From e03d757b860d0651d29353d6d6bb310def3c353b Mon Sep 17 00:00:00 2001 From: pedrominatel Date: Thu, 31 Oct 2024 14:45:44 +0000 Subject: [PATCH] Added servo component to the registry Minor fix on the idf_component.yml file Added docs link and improved readme file Added test_apps to the servo component Added servo component to the CI --- .github/workflows/upload_component.yml | 1 + .gitlab/ci/build.yml | 20 ++ components/motor/servo/README.md | 57 +++++ .../examples/servo_control/CMakeLists.txt | 6 + .../servo/examples/servo_control/README.md | 36 ++++ .../servo_control/main/CMakeLists.txt | 2 + .../servo_control/main/idf_component.yml | 4 + .../servo_control/main/servo_control.c | 69 ++++++ components/motor/servo/idf_component.yml | 9 + components/motor/servo/license.txt | 202 ++++++++++++++++++ .../motor/servo/test_apps/CMakeLists.txt | 9 + .../{test => test_apps/main}/CMakeLists.txt | 2 +- .../main/test_servo.c} | 33 +++ .../motor/servo/test_apps/pytest_servo.py | 30 +++ .../motor/servo/test_apps/sdkconfig.defaults | 4 + 15 files changed, 483 insertions(+), 1 deletion(-) create mode 100644 components/motor/servo/README.md create mode 100644 components/motor/servo/examples/servo_control/CMakeLists.txt create mode 100644 components/motor/servo/examples/servo_control/README.md create mode 100644 components/motor/servo/examples/servo_control/main/CMakeLists.txt create mode 100644 components/motor/servo/examples/servo_control/main/idf_component.yml create mode 100644 components/motor/servo/examples/servo_control/main/servo_control.c create mode 100644 components/motor/servo/idf_component.yml create mode 100644 components/motor/servo/license.txt create mode 100644 components/motor/servo/test_apps/CMakeLists.txt rename components/motor/servo/{test => test_apps/main}/CMakeLists.txt (57%) rename components/motor/servo/{test/servo_test.c => test_apps/main/test_servo.c} (79%) create mode 100644 components/motor/servo/test_apps/pytest_servo.py create mode 100644 components/motor/servo/test_apps/sdkconfig.defaults diff --git a/.github/workflows/upload_component.yml b/.github/workflows/upload_component.yml index 67c7e0137..f0c47d20f 100644 --- a/.github/workflows/upload_component.yml +++ b/.github/workflows/upload_component.yml @@ -58,6 +58,7 @@ jobs: components/led/lightbulb_driver; components/motor/esp_sensorless_bldc_control; components/motor/esp_simplefoc; + components/motor/servo; components/openai; components/sensors/humiture/aht20; components/sensors/ntc_driver; diff --git a/.gitlab/ci/build.yml b/.gitlab/ci/build.yml index d72856a60..0f316e636 100644 --- a/.gitlab/ci/build.yml +++ b/.gitlab/ci/build.yml @@ -574,6 +574,18 @@ build_example_motor_foc_knob: variables: EXAMPLE_DIR: examples/motor/foc_knob_example +build_example_motor_servo: + extends: + - .build_examples_template + - .rules:build:example_motor_servo + parallel: + matrix: + - IMAGE: espressif/idf:release-v5.0 + - IMAGE: espressif/idf:release-v5.1 + - IMAGE: espressif/idf:release-v5.2 + variables: + EXAMPLE_DIR: components/motor/servo/examples/servo_control + build_example_ota_simple_ota_example: extends: - .build_examples_template @@ -1132,6 +1144,14 @@ build_components_motor_esp_simplefoc_test_apps: variables: EXAMPLE_DIR: components/motor/esp_simplefoc/test_apps +build_components_motor_servo_test_apps: + extends: + - .build_examples_template + - .rules:build:components_motor_servo_test_apps + - .build_idf_active_release_version + variables: + EXAMPLE_DIR: components/motor/servo/test_apps + build_components_ntc_driver_test_apps: extends: - .build_examples_template diff --git a/components/motor/servo/README.md b/components/motor/servo/README.md new file mode 100644 index 000000000..0b0f14075 --- /dev/null +++ b/components/motor/servo/README.md @@ -0,0 +1,57 @@ +# Servo Motor Component + +This component provides an easy-to-use interface for controlling servo motors with the ESP-IDF framework. Servo motors are commonly used in robotics, automation, and various mechanical applications due to their precise control of angular position. + +The library uses PWM (Pulse Width Modulation) to control servo motor rotation and supports customizable configurations for angle limits, pulse width, frequency, and more. + +## Features + +- Easy control of servo motors using PWM signals +- Support for custom angle range and pulse width +- Flexible configuration of PWM channels and timers +- Compatible with the ESP-IDF framework + +## Getting Started + +### Prerequisites + +- ESP-IDF installed and configured on your development environment +- A servo motor compatible with PWM signals +- Proper connections between the ESP32 and the servo motor (signal, VCC, GND) + +## How to use + +Initialize the sensor with the configuration: + +```c + servo_config_t servo_cfg = { + .max_angle = 180, + .min_width_us = 500, + .max_width_us = 2500, + .freq = 50, + .timer_number = LEDC_TIMER_0, + .channels = { + .servo_pin = { + SERVO_GPIO, + }, + .ch = { + LEDC_CHANNEL_0, + }, + }, + .channel_number = 1, + }; + + // Initialize the servo + iot_servo_init(LEDC_LOW_SPEED_MODE, &servo_cfg); +``` + +Set the angle: + +```c +uint16_t angle = 0; +iot_servo_write_angle(LEDC_LOW_SPEED_MODE, 0, angle); +``` + +## Reference + +[Documentation](https://docs.espressif.com/projects/esp-iot-solution/en/latest/motor/servo.html) diff --git a/components/motor/servo/examples/servo_control/CMakeLists.txt b/components/motor/servo/examples/servo_control/CMakeLists.txt new file mode 100644 index 000000000..a6cc618f1 --- /dev/null +++ b/components/motor/servo/examples/servo_control/CMakeLists.txt @@ -0,0 +1,6 @@ +# The following five lines of boilerplate have to be in your project's +# CMakeLists in this exact order for cmake to work correctly +cmake_minimum_required(VERSION 3.16) + +include($ENV{IDF_PATH}/tools/cmake/project.cmake) +project(servo_control) diff --git a/components/motor/servo/examples/servo_control/README.md b/components/motor/servo/examples/servo_control/README.md new file mode 100644 index 000000000..74cc88736 --- /dev/null +++ b/components/motor/servo/examples/servo_control/README.md @@ -0,0 +1,36 @@ +# Example for the servo component + +This example shows how to use the servo component. + +## How to use + +Initialize the sensor with the configuration: + +```c + servo_config_t servo_cfg = { + .max_angle = 180, + .min_width_us = 500, + .max_width_us = 2500, + .freq = 50, + .timer_number = LEDC_TIMER_0, + .channels = { + .servo_pin = { + SERVO_GPIO, + }, + .ch = { + LEDC_CHANNEL_0, + }, + }, + .channel_number = 1, + }; + + // Initialize the servo + iot_servo_init(LEDC_LOW_SPEED_MODE, &servo_cfg); +``` + +Set the angle: + +```c +uint16_t angle = 0; +iot_servo_write_angle(LEDC_LOW_SPEED_MODE, 0, angle); +``` diff --git a/components/motor/servo/examples/servo_control/main/CMakeLists.txt b/components/motor/servo/examples/servo_control/main/CMakeLists.txt new file mode 100644 index 000000000..279a3c977 --- /dev/null +++ b/components/motor/servo/examples/servo_control/main/CMakeLists.txt @@ -0,0 +1,2 @@ +idf_component_register(SRCS "servo_control.c" + INCLUDE_DIRS ".") diff --git a/components/motor/servo/examples/servo_control/main/idf_component.yml b/components/motor/servo/examples/servo_control/main/idf_component.yml new file mode 100644 index 000000000..fd7fd7c52 --- /dev/null +++ b/components/motor/servo/examples/servo_control/main/idf_component.yml @@ -0,0 +1,4 @@ +dependencies: + espressif/servo: + version: "*" + override_path: '../../../' diff --git a/components/motor/servo/examples/servo_control/main/servo_control.c b/components/motor/servo/examples/servo_control/main/servo_control.c new file mode 100644 index 000000000..c6473247d --- /dev/null +++ b/components/motor/servo/examples/servo_control/main/servo_control.c @@ -0,0 +1,69 @@ +#include +#include +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "driver/i2c_types.h" +#include "esp_log.h" +#include "esp_system.h" +#include "sdkconfig.h" +#include "iot_servo.h" + +#define SERVO_GPIO (2) // Servo GPIO + +static const char *TAG = "Servo Control"; + +uint16_t calibration_value_0 = 30; // Real 0 degree angle +uint16_t calibration_value_180 = 195; // Real 0 degree angle + + +// Task to test the servo +static void servo_test_task(void *arg) +{ + ESP_LOGI(TAG, "Servo Test Task"); + while (1) { + // Set the angle of the servo + for(int i = calibration_value_0; i <= calibration_value_180; i += 1) { + iot_servo_write_angle(LEDC_LOW_SPEED_MODE, 0, i); + vTaskDelay(20 / portTICK_PERIOD_MS); + } + // Return to the initial position + iot_servo_write_angle(LEDC_LOW_SPEED_MODE, 0, calibration_value_0); + vTaskDelay(1000 / portTICK_PERIOD_MS); + } + vTaskDelete(NULL); +} + +void servo_init(void) +{ + ESP_LOGI(TAG, "Servo Control"); + + // Configure the servo + servo_config_t servo_cfg = { + .max_angle = 180, + .min_width_us = 500, + .max_width_us = 2500, + .freq = 50, + .timer_number = LEDC_TIMER_0, + .channels = { + .servo_pin = { + SERVO_GPIO, + }, + .ch = { + LEDC_CHANNEL_0, + }, + }, + .channel_number = 1, + }; + + // Initialize the servo + iot_servo_init(LEDC_LOW_SPEED_MODE, &servo_cfg); +} + +void app_main(void) +{ + ESP_LOGI(TAG, "Servo Control"); + // Initialize the servo + servo_init(); + // Create the servo test task + xTaskCreate(servo_test_task, "servo_test_task", 2048, NULL, 5, NULL); +} diff --git a/components/motor/servo/idf_component.yml b/components/motor/servo/idf_component.yml new file mode 100644 index 000000000..175b8a26f --- /dev/null +++ b/components/motor/servo/idf_component.yml @@ -0,0 +1,9 @@ +version: 1.1.0 +description: Espressif's Servo Motor Component +url: https://github.com/espressif/esp-iot-solution/tree/master/components/motor/servo +repository: https://github.com/espressif/esp-iot-solution.git +issues: https://github.com/espressif/esp-iot-solution/issues +documentation: https://docs.espressif.com/projects/esp-iot-solution/en/latest/motor/servo.html +dependencies: + idf: + version: '>=4.4' diff --git a/components/motor/servo/license.txt b/components/motor/servo/license.txt new file mode 100644 index 000000000..d64569567 --- /dev/null +++ b/components/motor/servo/license.txt @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/components/motor/servo/test_apps/CMakeLists.txt b/components/motor/servo/test_apps/CMakeLists.txt new file mode 100644 index 000000000..0efdf7fa2 --- /dev/null +++ b/components/motor/servo/test_apps/CMakeLists.txt @@ -0,0 +1,9 @@ +# The following lines of boilerplate have to be in your project's CMakeLists +# in this exact order for cmake to work correctly +cmake_minimum_required(VERSION 3.5) + +set(EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components" + "../../servo") + +include($ENV{IDF_PATH}/tools/cmake/project.cmake) +project(servo_test) diff --git a/components/motor/servo/test/CMakeLists.txt b/components/motor/servo/test_apps/main/CMakeLists.txt similarity index 57% rename from components/motor/servo/test/CMakeLists.txt rename to components/motor/servo/test_apps/main/CMakeLists.txt index 744fb3005..fc2007260 100644 --- a/components/motor/servo/test/CMakeLists.txt +++ b/components/motor/servo/test_apps/main/CMakeLists.txt @@ -1,3 +1,3 @@ idf_component_register(SRC_DIRS "." PRIV_INCLUDE_DIRS "." - PRIV_REQUIRES unity test_utils servo) + PRIV_REQUIRES unity servo) diff --git a/components/motor/servo/test/servo_test.c b/components/motor/servo/test_apps/main/test_servo.c similarity index 79% rename from components/motor/servo/test/servo_test.c rename to components/motor/servo/test_apps/main/test_servo.c index e5019365a..5a9e38fd7 100644 --- a/components/motor/servo/test/servo_test.c +++ b/components/motor/servo/test_apps/main/test_servo.c @@ -11,6 +11,7 @@ #include "esp_log.h" #include "iot_servo.h" #include "unity.h" +#include "unity_config.h" #include "sdkconfig.h" #ifdef CONFIG_IDF_TARGET_ESP32 @@ -41,6 +42,11 @@ #define SERVO_CH7_PIN 8 #endif +#define TEST_MEMORY_LEAK_THRESHOLD (-500) + +static size_t before_free_8bit; +static size_t before_free_32bit; + static void _set_angle(ledc_mode_t speed_mode, float angle) { for (size_t i = 0; i < 8; i++) { @@ -145,3 +151,30 @@ TEST_CASE("Servo_motor test", "[servo][iot]") iot_servo_deinit(LEDC_HIGH_SPEED_MODE); #endif } + +static void check_leak(size_t before_free, size_t after_free, const char *type) +{ + ssize_t delta = after_free - before_free; + printf("MALLOC_CAP_%s: Before %u bytes free, After %u bytes free (delta %d)\n", type, before_free, after_free, delta); + TEST_ASSERT_MESSAGE(delta >= TEST_MEMORY_LEAK_THRESHOLD, "memory leak"); +} + +void setUp(void) +{ + before_free_8bit = heap_caps_get_free_size(MALLOC_CAP_8BIT); + before_free_32bit = heap_caps_get_free_size(MALLOC_CAP_32BIT); +} + +void tearDown(void) +{ + size_t after_free_8bit = heap_caps_get_free_size(MALLOC_CAP_8BIT); + size_t after_free_32bit = heap_caps_get_free_size(MALLOC_CAP_32BIT); + check_leak(before_free_8bit, after_free_8bit, "8BIT"); + check_leak(before_free_32bit, after_free_32bit, "32BIT"); +} + +void app_main(void) +{ + printf("SERVO TEST \n"); + unity_run_menu(); +} diff --git a/components/motor/servo/test_apps/pytest_servo.py b/components/motor/servo/test_apps/pytest_servo.py new file mode 100644 index 000000000..cc4571c08 --- /dev/null +++ b/components/motor/servo/test_apps/pytest_servo.py @@ -0,0 +1,30 @@ +# SPDX-FileCopyrightText: 2024Espressif Systems (Shanghai) CO LTD +# SPDX-License-Identifier: Apache-2.0 + +''' +Steps to run these cases: +- Build + - . ${IDF_PATH}/export.sh + - pip install idf_build_apps + - python tools/build_apps.py components/motor/servo/test_apps -t esp32 +- Test + - pip install -r tools/requirements/requirement.pytest.txt + - pytest components/motor/servo/test_apps --target esp32 +''' + +import pytest +from pytest_embedded import Dut + +@pytest.mark.target('esp32') +@pytest.mark.target('esp32c3') +@pytest.mark.target('esp32c6') +@pytest.mark.target('esp32s3') +@pytest.mark.env('generic') +@pytest.mark.parametrize( + 'config', + [ + 'defaults', + ], +) +def test_servo(dut: Dut)-> None: + dut.run_all_single_board_cases() diff --git a/components/motor/servo/test_apps/sdkconfig.defaults b/components/motor/servo/test_apps/sdkconfig.defaults new file mode 100644 index 000000000..8714e0287 --- /dev/null +++ b/components/motor/servo/test_apps/sdkconfig.defaults @@ -0,0 +1,4 @@ +# For IDF 5.0 +CONFIG_FREERTOS_HZ=1000 +CONFIG_ESP_TASK_WDT_EN=n +CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=4096