servo.h

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#ifndef _SERVO_H_
#define _SERVO_H_
 
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/mcpwm.h"
 
#define SERVO_PWM_UNIT (mcpwm_unit_t)MCPWM_UNIT_0 // pwm unit 
#define SERVO_PWM_SIGNAL (mcpwm_io_signals_t)(MCPWM0A) // pwm signal
#define SERVO_GPIO 14 // servo gpio pin
#define SERVO_FREQ 50 // default frequency for servo
#define SERVO_TIMER (mcpwm_timer_t)MCPWM_TIMER_0 // default timer
 
#define SERVO_MIN_PULSEWIDTH_US (1000) // min pulse width
#define SERVO_MAX_PULSEWIDTH_US (2000) // max pulse width
#define SERVO_MAX_DEGREE        (90)   //max degree
 
#define SERVO_OPEN  -90
#define SERVO_CLOSE 90
 
typedef struct Servo{
    mcpwm_timer_t timerNum;  
    mcpwm_unit_t pwmUnit;  
    mcpwm_io_signals_t signal;  
    gpio_num_t gpio;  
    int angle;   
}Servo;
 
void moveServo(Servo *servo, int angle);
void servoInit(Servo *servo);
 
void haltServo(Servo *servo);
 
void startServo(Servo *servo);
#endif