43 lines
1.2 KiB
C++
43 lines
1.2 KiB
C++
#include "servo.h"
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#include "stm32g4xx.h"
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#include "gpio.h"
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static void InitTIM16(TIM_TypeDef* TIM, unsigned long Freq, unsigned long CCER)
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{
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TIM->ARR = (1000000/Freq) - 1;
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TIM->PSC = (SystemCoreClock / (1000000/Freq) / Freq) - 1;
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TIM->CCMR1 = TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1PE | TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2PE;
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TIM->CCMR2 = TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3PE | TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4PE;
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TIM->CCER = CCER;
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TIM->BDTR = TIM_BDTR_MOE;
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TIM->CCR1 = 0;
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TIM->CCR2 = 0;
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TIM->CCR3 = 0;
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TIM->CCR4 = 0;
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TIM->CR1 = TIM_CR1_CEN;
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}
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//------------------------------------------------------------------------------
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void Servo_init(unsigned long Freq)
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{
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RCC->APB1ENR1 |= RCC_APB1ENR1_TIM2EN;
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RCC->APB2ENR |= RCC_APB2ENR_TIM1EN | RCC_APB2ENR_TIM16EN | RCC_APB2ENR_TIM17EN;
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RCC->AHB2ENR |= RCC_AHB2ENR_GPIOAEN | RCC_AHB2ENR_GPIOBEN;
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GPIO_InitPin(GPIO_PIN_12 | GPIO_PORT_A | GPIO_ALTER | GPIO_AF1); // TIM16_CH1
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InitTIM16(TIM16, Freq, TIM_CCER_CC1E);
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}
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//------------------------------------------------------------------------------
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void Servo_update(unsigned short Pow)
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{
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TIM16->CCR1 = Pow;
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}
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//------
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