM Function alias for pin [crate::Pins::servo5].
FunctionPwm: Servo5Pwm2A,
/// PIO0 Function alias for pin [crate::Pins::servo5].
@ -180,21 +135,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI0 CSn` | [crate::Servo6Spi0Csn] |
/// | `UART1 RX` | [crate::Servo6Uart1Rx] |
/// | `I2C0 SCL` | [crate::Servo6I2C0Scl] |
/// | `PWM2 B` | [crate::Servo6Pwm2B] |
/// | `PIO0` | [crate::Servo6Pio0] |
/// | `PIO1` | [crate::Servo6Pio1] |
Gpio5 {
name: servo6,
aliases: {
/// UART Function alias for pin [crate::Pins::servo6].
FunctionUart: Servo6Uart1Rx,
/// SPI Function alias for pin [crate::Pins::servo6].
FunctionSpi: Servo6Spi0Csn,
/// I2C Function alias for pin [crate::Pins::servo6].
FunctionI2C: Servo6I2C0Scl,
/// PWM Function alias for pin [crate::Pins::servo6].
FunctionPwm: Servo6Pwm2B,
/// PIO0 Function alias for pin [crate::Pins::servo6].
@ -208,21 +154,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI0 SCK` | [crate::Servo7Spi0Sck] |
/// | `UART1 CTS` | [crate::Servo7Uart1Cts] |
/// | `I2C1 SDA` | [crate::Servo7I2C1Sda] |
/// | `PWM3 A` | [crate::Servo7Pwm3A] |
/// | `PIO0` | [crate::Servo7Pio0] |
/// | `PIO1` | [crate::Servo7Pio1] |
Gpio6 {
name: servo7,
aliases: {
/// UART Function alias for pin [crate::Pins::servo7].
FunctionUart: Servo7Uart1Cts,
/// SPI Function alias for pin [crate::Pins::servo7].
FunctionSpi: Servo7Spi0Sck,
/// I2C Function alias for pin [crate::Pins::servo7].
FunctionI2C: Servo7I2C1Sda,
/// PWM Function alias for pin [crate::Pins::servo7].
FunctionPwm: Servo7Pwm3A,
/// PIO0 Function alias for pin [crate::Pins::servo7].
@ -236,21 +173,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI0 TX` | [crate::Servo8Spi0Tx] |
/// | `UART1 RTS` | [crate::Servo8Uart1Rts] |
/// | `I2C1 SCL` | [crate::Servo8I2C1Scl] |
/// | `PWM3 B` | [crate::Servo8Pwm3B] |
/// | `PIO0` | [crate::Servo8Pio0] |
/// | `PIO1` | [crate::Servo8Pio1] |
Gpio7 {
name: servo8,
aliases: {
/// UART Function alias for pin [crate::Pins::servo8].
FunctionUart: Servo8Uart1Rts,
/// SPI Function alias for pin [crate::Pins::servo8].
FunctionSpi: Servo8Spi0Tx,
/// I2C Function alias for pin [crate::Pins::servo8].
FunctionI2C: Servo8I2C1Scl,
/// PWM Function alias for pin [crate::Pins::servo8].
FunctionPwm: Servo8Pwm3B,
/// PIO0 Function alias for pin [crate::Pins::servo8].
@ -264,21 +192,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI1 RX` | [crate::Servo9Spi1Rx] |
/// | `UART1 TX` | [crate::Servo9Uart1Tx] |
/// | `I2C0 SDA` | [crate::Servo9I2C0Sda] |
/// | `PWM4 A` | [crate::Servo9Pwm4A] |
/// | `PIO0` | [crate::Servo9Pio0] |
/// | `PIO1` | [crate::Servo9Pio1] |
Gpio8 {
name: servo9,
aliases: {
/// UART Function alias for pin [crate::Pins::servo9].
FunctionUart: Servo9Uart1Tx,
/// SPI Function alias for pin [crate::Pins::servo9].
FunctionSpi: Servo9Spi1Rx,
/// I2C Function alias for pin [crate::Pins::servo9].
FunctionI2C: Servo9I2C0Sda,
/// PWM Function alias for pin [crate::Pins::servo9].
FunctionPwm: Servo9Pwm4A,
/// PIO0 Function alias for pin [crate::Pins::servo9].
@ -292,21 +211,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI1 CSn` | [crate::Servo10Spi1Csn] |
/// | `UART1 RX` | [crate::Servo10Uart1Rx] |
/// | `I2C0 SCL` | [crate::Servo10I2C0Scl] |
/// | `PWM4 B` | [crate::Servo10Pwm4B] |
/// | `PIO0` | [crate::Servo10Pio0] |
/// | `PIO1` | [crate::Servo10Pio1] |
Gpio9 {
name: servo10,
aliases: {
/// UART Function alias for pin [crate::Pins::servo10].
FunctionUart: Servo10Uart1Rx,
/// SPI Function alias for pin [crate::Pins::servo10].
FunctionSpi: Servo10Spi1Csn,
/// I2C Function alias for pin [crate::Pins::servo10].
FunctionI2C: Servo10I2C0Scl,
/// PWM Function alias for pin [crate::Pins::servo10].
FunctionPwm: Servo10Pwm4B,
/// PIO0 Function alias for pin [crate::Pins::servo10].
@ -320,21 +230,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI1 SCK` | [crate::Servo11Spi1Sck] |
/// | `UART1 CTS` | [crate::Servo11Uart1Cts] |
/// | `I2C1 SDA` | [crate::Servo11I2C1Sda] |
/// | `PWM5 A` | [crate::Servo11Pwm5A] |
/// | `PIO0` | [crate::Servo11Pio0] |
/// | `PIO1` | [crate::Servo11Pio1] |
Gpio10 {
name: servo11,
aliases: {
/// UART Function alias for pin [crate::Pins::servo11].
FunctionUart: Servo11Uart1Cts,
/// SPI Function alias for pin [crate::Pins::servo11].
FunctionSpi: Servo11Spi1Sck,
/// I2C Function alias for pin [crate::Pins::servo11].
FunctionI2C: Servo11I2C1Sda,
/// PWM Function alias for pin [crate::Pins::servo11].
FunctionPwm: Servo11Pwm5A,
/// PIO0 Function alias for pin [crate::Pins::servo11].
@ -348,21 +249,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI1 TX` | [crate::Servo12Spi1Tx] |
/// | `UART1 RTS` | [crate::Servo12Uart1Rts] |
/// | `I2C1 SCL` | [crate::Servo12I2C1Scl] |
/// | `PWM5 B` | [crate::Servo12Pwm5B] |
/// | `PIO0` | [crate::Servo12Pio0] |
/// | `PIO1` | [crate::Servo12Pio1] |
Gpio11 {
name: servo12,
aliases: {
/// UART Function alias for pin [crate::Pins::servo12].
FunctionUart: Servo12Uart1Rts,
/// SPI Function alias for pin [crate::Pins::servo12].
FunctionSpi: Servo12Spi1Tx,
/// I2C Function alias for pin [crate::Pins::servo12].
FunctionI2C: Servo12I2C1Scl,
/// PWM Function alias for pin [crate::Pins::servo12].
FunctionPwm: Servo12Pwm5B,
/// PIO0 Function alias for pin [crate::Pins::servo12].
@ -376,21 +268,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI1 RX` | [crate::Servo13Spi1Rx] |
/// | `UART0 TX` | [crate::Servo13Uart0Tx] |
/// | `I2C0 SDA` | [crate::Servo13I2C0Sda] |
/// | `PWM6 A` | [crate::Servo13Pwm6A] |
/// | `PIO0` | [crate::Servo13Pio0] |
/// | `PIO1` | [crate::Servo13Pio1] |
Gpio12 {
name: servo13,
aliases: {
/// UART Function alias for pin [crate::Pins::servo13].
FunctionUart: Servo13Uart0Tx,
/// SPI Function alias for pin [crate::Pins::servo13].
FunctionSpi: Servo13Spi1Rx,
/// I2C Function alias for pin [crate::Pins::servo13].
FunctionI2C: Servo13I2C0Sda,
/// PWM Function alias for pin [crate::Pins::servo13].
FunctionPwm: Servo13Pwm6A,
/// PIO0 Function alias for pin [crate::Pins::servo13].
@ -404,21 +287,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI1 CSn` | [crate::Servo14Spi1Csn] |
/// | `UART0 RX` | [crate::Servo14Uart0Rx] |
/// | `I2C0 SCL` | [crate::Servo14I2C0Scl] |
/// | `PWM6 B` | [crate::Servo14Pwm6B] |
/// | `PIO0` | [crate::Servo14Pio0] |
/// | `PIO1` | [crate::Servo14Pio1] |
Gpio13 {
name: servo14,
aliases: {
/// UART Function alias for pin [crate::Pins::servo14].
FunctionUart: Servo14Uart0Rx,
/// SPI Function alias for pin [crate::Pins::servo14].
FunctionSpi: Servo14Spi1Csn,
/// I2C Function alias for pin [crate::Pins::servo14].
FunctionI2C: Servo14I2C0Scl,
/// PWM Function alias for pin [crate::Pins::servo14].
FunctionPwm: Servo14Pwm6B,
/// PIO0 Function alias for pin [crate::Pins::servo14].
@ -432,21 +306,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI1 SCK` | [crate::Servo15Spi1Sck] |
/// | `UART0 CTS` | [crate::Servo15Uart0Cts] |
/// | `I2C1 SDA` | [crate::Servo15I2C1Sda] |
/// | `PWM7 A` | [crate::Servo15Pwm7A] |
/// | `PIO0` | [crate::Servo15Pio0] |
/// | `PIO1` | [crate::Servo15Pio1] |
Gpio14 {
name: servo15,
aliases: {
/// UART Function alias for pin [crate::Pins::servo15].
FunctionUart: Servo15Uart0Cts,
/// SPI Function alias for pin [crate::Pins::servo15].
FunctionSpi: Servo15Spi1Sck,
/// I2C Function alias for pin [crate::Pins::servo15].
FunctionI2C: Servo15I2C1Sda,
/// PWM Function alias for pin [crate::Pins::servo15].
FunctionPwm: Servo15Pwm7A,
/// PIO0 Function alias for pin [crate::Pins::servo15].
@ -460,21 +325,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI1 TX` | [crate::Servo16Spi1Tx] |
/// | `UART0 RTS` | [crate::Servo16Uart0Rts] |
/// | `I2C1 SCL` | [crate::Servo16I2C1Scl] |
/// | `PWM7 B` | [crate::Servo16Pwm7B] |
/// | `PIO0` | [crate::Servo16Pio0] |
/// | `PIO1` | [crate::Servo16Pio1] |
Gpio15 {
name: servo16,
aliases: {
/// UART Function alias for pin [crate::Pins::servo16].
FunctionUart: Servo16Uart0Rts,
/// SPI Function alias for pin [crate::Pins::servo16].
FunctionSpi: Servo16Spi1Tx,
/// I2C Function alias for pin [crate::Pins::servo16].
FunctionI2C: Servo16I2C1Scl,
/// PWM Function alias for pin [crate::Pins::servo16].
FunctionPwm: Servo16Pwm7B,
/// PIO0 Function alias for pin [crate::Pins::servo16].
@ -488,21 +344,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI0 RX` | [crate::Servo17Spi0Rx] |
/// | `UART0 TX` | [crate::Servo17Uart0Tx] |
/// | `I2C0 SDA` | [crate::Servo17I2C0Sda] |
/// | `PWM0 A` | [crate::Servo17Pwm0A] |
/// | `PIO0` | [crate::Servo17Pio0] |
/// | `PIO1` | [crate::Servo17Pio1] |
Gpio16 {
name: servo17,
aliases: {
/// UART Function alias for pin [crate::Pins::servo17].
FunctionUart: Servo17Uart0Tx,
/// SPI Function alias for pin [crate::Pins::servo17].
FunctionSpi: Servo17Spi0Rx,
/// I2C Function alias for pin [crate::Pins::servo17].
FunctionI2C: Servo17I2C0Sda,
/// PWM Function alias for pin [crate::Pins::servo17].
FunctionPwm: Servo17Pwm0A,
/// PIO0 Function alias for pin [crate::Pins::servo17].
@ -516,21 +363,12 @@ hal::bsp_pins!(
///
/// | Function | Alias with applied function |
/// |--------------|-----------------------------|
/// | `SPI0 CSn` | [crate::Servo18Spi0Csn] |
/// | `UART0 RX` | [crate::Servo18Uart0Rx] |
/// | `I2C0 SCL` | [crate::Servo18I2C0Scl] |
/// | `PWM0 B` | [crate::Servo18Pwm0B] |
/// | `PIO0` | [crate::Servo18Pio0] |
/// | `PIO1` | [crate::Servo18Pio1] |
Gpio17 {
name: servo18,
aliases: {
/// UART Function alias for pin [crate::Pins::servo18].
FunctionUart: Servo18Uart0Rx,
/// SPI Function alias for pin [crate::Pins::servo18].
FunctionSpi: Servo18Spi0Csn,
/// I2C Function alias for pin [crate::Pins::servo18].
FunctionI2C: Servo18I2C0Scl,
/// PWM Function alias for pin [crate::Pins::servo18].
FunctionPwm: Servo18Pwm0B,
/// PIO0 Function alias for pin [crate::Pins::servo18].
@ -629,7 +467,7 @@ hal::bsp_pins!(
}
},
/// GPIO 22 is connected to adc_addr_0 of the Servo 2040 board..
/// GPIO 22 is connected to adc_addr_0 of the Servo 2040 board.
Gpio22 {
name: adc_addr_0,
},