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servo pin switched to pin 8

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This commit is contained in:
Jasper Güldenstein 2020-11-13 12:53:52 +01:00
parent 6157f5b790
commit 77c0544c69
1 changed files with 17 additions and 14 deletions
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31
keil_project/Services/Servo.c
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@ -7,43 +7,46 @@
void SERVO_Init(void){
// use TIM2 since it has pa1 at channel 2 output
// use TIM1 since it has pa8 at channel 1 output
// setup timer 2
LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM4);
// setup timer 1
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_TIM1);
LL_TIM_InitTypeDef tim_init;
tim_init.Prescaler = 71;
tim_init.Autoreload = 19999;
tim_init.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
tim_init.CounterMode=LL_TIM_COUNTERMODE_UP;
tim_init.RepetitionCounter=0;
LL_TIM_Init(TIM4, &tim_init);
LL_TIM_Init(TIM1, &tim_init);
// setup main output enabled
LL_TIM_EnableAllOutputs(TIM1);
// setup gpio
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOB);
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
LL_GPIO_InitTypeDef servo_gpio_init;
servo_gpio_init.Pin = LL_GPIO_PIN_8;
servo_gpio_init.Mode = LL_GPIO_MODE_ALTERNATE;
servo_gpio_init.Speed = LL_GPIO_SPEED_FREQ_LOW;
servo_gpio_init.Speed = LL_GPIO_MODE_OUTPUT_2MHz ;
servo_gpio_init.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
LL_GPIO_Init(GPIOB, &servo_gpio_init);
servo_gpio_init.Pull = LL_GPIO_PULL_DOWN; // dont know why but otherwise it crashes
LL_GPIO_Init(GPIOA, &servo_gpio_init);
// setup output compare
LL_TIM_OC_InitTypeDef oc_init;
oc_init.OCMode = LL_TIM_OCMODE_PWM1;
oc_init.OCState = LL_TIM_OCSTATE_ENABLE;
oc_init.OCNState = LL_TIM_OCSTATE_ENABLE;
oc_init.CompareValue = 999; // 999 should corresponds to 0°
oc_init.CompareValue = 999;
oc_init.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
oc_init.OCNPolarity = LL_TIM_OCPOLARITY_LOW;
oc_init.OCIdleState = LL_TIM_OCIDLESTATE_LOW;
oc_init.OCNIdleState = LL_TIM_OCIDLESTATE_HIGH;
LL_TIM_OC_Init(TIM4, LL_TIM_CHANNEL_CH3, &oc_init);
LL_TIM_EnableCounter(TIM4);
LL_TIM_OC_Init(TIM1, LL_TIM_CHANNEL_CH1, &oc_init);
LL_TIM_EnableCounter(TIM1);
// period of timer should be 20 ms
// input= 72mhz
// per
}
void SERVO_SetAngle(int angle){
@ -52,5 +55,5 @@ void SERVO_SetAngle(int angle){
float diffCOR = vmaxCOR - vminCOR;
int ccr3Value = round(angle*diffCOR/90)+vminCOR;
LL_TIM_WriteReg(TIM4, CCR3, ccr3Value);
LL_TIM_WriteReg(TIM1, CCR1, ccr3Value);
}