58 lines
1.8 KiB
C
58 lines
1.8 KiB
C
#include <math.h>
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#include "Servo.h"
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#include "stm32f1xx_ll_bus.h" // Pour l'activation des horloges
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#include "stm32f1xx_ll_tim.h"
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#include "stm32f1xx_ll_gpio.h"
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void SERVO_Init(void){
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// use TIM1 since it has pa8 at channel 1 output
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// setup timer 1
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LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_TIM1);
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LL_TIM_InitTypeDef tim_init;
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tim_init.Prescaler = 71;
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tim_init.Autoreload = 19999;
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tim_init.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
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tim_init.CounterMode=LL_TIM_COUNTERMODE_UP;
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tim_init.RepetitionCounter=0;
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LL_TIM_Init(TIM1, &tim_init);
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// setup main output enabled
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LL_TIM_EnableAllOutputs(TIM1);
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// setup gpio
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LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
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LL_GPIO_InitTypeDef servo_gpio_init;
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servo_gpio_init.Pin = LL_GPIO_PIN_8;
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servo_gpio_init.Mode = LL_GPIO_MODE_ALTERNATE;
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servo_gpio_init.Speed = LL_GPIO_MODE_OUTPUT_2MHz ;
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servo_gpio_init.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
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servo_gpio_init.Pull = LL_GPIO_PULL_DOWN; // dont know why but otherwise it crashes
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LL_GPIO_Init(GPIOA, &servo_gpio_init);
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// setup output compare
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LL_TIM_OC_InitTypeDef oc_init;
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oc_init.OCMode = LL_TIM_OCMODE_PWM1;
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oc_init.OCState = LL_TIM_OCSTATE_ENABLE;
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oc_init.OCNState = LL_TIM_OCSTATE_ENABLE;
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oc_init.CompareValue = 999;
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oc_init.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
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oc_init.OCNPolarity = LL_TIM_OCPOLARITY_LOW;
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oc_init.OCIdleState = LL_TIM_OCIDLESTATE_LOW;
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oc_init.OCNIdleState = LL_TIM_OCIDLESTATE_HIGH;
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LL_TIM_OC_Init(TIM1, LL_TIM_CHANNEL_CH1, &oc_init);
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LL_TIM_EnableCounter(TIM1);
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}
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void SERVO_SetAngle(int angle){
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// set ccr3 register to alter pwm output between 1 and 2 ms
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float vminCOR = 999, vmaxCOR = 1999;
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float diffCOR = vmaxCOR - vminCOR;
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int ccr3Value = round(angle*diffCOR/90)+vminCOR;
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LL_TIM_WriteReg(TIM1, CCR1, ccr3Value);
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}
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