guldenst/projet_voilier
1
0
Fork 0
Code Issues Pull requests Releases Wiki Activity

outpuw pwn working, set angle calculation needed

Browse source
This commit is contained in:
Jasper Güldenstein 2020-11-02 18:23:01 +01:00
parent 1da66cc347
commit 7b7b8aaf6c
2 changed files with 58 additions and 0 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

50
keil_project/Services/Servo.c Normal file
View file

@ -0,0 +1,50 @@
#include "Servo.h"
#include "stm32f1xx_ll_bus.h" // Pour l'activation des horloges
#include "stm32f1xx_ll_tim.h"
#include "stm32f1xx_ll_gpio.h"
void SERVO_Init(void){
// use TIM2 since it has pa1 at channel 2 output
// setup timer 2
LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
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(TIM2, &tim_init);
// setup gpio
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
LL_GPIO_InitTypeDef servo_gpio_init;
servo_gpio_init.Pin = LL_GPIO_PIN_1;
servo_gpio_init.Mode = LL_GPIO_MODE_ALTERNATE;
servo_gpio_init.Speed = LL_GPIO_SPEED_FREQ_LOW;
servo_gpio_init.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
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 = 1500; // todo find good init value (maybe -1)
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(TIM2, LL_TIM_CHANNEL_CH2, &oc_init);
LL_TIM_EnableCounter(TIM2);
// period of timer should be 20 ms
// input= 72mhz
// per
}
void SERVO_SetAngle(int angle){
// set ccr2 register to alter pwm output between 1 and 2 ms
}

8
keil_project/Services/Servo.h Normal file
View file

@ -0,0 +1,8 @@
#ifndef SERVO
#define SERVO
void SERVO_Init(void);
void SERVO_SetAngle(int angle);
#endif