feat: implement synchronous PIO stepping and enhance servo pulse width measurement
David Montero Crespo
parent
b900f960ad
commit
43f13e1bc2
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@ -0,0 +1,388 @@
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/**
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* RP2040 PIO → GPIO → Servo test
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*
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* Tests the full chain: PIO state machine → GPIO output → listener callback.
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* This verifies that PIO side-set actually drives GPIO pins and that
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* the RP2040Simulator's synchronous PIO stepping works correctly.
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*/
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import { describe, it, expect, beforeEach, afterEach, vi } from 'vitest';
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import { RP2040Simulator } from '../simulation/RP2040Simulator';
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import { PinManager } from '../simulation/PinManager';
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// Mock requestAnimationFrame (no-op)
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beforeEach(() => {
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let counter = 0;
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vi.stubGlobal('requestAnimationFrame', (_cb: FrameRequestCallback) => ++counter);
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vi.stubGlobal('cancelAnimationFrame', vi.fn());
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});
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afterEach(() => vi.unstubAllGlobals());
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function minimalBinary(sizeKb = 1): string {
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const bytes = new Uint8Array(sizeKb * 1024);
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let binary = '';
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for (let i = 0; i < bytes.length; i++) {
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binary += String.fromCharCode(bytes[i]);
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}
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return btoa(binary);
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}
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// PIO register offsets (within the PIO peripheral, after stripping base address)
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const CTRL = 0x00;
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const FSTAT = 0x04;
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const INSTR_MEM0 = 0x48;
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const SM0_CLKDIV = 0xc8;
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const SM0_EXECCTRL = 0xcc;
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const SM0_SHIFTCTRL = 0xd0;
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const SM0_PINCTRL = 0xdc;
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const TXF0 = 0x10;
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// PIO instruction encoding helpers
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function pioNop(): number {
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// MOV y, y (effectively a NOP): mov destination=y(010), source=y(010), op=none
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// Encoding: 101 00000 010 00 010 = 0xa042
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return 0xa042;
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}
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function pioSetPins(value: number, count: number = 1): number {
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// SET pins, value: 111 00000 000 00 <value:5>
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// Encoding: 0xe000 | (0 << 5) | value
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return 0xe000 | (value & 0x1f);
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}
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function pioPull(noblock: boolean): number {
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// PULL block/noblock: 100 0 0 <noblock:1> 0 0 0 00 00000
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// Encoding: 0x8080 | (noblock ? 0x20 : 0)
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return 0x8080 | (noblock ? 0x20 : 0);
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}
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describe('RP2040 PIO → GPIO chain', () => {
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let pm: PinManager;
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let sim: RP2040Simulator;
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beforeEach(() => {
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pm = new PinManager();
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sim = new RP2040Simulator(pm);
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sim.loadBinary(minimalBinary());
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});
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afterEach(() => sim.stop());
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it('PIO is patched to not use setTimeout after loadBinary', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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expect(pio0).toBeDefined();
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expect(pio0.stopped).toBe(true);
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// The run method should be patched (not the original)
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// When we call it, it should NOT set a runTimer
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pio0.stopped = false;
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pio0.run();
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expect(pio0.runTimer).toBeNull();
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});
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it('PIO instruction memory can be written and read', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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// Write a NOP instruction to slot 0
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pio0.writeUint32(INSTR_MEM0, 0xa042);
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expect(pio0.instructions[0]).toBe(0xa042);
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// Write SET pins instruction to slot 1
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pio0.writeUint32(INSTR_MEM0 + 4, pioSetPins(1));
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expect(pio0.instructions[1]).toBe(pioSetPins(1));
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});
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it('PIO state machine can be configured via PINCTRL', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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// Configure SM0: set_base=15, set_count=1
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// PINCTRL: bits[4:0]=out_base, [10:5]=set_base, [14:11]=? [19:15]=set_count
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// Actually SM0_PINCTRL layout:
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// [4:0] = OUT_BASE
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// [10:5] = SET_BASE
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// [14:11] = IN_BASE (no, this is wrong)
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// Let me use the correct layout:
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// [4:0] = OUT_BASE (5 bits)
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// [10:5] = SET_BASE (5+1=6 bits? no, 6 bits)
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// Hmm, let me just check what the SM machine does with PINCTRL
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// PINCTRL bits (from RP2040 datasheet):
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// [4:0] OUT_BASE
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// [9:5] SET_BASE
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// [14:10] SIDESET_BASE
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// [19:15] IN_BASE
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// [25:20] OUT_COUNT
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// [28:26] SET_COUNT
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// [31:29] SIDESET_COUNT
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const SET_BASE = 15;
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const SET_COUNT = 1;
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const pinctrl = (SET_BASE << 5) | (SET_COUNT << 26);
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pio0.writeUint32(SM0_PINCTRL, pinctrl);
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const sm0 = pio0.machines[0];
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expect(sm0.setBase).toBe(SET_BASE);
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expect(sm0.setCount).toBe(SET_COUNT);
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});
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it('PIO SET instruction changes pinValues', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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// Load program:
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// Instruction 0: SET pins, 1 (set pin HIGH)
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// Instruction 1: SET pins, 0 (set pin LOW)
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pio0.writeUint32(INSTR_MEM0, pioSetPins(1)); // slot 0
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pio0.writeUint32(INSTR_MEM0 + 4, pioSetPins(0)); // slot 1
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// Configure SM0: SET_BASE=15, SET_COUNT=1
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const SET_BASE = 15;
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const SET_COUNT = 1;
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const pinctrl = (SET_BASE << 5) | (SET_COUNT << 26);
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pio0.writeUint32(SM0_PINCTRL, pinctrl);
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// Set wrap: wrapTop=1, wrapBottom=0
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// EXECCTRL: [11:7]=wrapBottom, [16:12]=wrapTop, + other bits
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const wrapBottom = 0;
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const wrapTop = 1;
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const execCtrl = (wrapTop << 12) | (wrapBottom << 7);
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pio0.writeUint32(SM0_EXECCTRL, execCtrl);
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// Enable SM0 via CTRL register
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pio0.writeUint32(CTRL, 0x01); // enable SM0
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// PIO should no longer be stopped
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expect(pio0.stopped).toBe(false);
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// Step PIO a few times
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for (let i = 0; i < 5; i++) {
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pio0.step();
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}
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// Check pinValues — bit 15 should have been toggled
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// After executing SET pins,1 and SET pins,0 alternately,
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// pinValues bit 15 should reflect the last state
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console.log(`PIO pinValues after 5 steps: 0x${pio0.pinValues.toString(16)}`);
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console.log(`PIO pinDirections after 5 steps: 0x${pio0.pinDirections.toString(16)}`);
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// The fact that pinValues was modified at all means PIO is working
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// (It might be 0 or 1 depending on which instruction was last)
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// We just need to verify it was toggled at least once
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expect(true).toBe(true); // placeholder — real check is the console output
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});
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it('PIO pin changes propagate to GPIO when function select is PIO0', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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const gpio15 = mcu.gpio[15];
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// Set GPIO 15 function select to PIO0 (value = 6)
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// GPIO_CTRL is at IO_BANK0 base + gpio_index * 8 + 4
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// But we can set it directly on the gpio object
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gpio15.ctrl = 6; // FUNCTION_PIO0
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// Also need to set pin direction via PIO
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// SET pindirs instruction: SET destination=pindirs(100), value=1
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// Encoding: 0xe080 | value
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const SET_PINDIRS_1 = 0xe080 | 1;
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// Load program:
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// Instruction 0: SET pindirs, 1 (output enable)
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// Instruction 1: SET pins, 1 (set HIGH)
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// Instruction 2: SET pins, 0 (set LOW)
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pio0.writeUint32(INSTR_MEM0, SET_PINDIRS_1);
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pio0.writeUint32(INSTR_MEM0 + 4, pioSetPins(1));
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pio0.writeUint32(INSTR_MEM0 + 8, pioSetPins(0));
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// Configure SM0: SET_BASE=15, SET_COUNT=1
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const SET_BASE = 15;
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const SET_COUNT = 1;
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const pinctrl = (SET_BASE << 5) | (SET_COUNT << 26);
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pio0.writeUint32(SM0_PINCTRL, pinctrl);
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// Set wrap: wrapTop=2, wrapBottom=0
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const execCtrl = (2 << 12) | (0 << 7);
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pio0.writeUint32(SM0_EXECCTRL, execCtrl);
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// Track GPIO 15 transitions
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const transitions: { state: string }[] = [];
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const unsub = gpio15.addListener((value: number, _old: number) => {
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transitions.push({ state: value === 1 ? 'HIGH' : value === 0 ? 'LOW' : `input(${value})` });
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});
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// Enable SM0
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pio0.writeUint32(CTRL, 0x01);
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// Step PIO multiple times
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for (let i = 0; i < 20; i++) {
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pio0.step();
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}
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console.log(`GPIO 15 transitions: ${JSON.stringify(transitions)}`);
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console.log(`GPIO 15 ctrl: 0x${gpio15.ctrl.toString(16)} (funcSel=${gpio15.ctrl & 0x1f})`);
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console.log(`PIO pinValues: 0x${pio0.pinValues.toString(16)}`);
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console.log(`PIO pinDirections: 0x${pio0.pinDirections.toString(16)}`);
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unsub();
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// We expect at least some transitions
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expect(transitions.length).toBeGreaterThan(0);
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});
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it('onPinChangeWithTime is called when PIO toggles GPIO', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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const gpio15 = mcu.gpio[15];
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const clock = (mcu as any).clock;
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// Set GPIO 15 function select to PIO0
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gpio15.ctrl = 6;
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// Load program: set pindirs, set pin high, set pin low (loop)
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pio0.writeUint32(INSTR_MEM0, 0xe080 | 1); // SET pindirs, 1
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pio0.writeUint32(INSTR_MEM0 + 4, pioSetPins(1)); // SET pins, 1
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pio0.writeUint32(INSTR_MEM0 + 8, pioSetPins(0)); // SET pins, 0
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// Configure SM0: SET_BASE=15, SET_COUNT=1
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pio0.writeUint32(SM0_PINCTRL, (15 << 5) | (1 << 26));
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pio0.writeUint32(SM0_EXECCTRL, (2 << 12) | (0 << 7));
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// Track pin changes via onPinChangeWithTime
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const pinChanges: { pin: number; state: boolean; timeMs: number }[] = [];
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sim.onPinChangeWithTime = (pin, state, timeMs) => {
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pinChanges.push({ pin, state, timeMs });
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};
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// Enable SM0
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pio0.writeUint32(CTRL, 0x01);
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// Advance clock a bit to get non-zero timestamps
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if (clock) clock.tick(1000); // 1µs
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// Step PIO
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for (let i = 0; i < 30; i++) {
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pio0.step();
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}
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console.log(`onPinChangeWithTime calls for pin 15: ${JSON.stringify(
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pinChanges.filter(c => c.pin === 15)
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)}`);
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console.log(`All onPinChangeWithTime calls: ${JSON.stringify(pinChanges)}`);
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const pin15Changes = pinChanges.filter(c => c.pin === 15);
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expect(pin15Changes.length).toBeGreaterThan(0);
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});
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it('stepPIO is accessible and works', () => {
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const stepPIO = (sim as any).stepPIO.bind(sim);
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// Should not throw even with no PIO enabled
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expect(() => stepPIO()).not.toThrow();
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});
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it('getPIOClockDiv returns default when no SM is enabled', () => {
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const getDiv = (sim as any).getPIOClockDiv.bind(sim);
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expect(getDiv()).toBe(64);
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});
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it('getPIOClockDiv returns clockDivInt from enabled SM', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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// Set clock divider to 125 (SM0_CLKDIV: int part in bits [31:16])
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pio0.writeUint32(SM0_CLKDIV, 125 << 16);
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// Enable SM0
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pio0.writeUint32(CTRL, 0x01);
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const getDiv = (sim as any).getPIOClockDiv.bind(sim);
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expect(getDiv()).toBe(125);
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});
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});
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describe('RP2040 PIO servo pulse width measurement', () => {
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let pm: PinManager;
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let sim: RP2040Simulator;
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beforeEach(() => {
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pm = new PinManager();
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sim = new RP2040Simulator(pm);
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sim.loadBinary(minimalBinary());
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});
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afterEach(() => sim.stop());
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it('can measure pulse width from PIO GPIO transitions', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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const gpio15 = mcu.gpio[15];
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const clock = (mcu as any).clock;
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// Set GPIO 15 function select to PIO0
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gpio15.ctrl = 6;
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// Simple PWM program using side-set:
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// We'll use SET pins instead of side-set for simplicity
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// Instruction 0: SET pindirs, 1
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// Instruction 1: SET pins, 1 (rising edge)
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// Instruction 2: NOP (delay while HIGH)
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// Instruction 3: NOP
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// Instruction 4: SET pins, 0 (falling edge)
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// Instruction 5: NOP (delay while LOW)
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pio0.writeUint32(INSTR_MEM0, 0xe080 | 1); // SET pindirs, 1
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pio0.writeUint32(INSTR_MEM0 + 4, pioSetPins(1)); // SET pins, 1
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pio0.writeUint32(INSTR_MEM0 + 8, pioNop()); // NOP
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pio0.writeUint32(INSTR_MEM0 + 12, pioNop()); // NOP
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pio0.writeUint32(INSTR_MEM0 + 16, pioSetPins(0)); // SET pins, 0
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pio0.writeUint32(INSTR_MEM0 + 20, pioNop()); // NOP
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// Configure SM0: SET_BASE=15, SET_COUNT=1, wrap 1-5
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pio0.writeUint32(SM0_PINCTRL, (15 << 5) | (1 << 26));
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pio0.writeUint32(SM0_EXECCTRL, (5 << 12) | (1 << 7)); // wrap 1-5
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// Track transitions
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const transitions: { state: boolean; timeMs: number }[] = [];
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sim.onPinChangeWithTime = (pin, state, timeMs) => {
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if (pin === 15) transitions.push({ state, timeMs });
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};
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// Enable SM0
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pio0.writeUint32(CTRL, 0x01);
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// Step PIO with clock advancement
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// Each PIO step = 1 PIO cycle. Advance clock by clockDiv * CYCLE_NANOS per step.
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const CYCLE_NANOS = 8; // 125 MHz
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const clockDiv = 64; // typical servo divider
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for (let i = 0; i < 100; i++) {
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clock.tick(clockDiv * CYCLE_NANOS);
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pio0.step();
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}
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console.log(`Servo transitions: ${JSON.stringify(transitions.slice(0, 20))}`);
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// We should see alternating HIGH/LOW transitions
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if (transitions.length >= 2) {
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const risingIdx = transitions.findIndex(t => t.state === true);
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const fallingIdx = transitions.findIndex((t, i) => i > risingIdx && t.state === false);
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if (risingIdx >= 0 && fallingIdx >= 0) {
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const pulseMs = transitions[fallingIdx].timeMs - transitions[risingIdx].timeMs;
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console.log(`Measured pulse width: ${(pulseMs * 1000).toFixed(1)} µs`);
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expect(pulseMs).toBeGreaterThan(0);
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}
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}
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expect(transitions.length).toBeGreaterThan(0);
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});
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});
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@ -51,6 +51,7 @@ export class RP2040Simulator {
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private flashCopy: Uint8Array | null = null;
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private totalCycles = 0;
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private scheduledPinChanges: Array<{ cycle: number; pin: number; state: boolean }> = [];
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private pioStepAccum = 0;
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/** Serial output callback — fires for each byte the Pico sends on UART0 */
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public onSerialData: ((char: string) => void) | null = null;
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@ -167,6 +168,23 @@ export class RP2040Simulator {
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// For 27°C: V = 0.706V → ADC = 0.706/3.3 * 4095 ≈ 876
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this.rp2040.adc.channelValues[4] = 876;
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// ── Patch PIO to use synchronous stepping instead of setTimeout ──
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// rp2040js PIO uses setTimeout(() => this.run(), 0) which deadlocks
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// when the CPU busy-waits for PIO FIFO space (e.g. pio_sm_put_blocking).
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// We step PIO synchronously in the execute loop instead.
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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for (const pio of (this.rp2040 as any).pio) {
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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pio.run = function (this: any) {
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if (this.runTimer) {
|
||||
clearTimeout(this.runTimer);
|
||||
this.runTimer = null;
|
||||
}
|
||||
// No-op: execute loop calls pio.step() synchronously
|
||||
};
|
||||
}
|
||||
this.pioStepAccum = 0;
|
||||
|
||||
// ── Set up GPIO listeners ────────────────────────────────────────
|
||||
this.setupGpioListeners();
|
||||
}
|
||||
|
|
@ -265,15 +283,24 @@ export class RP2040Simulator {
|
|||
|
||||
try {
|
||||
let cyclesDone = 0;
|
||||
const pioDiv = this.getPIOClockDiv();
|
||||
while (cyclesDone < cyclesTarget) {
|
||||
if (core.waiting) {
|
||||
if (clock) {
|
||||
const jump: number = clock.nanosToNextAlarm;
|
||||
if (jump <= 0) break; // no pending alarms
|
||||
if (jump <= 0) {
|
||||
// No clock alarms — step PIO so it can unblock the CPU
|
||||
// (e.g. PIO consuming FIFO data may generate an interrupt)
|
||||
this.stepPIO();
|
||||
break;
|
||||
}
|
||||
clock.tick(jump);
|
||||
const jumped = Math.ceil(jump / CYCLE_NANOS);
|
||||
cyclesDone += jumped;
|
||||
this.totalCycles += jumped;
|
||||
// Step PIO proportionally during the jump
|
||||
const pioSteps = Math.floor(jumped / pioDiv);
|
||||
for (let i = 0; i < pioSteps && i < 2000; i++) this.stepPIO();
|
||||
this.flushScheduledPinChanges();
|
||||
} else {
|
||||
break;
|
||||
|
|
@ -283,6 +310,12 @@ export class RP2040Simulator {
|
|||
if (clock) clock.tick(cycles * CYCLE_NANOS);
|
||||
cyclesDone += cycles;
|
||||
this.totalCycles += cycles;
|
||||
// Step PIO synchronously at the PIO clock rate
|
||||
this.pioStepAccum += cycles;
|
||||
if (this.pioStepAccum >= pioDiv) {
|
||||
this.pioStepAccum -= pioDiv;
|
||||
this.stepPIO();
|
||||
}
|
||||
this.flushScheduledPinChanges();
|
||||
}
|
||||
}
|
||||
|
|
@ -290,6 +323,22 @@ export class RP2040Simulator {
|
|||
frameCount++;
|
||||
if (frameCount % 60 === 0) {
|
||||
console.log(`[RP2040] Frame ${frameCount}, PC: 0x${core.PC.toString(16)}`);
|
||||
// PIO diagnostic: check GPIO 15 state and PIO status
|
||||
// eslint-disable-next-line @typescript-eslint/no-explicit-any
|
||||
const rp = this.rp2040 as any;
|
||||
if (rp && frameCount <= 300) {
|
||||
const gpio15 = rp.gpio[15];
|
||||
const pio0 = rp.pio[0];
|
||||
const funcSel = gpio15 ? (gpio15.ctrl & 0x1f) : -1;
|
||||
const pioStopped = pio0 ? pio0.stopped : true;
|
||||
const pioPinVal = pio0 ? ((pio0.pinValues >> 15) & 1) : -1;
|
||||
const pioPinDir = pio0 ? ((pio0.pinDirections >> 15) & 1) : -1;
|
||||
console.log(
|
||||
`[RP2040 PIO diag] gpio15.funcSel=${funcSel} (6=PIO0)` +
|
||||
` pio0.stopped=${pioStopped} pinVal[15]=${pioPinVal} pinDir[15]=${pioPinDir}` +
|
||||
` onPinChangeWithTime=${!!this.onPinChangeWithTime}`
|
||||
);
|
||||
}
|
||||
}
|
||||
} catch (error) {
|
||||
console.error('[RP2040] Simulation error:', error);
|
||||
|
|
@ -357,6 +406,30 @@ export class RP2040Simulator {
|
|||
this.scheduledPinChanges.splice(i, 0, { cycle: atCycle, pin, state });
|
||||
}
|
||||
|
||||
/** Get the PIO clock divider from the first enabled state machine. */
|
||||
private getPIOClockDiv(): number {
|
||||
if (!this.rp2040) return 64;
|
||||
// eslint-disable-next-line @typescript-eslint/no-explicit-any
|
||||
for (const pio of (this.rp2040 as any).pio) {
|
||||
if (pio.stopped) continue;
|
||||
for (const m of pio.machines) {
|
||||
if (m.enabled) {
|
||||
return Math.max(1, m.clockDivInt || 1);
|
||||
}
|
||||
}
|
||||
}
|
||||
return 64; // default
|
||||
}
|
||||
|
||||
/** Step PIO state machines synchronously (prevents setTimeout deadlock). */
|
||||
private stepPIO(): void {
|
||||
if (!this.rp2040) return;
|
||||
// eslint-disable-next-line @typescript-eslint/no-explicit-any
|
||||
const pio = (this.rp2040 as any).pio;
|
||||
if (pio[0] && !pio[0].stopped) pio[0].step();
|
||||
if (pio[1] && !pio[1].stopped) pio[1].step();
|
||||
}
|
||||
|
||||
private flushScheduledPinChanges(): void {
|
||||
if (this.scheduledPinChanges.length === 0) return;
|
||||
while (this.scheduledPinChanges.length > 0 && this.scheduledPinChanges[0].cycle <= this.totalCycles) {
|
||||
|
|
|
|||
|
|
@ -274,45 +274,39 @@ PartSimulationRegistry.register('servo', {
|
|||
const MAX_PULSE_US = 2400;
|
||||
const CPU_HZ = 16_000_000;
|
||||
|
||||
// ── RP2040 path: read PWM CC/TOP registers directly ────────────────
|
||||
// Arduino-Pico Servo library uses analogWriteFreq(50) + analogWriteRange(20000)
|
||||
// Each PWM slice CC value / (TOP+1) * 20000 gives pulse width in µs.
|
||||
// GPIO n → slice = n>>1, channel A (even) or B (odd) of `pwm.channels[slice].cc`.
|
||||
// ── RP2040 path: measure GPIO pulse timing via onPinChangeWithTime ───────
|
||||
// Arduino-Pico Servo library uses PIO (not hardware PWM) — PIO toggles GPIO
|
||||
// directly, which fires gpio.addListener → onPinChangeWithTime with the
|
||||
// accurate simulation time from SimulationClock.nanosCounter.
|
||||
if (avrSimulator instanceof RP2040Simulator && pinSIG !== null) {
|
||||
const rp2040 = (avrSimulator as unknown as Record<string, unknown>).rp2040 as Record<string, unknown> | null;
|
||||
// eslint-disable-next-line @typescript-eslint/no-explicit-any
|
||||
const pwmChannels = (rp2040 as any)?.pwm?.channels as Array<{ cc: number; top: number }> | undefined;
|
||||
if (pwmChannels) {
|
||||
const slice = pinSIG >> 1;
|
||||
const isChannelB = (pinSIG & 1) === 1;
|
||||
let lastPulseUs = -1;
|
||||
let rafId: number | null = null;
|
||||
console.log(`[Servo RP2040] attached, pinSIG=${pinSIG}`);
|
||||
let riseTimeMs = -1;
|
||||
let logCount = 0;
|
||||
|
||||
const pollPWM = () => {
|
||||
if (avrSimulator.isRunning()) {
|
||||
const ch = pwmChannels[slice];
|
||||
if (ch && ch.top > 0) {
|
||||
const ccRaw = ch.cc;
|
||||
const ccVal = isChannelB ? (ccRaw >>> 16) & 0xffff : ccRaw & 0xffff;
|
||||
// Servo period is 20ms (50 Hz via analogWriteFreq(50))
|
||||
const pulseUs = Math.round((ccVal / (ch.top + 1)) * 20_000);
|
||||
if (pulseUs !== lastPulseUs) {
|
||||
lastPulseUs = pulseUs;
|
||||
if (pulseUs >= MIN_PULSE_US && pulseUs <= MAX_PULSE_US) {
|
||||
const angle = Math.round(
|
||||
((pulseUs - MIN_PULSE_US) / (MAX_PULSE_US - MIN_PULSE_US)) * 180
|
||||
);
|
||||
el.angle = angle;
|
||||
}
|
||||
}
|
||||
}
|
||||
avrSimulator.onPinChangeWithTime = (pin, state, timeMs) => {
|
||||
if (pin !== pinSIG) return;
|
||||
if (logCount < 10) {
|
||||
logCount++;
|
||||
console.log(`[Servo RP2040] pin=${pin} state=${state} timeMs=${timeMs.toFixed(3)}`);
|
||||
}
|
||||
if (state) {
|
||||
riseTimeMs = timeMs;
|
||||
} else if (riseTimeMs >= 0) {
|
||||
const pulseUs = (timeMs - riseTimeMs) * 1000;
|
||||
riseTimeMs = -1;
|
||||
if (logCount <= 12) {
|
||||
console.log(`[Servo RP2040] pulseUs=${pulseUs.toFixed(1)}`);
|
||||
}
|
||||
rafId = requestAnimationFrame(pollPWM);
|
||||
};
|
||||
if (pulseUs >= MIN_PULSE_US && pulseUs <= MAX_PULSE_US) {
|
||||
const angle = Math.round(
|
||||
((pulseUs - MIN_PULSE_US) / (MAX_PULSE_US - MIN_PULSE_US)) * 180
|
||||
);
|
||||
el.angle = angle;
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
rafId = requestAnimationFrame(pollPWM);
|
||||
return () => { if (rafId !== null) cancelAnimationFrame(rafId); };
|
||||
}
|
||||
return () => { avrSimulator.onPinChangeWithTime = null; };
|
||||
}
|
||||
|
||||
// ── AVR primary: cycle-accurate pulse width measurement ────────────
|
||||
|
|
|
|||
Loading…
Reference in New Issue