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drivers/servo: fix API doc

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Parameters for servo_init/servo_set are in ms only when using default values for SERVO_RESOLUTION and SERVO_FREQUENCY.
When using non default values, user must scale values to be in the range of [0, SERVO_RESOLUTION]

Signed-off-by: Marc Poulhiès <dkm@kataplop.net>
This commit is contained in:
Marc Poulhiès 2016-03-07 12:38:49 +01:00
parent 2f0b4c20bf
commit 7c0c942e8e
1 changed files with 10 additions and 7 deletions
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17
drivers/include/servo.h
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@ -51,10 +51,12 @@ typedef struct {
* differ slightly from servo to servo, so the min and max values are
* parameterized in the init function.
*
* The servo is initialized with fixed PWM values:
* The servo is initialized with default PWM values:
* - frequency: 100Hz (10ms interval)
* - resolution: 10000 (1000 steps per ms)
*
* These default values can be changed by setting SERVO_RESOLUTION and
* SERVO_FREQUENCY macros.
* Caution: When initializing a servo, the PWM device will be reconfigured to
* new frequency/resolution values. It is however fine to use multiple servos
* with the same PWM device, just on different channels.
@ -62,8 +64,8 @@ typedef struct {
* @param[out] dev struct describing the servo
* @param[in] pwm the PWM device the servo is connected to
* @param[in] pwm_channel the PWM channel the servo is connected to
* @param[in] min minimum pulse width in us
* @param[in] max maximum pulse width in us
* @param[in] min minimum pulse width (in the resolution range)
* @param[in] max maximum pulse width (in the resolution range)
*
* @return 0 on success
* @return <0 on error
@ -73,15 +75,16 @@ int servo_init(servo_t *dev, pwm_t pwm, int pwm_channel, unsigned int min, unsig
/**
* @brief Set the servo motor to a specified position
*
* The position of the servo is specified in the pulse width that controls the
* servo. A value of 1500 means a pulse width of 1.5 ms, which is the center
* position on most servos.
* The position of the servo is specified in the pulse width that
* controls the servo. With default configurations, a value of 1500
* means a pulse width of 1.5 ms, which is the center position on
* most servos.
*
* In case pos is larger/smaller then the max/min values, pos will be set to
* these values.
*
* @param[in] dev the servo to set
* @param[in] pos the position to set the servo in us
* @param[in] pos the position to set the servo (in the resolution range)
*/
void servo_set(servo_t *dev, unsigned int pos);