keil_project/Services/Sail.c

@@ -13,5 +13,4 @@ void SAIL_Init(void)
 void SAIL_SetAngle(float angle)
 {
 	float servo_angle = angle * SAIL_TRANSFER_FACTOR + SAIL_TRANSFER_OFFSET;
-	SERVO_SetAngle(servo_angle);
 }

keil_project/Services/Servo.c

@@ -7,46 +7,43 @@
 
 
 void SERVO_Init(void){
-	// use TIM1 since it has pa8 at channel 1 output
+	// use TIM2 since it has pa1 at channel 2 output
 	
-	// setup timer 1
+	// setup timer 2
-	LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_TIM1);
+	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(TIM1, &tim_init);
+	LL_TIM_Init(TIM4, &tim_init);
-	
-	// setup main output enabled
-	LL_TIM_EnableAllOutputs(TIM1);
 	
 	// 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_8;
 	servo_gpio_init.Mode = LL_GPIO_MODE_ALTERNATE;
-	servo_gpio_init.Speed = LL_GPIO_MODE_OUTPUT_2MHz ;
+	servo_gpio_init.Speed = LL_GPIO_SPEED_FREQ_LOW;
 	servo_gpio_init.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
-	servo_gpio_init.Pull = LL_GPIO_PULL_DOWN; // dont know why but otherwise it crashes
+	LL_GPIO_Init(GPIOB, &servo_gpio_init);
-	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; 
+	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(TIM1, LL_TIM_CHANNEL_CH1, &oc_init);
+	LL_TIM_OC_Init(TIM4, LL_TIM_CHANNEL_CH3, &oc_init);
-	
+	LL_TIM_EnableCounter(TIM4);
-	
-	LL_TIM_EnableCounter(TIM1);
 	
+	// period of timer should be 20 ms
+	// input= 72mhz
+	// per 
 }
 
 void SERVO_SetAngle(int angle){
@@ -55,5 +52,5 @@ void SERVO_SetAngle(int angle){
 	float diffCOR = vmaxCOR - vminCOR;
 	int ccr3Value = round(angle*diffCOR/90)+vminCOR; 
 	
-	LL_TIM_WriteReg(TIM1, CCR1, ccr3Value);
+	LL_TIM_WriteReg(TIM4, CCR3, ccr3Value);
 }

keil_project/Src/main.c

@@ -24,7 +24,6 @@
 #include "RFInput.h"
 #include "IncrEncoder.h"
 #include "DcMotor.h"
-#include "Sail.h"
 
 void  SystemClock_Config(void);
 
@@ -46,18 +45,18 @@ int main(void)
   SystemClock_Config();
 	
 	RF_INPUT_Init();
+	LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+	LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM4);
 	DC_MOTOR_Init();
-	SAIL_Init();
 	
   /* Infinite loop */
   while (1)
   {
-		LL_mDelay(10);
+		LL_mDelay(1000);
 		counter = (counter + 1) % 100;
 		DC_MOTOR_SetSpeed(counter);
 		val = RF_INPUT_GetValue1();
 		val2 = RF_INPUT_GetValue2();
-		SAIL_SetAngle(counter);
   }
 }