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+= Using PIO to drive servo outputs
+:xrefstyle: short
+
+Drive two servo motors by using two PIO statemachines for pulse output.
+
+== Concept
+
+Servo motors are controlled by a pulse with modulated signal.
+Please see Wikipedia for details: https://en.wikipedia.org/wiki/Servo_control
+
+The angle is encoded by the pulse length. The positive pulse length from 1ms to 2ms describes the movement from minimum to maximum.
+This pulse has to be repeated every 20ms.
+
+This pulseform is generated by two different PIO statemachines.
+
+Statemachine 1, running the servo_trigger program generates the 20ms carrier signal.
+It counts down for 20ms, then clears the IRQ, allowing the 2nd statemachine to run.
+
+Statemachine 2, running servo_prog waits for the IRQ to be cleared.
+The cleared IRQ marks the beginning of a 20ms cycle, which means, that the pulse needs to be output.
+After this, the statemachine outputs a pulse of 1 to 2 milliseconds.
+The duration of this pulse can be input from the FIFO.
+If a value of 0 is pushed to the FIFO, the output pulse will have 1ms, which is the lowest movevement position of the servo.
+Pushing a value of 1000 to the FIFO outputs a 2ms pulse, which moves the servo to the maximum position.
+
+After the pulse has been output, Statemachine 2 waits for Statemachine 1 to clear the IRQ again, so the next pulse can be output.
+
+== PIO Use
+
+There needs to be one ServoTrigger Statemachine running.
+This Statemachine can trigger up to 3 other Servo Statemachines on the same pio instance.
+
+== Wiring information
+
+See <<servo-wiring-diagram>> for wiring instructions.
+
+[[servo-wiring-diagram]]
+[pdfwidth=75%]
+.Wiring the servo to Pico
+image::pio_servo.png[]
+
+== List of Files
+
+A list of files with descriptions of their function;
+
+pio_servo.py:: The example code, driving one servo
+
+== Bill of Materials
+
+.A list of materials required for the example
+[[ring-bom-table]]
+[cols=3]
+|===
+| *Item* | *Quantity* | Details
+| Breadboard | 1 | generic part
+| Raspberry Pi Pico | 1 | http://raspberrypi.org/
+| Servo | 2 | generic part
+|===
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diff --git a/pio/pio_servo/pio_servo.py b/pio/pio_servo/pio_servo.py
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+# Example of using PIO for Servo control
+ 
+from machine import Pin
+from rp2 import PIO, StateMachine, asm_pio
+from time import sleep
+
+@asm_pio()
+def servo_trigger():
+    irq(clear, 4)    # Clear next relative ISR, allows servo code to run again
+    irq(4)
+    mov(y, x)             # Counter is stored in x, copy to y for use
+    label("base")
+    jmp(y_dec, "base")    # wait for programmed time
+    
+@asm_pio(sideset_init=PIO.OUT_LOW)
+def servo_prog():
+    wrap_target()
+    
+    wait(0, "irq", 4) .side(0) # Wait here for IRQ to be released by trigger SM
+    
+    pull(noblock)        # pull new pulse length into fifo (pull fifo into OSR, if empty fifo copies X->OSR)
+    mov(x, osr)          # Keep most recent pull data stashed in X, for recycling by noblock (later)
+    mov(y, isr) .side(1) # ISR must be preloaded with base length
+    
+    label("base")
+    jmp(y_dec, "base")    # wait in state 1 for steps in y register (base pulse length)
+    
+    mov(y, x)
+    label("var")    
+    jmp(y_dec, "var")     # wait in state 1 for steps in x register (variable pulse length)
+    
+    wrap()
+        
+class ServoTrigger:
+    '''
+    Run one statemachine in a loop, that clears IRQ every 20ms as the
+    base for the servo statemachine.
+    '''
+    def __init__(self, sm_idx):
+        # Trigger SM should output a pulse every 20ms for the servo SM to run
+        trig_target = 20 # ms
+        
+        trig_frq = 10_000 #Hz
+        sm_trig = StateMachine(sm_idx, servo_trigger, freq=trig_frq)
+        trig_ctr = (trig_frq // 1000 * trig_target) - 4 # 3 instructions to have perfect 20ms on IRQ
+
+        sm_trig.put(trig_ctr)
+        sm_trig.exec("pull()")
+        sm_trig.exec("mov(x, osr)")
+        sm_trig.active(1)
+    
+class Servo:
+    '''
+    Accepts the servo setpoint via FIFO input.
+    It raises and waits for IRQ after the positive part of the pulse has been output.
+    The other statemachine should clear IRQ every 20ms so that a new pulse is output cyclically.
+    
+    Preload the ISR with the base duration (fixed pulse length for position 0°)
+    Send position data via FIFO into the OSR (variable pulse length for 0°..max)
+    '''
+    def __init__(self, sm_idx, pin, min_pulse, max_pulse):
+        self.baseFrq = 1_000_000 # 1MHz = 1us clock base
+        
+        self.base_pulse = min_pulse             # us, base width of pulse
+        self.free_pulse = max_pulse - min_pulse # us, max. additional length set by percent
+        
+        self.sm = StateMachine(sm_idx, servo_prog, freq=self.baseFrq, sideset_base=Pin(pin))
+
+        # Use exec() to load max count into ISR
+        self.sm.put(self.base_pulse)
+        self.sm.exec("pull()")
+        self.sm.exec("mov(isr, osr)")
+        self.sm.active(1)
+        
+    def pos(self, n):
+        '''Set servo position. Range 0.0 to 1.0'''
+        self.sm.put(int(self.free_pulse*n))
+
+# Trigger needs to be the sm before the servo, so the IRQs set by rel(n) match
+trig = ServoTrigger(0)
+s = Servo(1, 16, 1000, 2000) # phys IO on pin 16, with 1ms..2ms pulse width
+s2 = Servo(3, 17, 1000, 2000) # phys IO on pin 16, with 1ms..2ms pulse width
+
+while True:
+    for p in range(10+1):
+        p = p/10 # Scale 0..10 to 0..1
+        
+        s.pos(p)
+        s2.pos(1-p)
+        
+        sleep(0.5)