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[RSDK-12175] silence frequency warning if we use the PWMDriver default frequency #5387

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[RSDK-12175] silence frequency warning if we use the PWMDriver default frequency #5387

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14 changes: 10 additions & 4 deletions components/servo/gpio/servo.go
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,8 @@ const (
minWidthUs uint = 500 // absolute minimum PWM width
maxWidthUs uint = 2500 // absolute maximum PWM width
defaultFreq uint = 300
minFreqHz uint = 50
maxFreqHz uint = 450
)

// We want to distinguish values that are 0 because the user set them to 0 from ones that are 0
Expand Down Expand Up @@ -187,9 +189,9 @@ func (s *servoGPIO) Reconfigure(ctx context.Context, deps resource.Dependencies,
}

if newConf.Frequency != nil {
if *newConf.Frequency > 450 || *newConf.Frequency < 50 {
if *newConf.Frequency > maxFreqHz || *newConf.Frequency < minFreqHz {
return errors.Errorf(
"PWM frequencies should not be above 450Hz or below 50, have %d", newConf.Frequency)
"PWM frequencies should not be above %dHz or below %dHz, have %dHz", maxFreqHz, minFreqHz, newConf.Frequency)
}

s.frequency = *newConf.Frequency
Expand All @@ -200,8 +202,12 @@ func (s *servoGPIO) Reconfigure(ctx context.Context, deps resource.Dependencies,
// microsecond, but rarely over 10. Call it 50 microseconds just to be safe.
const maxDeadbandWidthUs = 50
if maxFrequency := 1e6 / (s.maxUs + maxDeadbandWidthUs); s.frequency > maxFrequency {
s.logger.CWarnf(ctx, "servo frequency (%f.1) is above maximum (%f.1), setting to max instead",
s.frequency, maxFrequency)
// if the frequency wasn't set in the config we will default to whatever the driver sets as default frequency
// we silence the warning below if clamping the frequency was needed
if newConf.Frequency != nil {
s.logger.CWarnf(ctx, "servo frequency (%dHz) is above maximum (%dHz), setting to max instead",
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@penguinland penguinland Oct 28, 2025

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I dunno: if the default is above the maximum, I think we should log warnings about that.

Reconfigure() shouldn't run often; this shouldn't spam the logs. Why do you want to hide it?

s.frequency, maxFrequency)
}
s.frequency = maxFrequency
}

Expand Down