Fix mbed not using REFRESH_INTERVAL #132

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razvanphp wants to merge 1 commit into arduino-libraries:master

from vampirebyte:master

Open

Fix mbed not using REFRESH_INTERVAL #132

razvanphp wants to merge 1 commit into arduino-libraries:master from vampirebyte:master

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razvanphp

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@razvanphp razvanphp commented Sep 18, 2024 •

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This pull request refactors the Servo library for mbed-based boards to utilize std::chrono durations instead of manual conversions with floating-point numbers. The 20ms interval was hardcoded for mbed platform only.

Changes:

Fix bug on mbed platform of not using REFRESH_INTERVAL at all
Modified ServoImpl::start() and ServoImpl::call() to use std::chrono::microseconds.
Eliminated floating-point divisions by 0.02f (hardcoded) and 1e6.
Ensured backward compatibility by keeping existing functionality intact.

Benefits:

Enhanced type safety and precision.
Simplified codebase and aligned with other platforms.
Facilitates dynamic adjustment of REFRESH_INTERVAL.

Testing:

Verified functionality with default REFRESH_INTERVAL of 20000 microseconds.
Tested with REFRESH_INTERVAL set to 10000 and 5000 microseconds.
Confirmed correct servo operation and signal timing using an oscilloscope.

Notes:

This change aligns the Servo library with the updated mbed OS API that favours std::chrono durations since mbedOS 6.0.0, see

https://github.com/arduino/ArduinoCore-mbed/blob/702daa02e244fb8710b48599f38786a67c590699/cores/arduino/mbed/drivers/include/drivers/Ticker.h#L85-L122

@razvanphp


 Fix mbed not using REFRESH_INTERVAL

fab0609

Also do not use deprecated float as parameter, switch to chrono duration

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github-actions bot commented Sep 18, 2024

Memory usage change @ fab0609

Board	flash	%	RAM for global variables	%
`arduino:avr:leonardo`	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
`arduino:avr:mega`	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
`arduino:avr:nano`	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
`arduino:mbed_nano:nano33ble`	💚 -448 - -448	-0.05 - -0.05	0 - 0	0.0 - 0.0
`arduino:mbed_nano:nanorp2040connect`	💚 -1868 - -1868	-0.01 - -0.01	0 - 0	0.0 - 0.0
`arduino:mbed_portenta:envie_m7`	N/A	N/A	N/A	N/A
`arduino:mbed_portenta:envie_m7:target_core=cm4`	N/A	N/A	N/A	N/A
`arduino:megaavr:nona4809`	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0
`arduino:sam:arduino_due_x_dbg`	0 - 0	0.0 - 0.0	N/A	N/A
`arduino:samd:mkrzero`	0 - 0	0.0 - 0.0	0 - 0	0.0 - 0.0

Click for full report table

Board	`examples/Knob` flash	%	`examples/Knob` RAM for global variables	%	`examples/Sweep` flash	%	`examples/Sweep` RAM for global variables	%
`arduino:avr:leonardo`	0	0.0	0	0.0	0	0.0	0	0.0
`arduino:avr:mega`	0	0.0	0	0.0	0	0.0	0	0.0
`arduino:avr:nano`	0	0.0	0	0.0	0	0.0	0	0.0
`arduino:mbed_nano:nano33ble`	-448	-0.05	0	0.0	-448	-0.05	0	0.0
`arduino:mbed_nano:nanorp2040connect`	-1868	-0.01	0	0.0	-1868	-0.01	0	0.0
`arduino:mbed_portenta:envie_m7`	N/A	N/A	N/A	N/A	N/A	N/A	N/A	N/A
`arduino:mbed_portenta:envie_m7:target_core=cm4`	N/A	N/A	N/A	N/A	N/A	N/A	N/A	N/A
`arduino:megaavr:nona4809`	0	0.0	0	0.0	0	0.0	0	0.0
`arduino:sam:arduino_due_x_dbg`	0	0.0	N/A	N/A	0	0.0	N/A	N/A
`arduino:samd:mkrzero`	0	0.0	0	0.0	0	0.0	0	0.0

Click for full report CSV

Board,examples/Knob<br>flash,%,examples/Knob<br>RAM for global variables,%,examples/Sweep<br>flash,%,examples/Sweep<br>RAM for global variables,%
arduino:avr:leonardo,0,0.0,0,0.0,0,0.0,0,0.0
arduino:avr:mega,0,0.0,0,0.0,0,0.0,0,0.0
arduino:avr:nano,0,0.0,0,0.0,0,0.0,0,0.0
arduino:mbed_nano:nano33ble,-448,-0.05,0,0.0,-448,-0.05,0,0.0
arduino:mbed_nano:nanorp2040connect,-1868,-0.01,0,0.0,-1868,-0.01,0,0.0
arduino:mbed_portenta:envie_m7,N/A,N/A,N/A,N/A,N/A,N/A,N/A,N/A
arduino:mbed_portenta:envie_m7:target_core=cm4,N/A,N/A,N/A,N/A,N/A,N/A,N/A,N/A
arduino:megaavr:nona4809,0,0.0,0,0.0,0,0.0,0,0.0
arduino:sam:arduino_due_x_dbg,0,0.0,N/A,N/A,0,0.0,N/A,N/A
arduino:samd:mkrzero,0,0.0,0,0.0,0,0.0,0,0.0