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https://github.com/richardghirst/PiBits.git
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Add alternative command format in the style of "P1-12=100". Add /dev/servoblaster-cfg describing which pins are currently configured for use.
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Richard Hirst
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3f4804aa90
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@ -18,15 +18,30 @@ widths between 0 and 100% of the 20ms cycle time, making it suitable for
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controling the brightness of up to 21 LEDs, for example.
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The driver creates a device file, /dev/servoblaster, in to which you can send
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commands. The command format is "<servo-number>=<sero-position>", where servo
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number is by default a number from 0 to 7 inclusive, and servo position is the
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pulse width you want in units of 10us. So, if you want to set servo 3 to a
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pulse width of 1.2ms you could do this at the shell prompt:
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commands. The command format is either
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<servo-number>=<servo-position>
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or
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P<header>-<pin>=<servo-postion>
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For the first format <servo-number> is the sevo number, which by default is a
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number between 0 and 7, inclusive. For the second format <header> is either
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'1' or '5', depending on which header your servo is connected to, and <pin> is
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the pin number on that header you have connected it to. In both cases
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<servo-position> is the pulse width you want in units of 10us.
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So, if you want to set servo 3 to a pulse width of 1.2ms you could do this at
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the shell prompt:
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echo 3=120 > /dev/servoblaster
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120 is in units of 10us, so that is 1200us, or 1.2ms.
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Alternatively, using the second command format, if you had a servo connected to
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P1 pin 12 you could set that to a width of 1.2ms as follows:
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echo P1-12=120 > /dev/servoblaster
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If you set a servo width to 0 it turns off the servo output, without changing
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the current servo position.
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@ -46,7 +61,15 @@ connected to P1 header pins as follows:
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P1-13 is connected to either GPIO-21 or GPIO-27, depending on board revision.
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Command line options described later in this document allow you to configure
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which header pins map to which servo numbers.
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which header pins are used for servo control, and what servo numbers they map
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to.
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Note that servoblaster must know at startup which header pins it is control of.
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If you want to use a header pin that is not in the default list above, you
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must use the appropriate command line option to inform servoblaster.
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The driver also creates a /dev/servoblaster-cfg file, which describes which
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pins servoblaster is currently configured to use.
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When the driver is first loaded the GPIO pins are configure to be outputs, and
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their pulse widths are set to 0. This is so that servos don't jump to some
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@ -257,7 +280,8 @@ the kernel implementation (servoblaster.ko) has been depreciated.
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The kernel implementation is missing most of the command line options available
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in the user space implementation, and always uses the default set of 8 pins
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described above.
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described above. In addition, the kernel implementation only supports the
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first command format described above.
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Upon reading /dev/servoblaster, the device file provides feedback as to what
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position each servo is currently set. For example, after starting the driver
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@ -137,6 +137,8 @@ static uint8_t rev2_p5pin2gpio_map[] = {
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};
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static uint8_t servo2gpio[MAX_SERVOS];
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static uint8_t p1pin2servo[NUM_P1PINS+1];
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static uint8_t p5pin2servo[NUM_P5PINS+1];
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static int servostart[MAX_SERVOS];
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static int servowidth[MAX_SERVOS];
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static int num_servos;
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@ -144,6 +146,7 @@ static uint32_t gpiomode[MAX_SERVOS];
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static int restore_gpio_modes;
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#define DEVFILE "/dev/servoblaster"
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#define CFGFILE "/dev/servoblaster-cfg"
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#define PAGE_SIZE 4096
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#define PAGE_SHIFT 12
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@ -271,6 +274,7 @@ static int servo_max = DEFAULT_MAX;
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static void set_servo(int servo, int width);
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static void gpio_set_mode(uint32_t gpio, uint32_t mode);
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static char *gpio2pinname(uint8_t gpio);
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static void
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udelay(int us)
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@ -301,6 +305,7 @@ terminate(int dummy)
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}
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}
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unlink(DEVFILE);
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unlink(CFGFILE);
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exit(1);
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}
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@ -430,8 +435,10 @@ set_servo(int servo, int width)
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if (width == servowidth[servo])
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return;
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if (width == 0)
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if (width == 0) {
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ctl->turnon[servo] = 0;
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return;
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}
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if (width > servowidth[servo]) {
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dp = ctl->turnoff + servostart[servo] + width;
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@ -458,10 +465,7 @@ set_servo(int servo, int width)
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}
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}
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servowidth[servo] = width;
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if (width)
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ctl->turnon[servo] = mask;
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ctl->turnon[servo] = mask;
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update_idle_time(servo);
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}
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@ -713,19 +717,48 @@ go_go_go(void)
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if (line[nchars] == '\n') {
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line[++nchars] = '\0';
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nchars = 0;
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n = sscanf(line, "%d=%d%c", &servo, &width, &nl);
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if (!strcmp(line, "debug\n")) {
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do_debug();
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} else if (n !=3 || nl != '\n') {
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fprintf(stderr, "Bad input: %s", line);
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} else if (servo < 0 || servo >= MAX_SERVOS) {
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fprintf(stderr, "Invalid servo number %d\n", servo);
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} else if (servo2gpio[servo] == DMY) {
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fprintf(stderr, "Servo %d is not mapped to a GPIO pin\n", servo);
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} else if (width && (width < servo_min || width > servo_max)) {
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fprintf(stderr, "Invalid width %d\n", width);
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if (line[0] == 'p' || line[0] == 'P') {
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int hdr, pin, width;
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n = sscanf(line+1, "%d-%d=%d%c", &hdr, &pin, &width, &nl);
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if (n != 4 || nl != '\n') {
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fprintf(stderr, "Bad input: %s", line);
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} else if (hdr != 1 && hdr != 5) {
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fprintf(stderr, "Invalid header P%d\n", hdr);
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} else if (pin < 1 ||
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(hdr == 1 && pin > NUM_P1PINS) ||
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(hdr == 5 && pin > NUM_P5PINS)) {
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fprintf(stderr, "Invalid pin number P%d-%d\n", hdr, pin);
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} else if ((hdr == 1 && p1pin2servo[pin] == DMY) ||
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(hdr == 5 && p5pin2servo[pin] == DMY)) {
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fprintf(stderr, "P%d-%d is not mapped to a servo\n", hdr, pin);
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} else {
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if (hdr == 1) {
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servo = p1pin2servo[pin];
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} else {
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servo = p5pin2servo[pin];
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}
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if (width && (width < servo_min || width > servo_max)) {
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fprintf(stderr, "Invalid width %d\n", width);
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} else {
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set_servo(servo, width);
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}
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}
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} else {
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set_servo(servo, width);
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n = sscanf(line, "%d=%d%c", &servo, &width, &nl);
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if (!strcmp(line, "debug\n")) {
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do_debug();
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} else if (n !=3 || nl != '\n') {
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fprintf(stderr, "Bad input: %s", line);
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} else if (servo < 0 || servo >= MAX_SERVOS) {
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fprintf(stderr, "Invalid servo number %d\n", servo);
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} else if (servo2gpio[servo] == DMY) {
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fprintf(stderr, "Servo %d is not mapped to a GPIO pin\n", servo);
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} else if (width && (width < servo_min || width > servo_max)) {
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fprintf(stderr, "Invalid width %d\n", width);
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} else {
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set_servo(servo, width);
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}
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}
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} else {
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if (++nchars >= 126) {
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@ -785,11 +818,14 @@ static void
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parse_pin_lists(int p1first, char *p1pins, char*p5pins)
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{
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char *name, *pins;
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int mapcnt;
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uint8_t *map;
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int i, mapcnt;
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uint8_t *map, *pNpin2servo;
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int lst, servo = 0;
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FILE *fp;
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memset(servo2gpio, DMY, sizeof(servo2gpio));
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memset(p1pin2servo, DMY, sizeof(p1pin2servo));
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memset(p5pin2servo, DMY, sizeof(p5pin2servo));
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for (lst = 0; lst < 2; lst++) {
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if (lst == 0 && p1first) {
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name = "P1";
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@ -801,6 +837,7 @@ parse_pin_lists(int p1first, char *p1pins, char*p5pins)
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map = rev2_p1pin2gpio_map;
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mapcnt = sizeof(rev2_p1pin2gpio_map);
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}
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pNpin2servo = p1pin2servo;
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} else {
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name = "P5";
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pins = p5pins;
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@ -811,6 +848,7 @@ parse_pin_lists(int p1first, char *p1pins, char*p5pins)
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map = rev2_p5pin2gpio_map;
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mapcnt = sizeof(rev2_p5pin2gpio_map);
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}
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pNpin2servo = p5pin2servo;
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}
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while (*pins) {
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char *end;
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@ -827,6 +865,7 @@ parse_pin_lists(int p1first, char *p1pins, char*p5pins)
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} else {
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if (map[pin-1] == DMY)
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fatal("Pin %d on header %s cannot be used for a servo output\n", pin, name);
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pNpin2servo[pin] = servo;
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servo2gpio[servo++] = map[pin-1];
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num_servos++;
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}
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@ -835,6 +874,21 @@ parse_pin_lists(int p1first, char *p1pins, char*p5pins)
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pins++;
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}
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}
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/* Write a cfg file so can tell which pins are used for servos */
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fp = fopen(CFGFILE, "w");
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if (fp) {
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if (p1first)
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fprintf(fp, "p1pins=%s\np5pins=%s\n", p1pins, p5pins);
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else
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fprintf(fp, "p5pins=%s\np1pins=%s\n", p5pins, p1pins);
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fprintf(fp, "\nServo mapping:\n");
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for (i = 0; i < MAX_SERVOS; i++) {
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if (servo2gpio[i] == DMY)
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continue;
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fprintf(fp, " %2d on %-5s GPIO-%d\n", i, gpio2pinname(servo2gpio[i]), servo2gpio[i]);
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}
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fclose(fp);
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}
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}
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static uint8_t gpiosearch(uint8_t gpio, uint8_t *map, int len)
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