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o/pin changed, setAngle done

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Cavailles Kevin 2020-11-11 15:37:12 +01:00
parent 7b7b8aaf6c
commit 9a6819b83d
1 changed files with 18 additions and 12 deletions
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30
keil_project/Services/Servo.c
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@ -1,3 +1,5 @@
#include <math.h>
#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);
}