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add servo motor functions

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This commit is contained in:
Arnaud Vergnet 2020-11-06 09:42:38 +01:00
parent 9b1fa9e113
commit 96a831ae9e
4 changed files with 108 additions and 10 deletions
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32
MyDrivers/Timer.c
View file

@ -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);
Timer_conf(timer, arr, 0);
const int arr = getArrFromFreq(freq);
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
***************************************************************************/

24
MyDrivers/Timer.h
View file

@ -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

24
Services/ServoMotor.c
View file

@ -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;
}

38
Services/ServoMotor.h
View file

@ -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