Merge branch 'servo' into rf_input

keil_project/Services/Sail.c

@@ -0,0 +1,16 @@
+#include "Sail.h"
+#include "Servo.h"
+
+
+#define SAIL_TRANSFER_FACTOR 1.0
+#define SAIL_TRANSFER_OFFSET 0
+
+void SAIL_Init(void)
+{
+	SERVO_Init();
+}
+
+void SAIL_SetAngle(float angle)
+{
+	float servo_angle = angle * SAIL_TRANSFER_FACTOR + SAIL_TRANSFER_OFFSET;
+}

keil_project/Services/Sail.h

@@ -0,0 +1,6 @@
+
+
+void SAIL_Init(void);
+
+// sets the opening angle of the sail
+void SAIL_SetAngle(float angle);

keil_project/Services/Servo.c

@@ -0,0 +1,56 @@
+#include <math.h>
+
+#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_TIM4);
+	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);
+	
+	// setup gpio
+	LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOB);
+	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.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+	LL_GPIO_Init(GPIOB, &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.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);
+	
+	// period of timer should be 20 ms
+	// input= 72mhz
+	// per 
+}
+
+void SERVO_SetAngle(int angle){
+	// set ccr3	register to alter pwm output between 1 and 2 ms
+	float vminCOR = 999, vmaxCOR = 1999;
+	float diffCOR = vmaxCOR - vminCOR;
+	int ccr3Value = round(angle*diffCOR/90)+vminCOR; 
+	
+	LL_TIM_WriteReg(TIM4, CCR3, ccr3Value);
+}

keil_project/Services/Servo.h

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