30 lines
788 B
C
30 lines
788 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);
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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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float convertAngleToDutyCycle(int angle) {
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// fonction lineaire [0 - 90] -> [0.05 - 0.1]
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return (float)angle / 1800.0 + 0.05;
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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, convertAngleToDutyCycle(angle));
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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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