25 lines
652 B
C
25 lines
652 B
C
#include "ServoMotor.h"
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#define SERVO_MOTO_FREQ 50
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void ServoMotor_conf(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin)
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{
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Timer_pwmo_conf(timer, channel, SERVO_MOTO_FREQ, 0.5);
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GPIO_conf(gpio, pin, LL_GPIO_MODE_ALTERNATE, LL_GPIO_OUTPUT_PUSHPULL, LL_GPIO_PULL_UP);
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}
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void ServoMotor_start(TIM_TypeDef * timer)
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{
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Timer_start(timer);
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}
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void ServoMotor_setAngle(TIM_TypeDef * timer, int channel, int angle)
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{
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Timer_pwmo_setDutyCycle(timer, channel, ((float) angle) / 359.0);
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}
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int ServoMotor_getAngle(TIM_TypeDef * timer, int channel)
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{
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const float dutyCycle = Timer_pwmo_getDutyCycle(timer, channel);
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return 359 * dutyCycle;
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}
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