add servo motor functions

MyDrivers/Timer.c

@@ -171,15 +171,15 @@ void Timer_conf(TIM_TypeDef * timer, int arr, int psc)
   *																	PWM OUTPUT
 	***************************************************************************/
 
-int getArrFromFreq(float freq_khz)
+int getArrFromFreq(float freq)
 {
-	return (72000 / freq_khz) - 1;
+	return (72000000 / freq) - 1;
 }
 
-void Timer_pwmo_conf(TIM_TypeDef * timer, int channel, float freq_khz, float dutyCycle)
+void Timer_pwmo_conf(TIM_TypeDef * timer, int channel, float freq, float dutyCycle)
 {
-	const int arr = getArrFromFreq(freq_khz);
+	const int arr = getArrFromFreq(freq);
-	Timer_conf(timer, arr, 0);
+	Timer_conf(timer, arr, 1000);
 	LL_TIM_OC_InitTypeDef init_struct;
 	LL_TIM_OC_StructInit(&init_struct);
 	
@@ -190,15 +190,33 @@ void Timer_pwmo_conf(TIM_TypeDef * timer, int channel, float freq_khz, float dut
 	LL_TIM_OC_Init(timer, channel, &init_struct);
 }
 
-void Timer_pwmo_setDutyCycle(TIM_TypeDef * timer, int channel, float freq_khz, float dutyCycle)
+void Timer_pwmo_setFreq(TIM_TypeDef * timer, float freq)
 {
-	int compare = dutyCycle * getArrFromFreq(freq_khz);
+	const int arr = getArrFromFreq(freq);
+	LL_TIM_SetAutoReload(timer, arr);
+}
+
+void Timer_pwmo_setDutyCycle(TIM_TypeDef * timer, int channel, float dutyCycle)
+{
+	const int arr = LL_TIM_GetAutoReload(timer);
+	int compare = dutyCycle * arr;
 	if (channel == LL_TIM_CHANNEL_CH1) LL_TIM_OC_SetCompareCH1(timer, compare);
 	else if (channel == LL_TIM_CHANNEL_CH2) LL_TIM_OC_SetCompareCH2(timer, compare);
 	else if (channel == LL_TIM_CHANNEL_CH3) LL_TIM_OC_SetCompareCH3(timer, compare);
 	else  LL_TIM_OC_SetCompareCH4(timer, compare);
 }
 
+float Timer_pwmo_getDutyCycle(TIM_TypeDef * timer, int channel)
+{
+	int compare = 0;
+	const int arr = LL_TIM_GetAutoReload(timer);
+	if (channel == LL_TIM_CHANNEL_CH1) compare = LL_TIM_OC_GetCompareCH1(timer);
+	else if (channel == LL_TIM_CHANNEL_CH2) compare = LL_TIM_OC_GetCompareCH2(timer);
+	else if (channel == LL_TIM_CHANNEL_CH3) compare = LL_TIM_OC_GetCompareCH3(timer);
+	else  compare = LL_TIM_OC_GetCompareCH4(timer);
+	return ((float) compare) / ((float) arr);
+}
+
 /****************************************************************************
   *																ENCODER
 	***************************************************************************/

MyDrivers/Timer.h

@@ -65,11 +65,20 @@ int PWMi_getDutyCycle(TIM_TypeDef * timer, int channel);
   * @note   
 	* @param  TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
 	*					int channel 			: Le channel utilisé par la PWM
-	*					float freq_khz  	: Fréquence en KHz
+	*					float freq  			: Fréquence en Hz (entre 2Hz et pas trop grand svp)
 	*					float dutyCycle 	: Valeur entre 0 et 1
   * @retval None
   */
-void Timer_pwmo_conf(TIM_TypeDef * timer, int channel, float freq_khz, float dutyCycle);
+void Timer_pwmo_conf(TIM_TypeDef * timer, int channel, float freq, float dutyCycle);
+
+/**
+	* @brief  Modifie la fréquence des PWMs associées au timer donné
+  * @note   
+	* @param  TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
+	*					float freq  			: Fréquence en Hz (entre 2Hz et pas trop grand svp)
+  * @retval None
+  */
+void Timer_pwmo_setFreq(TIM_TypeDef * timer, float freq);
 
 /**
 	* @brief  Modifie le duty cycle de la PWM
@@ -79,7 +88,16 @@ void Timer_pwmo_conf(TIM_TypeDef * timer, int channel, float freq_khz, float dut
 	*					float dutyCycle 	: Valeur entre 0 et 1
   * @retval None
   */
-void Timer_pwmo_setDutyCycle(TIM_TypeDef * timer, int channel, float freq_khz, float dutyCycle);
+void Timer_pwmo_setDutyCycle(TIM_TypeDef * timer, int channel, float dutyCycle);
+
+/**
+	* @brief  Récupère le duty cycle de la PWM
+  * @note   
+	* @param  TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
+	*					int channel 			: Le channel utilisé par la PWM
+  * @retval float dutyCycle
+  */
+float Timer_pwmo_getDutyCycle(TIM_TypeDef * timer, int channel);
 
 /****************************************************************************
   *																ENCODER

Services/ServoMotor.c

@@ -1 +1,25 @@
 #include "ServoMotor.h"
+#include "Timer.h"
+
+#define SERVO_MOTO_FREQ 50
+
+void ServoMotor_conf(TIM_TypeDef * timer, int channel)
+{
+	Timer_pwmo_conf(timer, channel, SERVO_MOTO_FREQ, 0);
+}
+
+void ServoMotor_start(TIM_TypeDef * timer)
+{
+	Timer_start(timer);
+}
+
+void ServoMotor_setAngle(TIM_TypeDef * timer, int channel, int angle)
+{
+	Timer_pwmo_setDutyCycle(timer, channel, ((float) angle) / 359.0);
+}
+
+int ServoMotor_getAngle(TIM_TypeDef * timer, int channel)
+{
+	const float dutyCycle = Timer_pwmo_getDutyCycle(timer, channel);
+	return 359 * dutyCycle;
+}

Services/ServoMotor.h

@@ -1,4 +1,42 @@
 #ifndef SERVO_MOTOR_H
 #define SERVO_MOTOR_H
 
+#include "stm32f103xb.h"
+
+/**
+	* @brief  Configure le servo moteur associé au timer donné
+  * @note   
+	* @param  TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
+	*					int channel 			: Le channel utilisé par le servo moteur
+  * @retval None
+  */
+void ServoMotor_conf(TIM_TypeDef * timer, int channel);
+
+/**
+	* @brief  Démarre les servo moteurs associés au timer donné
+  * @note   
+	* @param  TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
+  * @retval None
+  */
+void ServoMotor_start(TIM_TypeDef * timer);
+
+/**
+	* @brief  Modifie l'angle du servo moteur
+  * @note   
+	* @param  TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
+	*					int channel 			: Le channel utilisé par le servo moteur
+	*					float angle			 	: .En degrès (Valeur entre 0 et 359)
+  * @retval None
+  */
+void ServoMotor_setAngle(TIM_TypeDef * timer, int channel, int angle);
+
+/**
+	* @brief  Récupère l'angle du servo moteur
+  * @note   
+	* @param  TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
+	*					int channel 			: Le channel utilisé par le servo moteur
+  * @retval int angle
+  */
+int ServoMotor_getAngle(TIM_TypeDef * timer, int channel);
+
 #endif