Remove warnings, calibrate servo, change servo api

inc/ADC.h

@@ -6,7 +6,7 @@
 extern "C" {
 #endif
 
-void adc_init();
+void adc_init(void);
 uint16_t adc_get(uint8_t channel);
 
 #ifdef __cplusplus

inc/DCMotor.h

@@ -9,7 +9,7 @@
 extern "C" {
 #endif
 
-void dc_init();
+void dc_init(void);
 
 void dc_set(uint8_t direction, uint8_t speed);
 

inc/ExternButton.h

@@ -9,9 +9,9 @@
 extern "C" {
 #endif
 
-void button_init();
+void button_init(void);
 
-int button_get();
+int button_get(void);
 
 #ifdef __cplusplus
 }

inc/ServoMotor.h

@@ -11,9 +11,11 @@
 extern "C" {
 #endif
 
-void servo_init();
+void servo_init(void);
 
-void servo_set(uint8_t servo, uint8_t position);
+void servo_set_percent(uint8_t servo, double position);
+
+void servo_set_degree(uint8_t servo, double position);
 
 #ifdef __cplusplus
 }

inc/Util.h

@@ -4,18 +4,18 @@
 extern "C" {
 #endif
 
-void all_init();
+void all_init(void);
 
-void print_gyro();
-void print_accelero();
-void print_degree();
+void print_gyro(void);
+void print_accelero(void);
+void print_degree(void);
 
-double get_degree_short();
-double get_degree_long();
-double get_degree_max();
+double get_degree_short(void);
+double get_degree_long(void);
+double get_degree_max(void);
 
-bool simulate_spring();
-void block_spring();
+bool simulate_spring(void);
+void block_spring(void);
 
 #ifdef __cplusplus
 }

main.c

@@ -19,7 +19,34 @@ static cyg_thread threaddata;
 void main_thread(cyg_addrword_t arg) {
     all_init();
 
-    bool button_pressed = false;
+    unsigned int loop = 0;
+
+    while(1) {
+        printf("Loop: %8d\n", loop++);
+
+        servo_set_percent(SERVO_0, 0.0);
+        servo_set_percent(SERVO_1, 0.0);
+        servo_set_percent(SERVO_2, 0.0);
+        servo_set_percent(SERVO_3, 0.0);
+
+        cyg_thread_delay(5000);
+
+        servo_set_percent(SERVO_0, 0.5);
+        servo_set_percent(SERVO_1, 0.5);
+        servo_set_percent(SERVO_2, 0.5);
+        servo_set_percent(SERVO_3, 0.5);
+
+        cyg_thread_delay(5000);
+
+        servo_set_percent(SERVO_0, 1.0);
+        servo_set_percent(SERVO_1, 1.0);
+        servo_set_percent(SERVO_2, 1.0);
+        servo_set_percent(SERVO_3, 1.0);
+
+        cyg_thread_delay(5000);
+    }
+
+    /*bool button_pressed = false;
     bool spring_broken = false;
     bool upside_down = false;
 
@@ -48,7 +75,7 @@ void main_thread(cyg_addrword_t arg) {
         else {
             block_spring();
         }
-    }
+    }*/
 }
 
 void cyg_user_start(void) {

src/ServoMotor.cpp

 #include "ServoMotor.h"
 
+#include <cstdio>
+
 #include <cyg/hal/hal_arch.h>
 
 #include <libopencm3/cm3/common.h>
@@ -13,11 +15,15 @@
 #define GPIO_D15 CYGHWR_HAL_STM32_PIN_ALTFN_OUT(D,15, 2, PUSHPULL,NONE,LOW)
 
 // The timer ticks per microsecond. Can be adjusted by measuring PWM on an oscilloscope.
-#define PWM_TIMER_TICKS_PER_MICROSECOND 86
+#define PWM_TIMER_TICKS_PER_MICROSECOND 84
 
 // PWM Period. Must be more then maximum high time.
 #define PWM_PERIOD (3000 * PWM_TIMER_TICKS_PER_MICROSECOND)
 
+// Use this to calibrate the minimum and maximum position of your servo. Default: 150 and 300
+#define MIN_UPTIME 155
+#define MAX_UPTIME 305
+
 static void pwm_init(uint32_t timer, uint8_t channel, uint32_t period) {
     // Function stolen from somewhere on stackoverflow
 
@@ -60,7 +66,7 @@ static void pwm_init(uint32_t timer, uint8_t channel, uint32_t period) {
     timer_enable_oc_output(timer, chan);                // set CCxE bit in TIMx_CCER  (enable output)
 
     // Initialize all counters in the register
-    switch (timer) {
+    switch(timer) {
         case TIM1:
             TIM1_EGR |= TIM_EGR_UG;
             break;
@@ -85,10 +91,11 @@ static void pwm_init(uint32_t timer, uint8_t channel, uint32_t period) {
         case TIM8:
             TIM8_EGR |= TIM_EGR_UG;
             break;
+        default:;
     }
 }
 
-static void pwm_setup(void) {
+static void pwm_setup() {
     rcc_periph_clock_enable(RCC_TIM4);
     pwm_init(TIM4, 1, PWM_PERIOD);
     pwm_init(TIM4, 2, PWM_PERIOD);
@@ -115,21 +122,33 @@ extern "C" void servo_init() {
     CYGHWR_HAL_STM32_GPIO_SET(GPIO_D15);
 }
 
-extern "C" void servo_set(uint8_t servo, uint8_t position) {
+extern "C" void servo_set_percent(uint8_t servo, double position) {
+    if (position > 1.0) {
+        printf("Error: servo_set_percent only accepts values between 0.0 and 1.0");
+        return;
+    };
     switch (servo) {
         case SERVO_0:
-            timer_set_oc_value(TIM4, TIM_OC1, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 325 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
+            timer_set_oc_value(TIM4, TIM_OC1, (uint32_t)(MIN_UPTIME * PWM_TIMER_TICKS_PER_MICROSECOND + (position * MAX_UPTIME * PWM_TIMER_TICKS_PER_MICROSECOND)));
             break;
         case SERVO_1:
-            timer_set_oc_value(TIM4, TIM_OC2, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 325 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
+            timer_set_oc_value(TIM4, TIM_OC2, (uint32_t)(MIN_UPTIME * PWM_TIMER_TICKS_PER_MICROSECOND + (position * MAX_UPTIME * PWM_TIMER_TICKS_PER_MICROSECOND)));
             break;
         case SERVO_2:
-            timer_set_oc_value(TIM4, TIM_OC3, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 325 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
+            timer_set_oc_value(TIM4, TIM_OC3, (uint32_t)(MIN_UPTIME * PWM_TIMER_TICKS_PER_MICROSECOND + (position * MAX_UPTIME * PWM_TIMER_TICKS_PER_MICROSECOND)));
             break;
         case SERVO_3:
-            timer_set_oc_value(TIM4, TIM_OC4, 150 * PWM_TIMER_TICKS_PER_MICROSECOND + (position * 325 * PWM_TIMER_TICKS_PER_MICROSECOND / 255));
+            timer_set_oc_value(TIM4, TIM_OC4, (uint32_t)(MIN_UPTIME * PWM_TIMER_TICKS_PER_MICROSECOND + (position * MAX_UPTIME * PWM_TIMER_TICKS_PER_MICROSECOND)));
             break;
         default:
             break;
     }
 }
+
+extern "C" void servo_set_degree(uint8_t servo, double position) {
+    if (position > 180) {
+        printf("Error: servo_set_degree only accepts values between 0 and 180");
+        return;
+    };
+    servo_set_percent(servo, position / 180.0);
+}