From 9a6819b83d0818c67b0ead97f9b94e09b68faa84 Mon Sep 17 00:00:00 2001 From: Cavailles Kevin Date: Wed, 11 Nov 2020 15:37:12 +0100 Subject: [PATCH] o/pin changed, setAngle done --- keil_project/Services/Servo.c | 30 ++++++++++++++++++------------ 1 file changed, 18 insertions(+), 12 deletions(-) diff --git a/keil_project/Services/Servo.c b/keil_project/Services/Servo.c index 32869d8..b4565a9 100644 --- a/keil_project/Services/Servo.c +++ b/keil_project/Services/Servo.c @@ -1,3 +1,5 @@ +#include + #include "Servo.h" #include "stm32f1xx_ll_bus.h" // Pour l'activation des horloges #include "stm32f1xx_ll_tim.h" @@ -8,36 +10,36 @@ 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_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(TIM2, &tim_init); + LL_TIM_Init(TIM4, &tim_init); // setup gpio - LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA); + LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOB); 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); + 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 = 1500; // todo find good init value (maybe -1) + 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(TIM2, LL_TIM_CHANNEL_CH2, &oc_init); - LL_TIM_EnableCounter(TIM2); + LL_TIM_OC_Init(TIM4, LL_TIM_CHANNEL_CH3, &oc_init); + LL_TIM_EnableCounter(TIM4); // period of timer should be 20 ms // input= 72mhz @@ -45,6 +47,10 @@ void SERVO_Init(void){ } void SERVO_SetAngle(int angle){ - // set ccr2 register to alter pwm output between 1 and 2 ms + // 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); }