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gamazeps/servo.c

Last active August 29, 2015 14:01
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servo.c
#include "ch.h"
#include "hal.h"
#include "servo.h"
#define SERVO_PWM PWMD3
static PWMConfig pwm_servo = {
100000, /* 100Khz PWM clock frequency*/
2000, /* PWM period of 2000 ticks ~ 20ms */
NULL, /* No callback at the end of the timer count */
{
{PWM_OUTPUT_ACTIVE_HIGH, NULL},
{PWM_OUTPUT_DISABLED, NULL},
{PWM_OUTPUT_DISABLED, NULL},
{PWM_OUTPUT_DISABLED, NULL}
},
0, /* CR2 register */
0 /* DIER register */
};
void servo_init(void){
palSetPadMode(GPIOB, 4, PAL_MODE_ALTERNATE(2)); // used function : TIM3_CH1
pwmStart(&SERVO_PWM, &pwm_servo);
}
/*
* Sets the servo angle between -90° and 90°
*/
void set_servo(int angle){
// Moves the target angle in the proper range as 0° is 1520µs
angle+=152;
pwmEnableChannel(&SERVO_PWM, 0, angle);
}
Raw
servo.h
#ifndef SERVO_H
#define SERVO_H
void servo_init(void);
void set_servo(int angle);
#endif
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