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Dana Markova
2025-07-28 13:21:36 +03:00
commit 0de214c9a1
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drv/servo.cpp Normal file
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#include "servo.h"
#include "stm32g4xx.h"
#include "gpio.h"
static void InitTIM16(TIM_TypeDef* TIM, unsigned long Freq, unsigned long CCER)
{
TIM->ARR = (1000000/Freq) - 1;
TIM->PSC = (SystemCoreClock / (1000000/Freq) / Freq) - 1;
TIM->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1PE | TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2PE;
TIM->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3PE | TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4PE;
TIM->CCER = CCER;
TIM->BDTR = TIM_BDTR_MOE;
TIM->CCR1 = 0;
TIM->CCR2 = 0;
TIM->CCR3 = 0;
TIM->CCR4 = 0;
TIM->CR1 = TIM_CR1_CEN;
}
//------------------------------------------------------------------------------
void Servo_init(unsigned long Freq)
{
RCC->APB1ENR1 |= RCC_APB1ENR1_TIM2EN;
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN | RCC_APB2ENR_TIM16EN | RCC_APB2ENR_TIM17EN;
RCC->AHB2ENR |= RCC_AHB2ENR_GPIOAEN | RCC_AHB2ENR_GPIOBEN;
GPIO_InitPin(GPIO_PIN_12 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF1); // TIM16_CH1
InitTIM16(TIM16, Freq, TIM_CCER_CC1E);
}
//------------------------------------------------------------------------------
void Servo_update(unsigned short Pow)
{
TIM16->CCR1 = Pow;
}
//------