*

2025-05-13 00:37:35 +03:00
parent c2ebc2046b
commit 3f693566bd
437 changed files with 423694 additions and 0 deletions
@@ -0,0 +1,48 @@
+#pragma once
+
+
+static void setPwmValue(uint32_t value){
+	htim2.Instance->CCR1 = value;
+}
+
+static void pwmStart(){
+	HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
+}
+static void pwmStop(){
+	HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_1);
+}
+
+#define PERIOD_MS (20)
+#define CLOCKS_PER_PERIOD (1000000 / 50)
+#define CLOCKS_PER_MS (CLOCKS_PER_PERIOD / PERIOD_MS)
+#define CLOCKS_PER_HALF_MS (CLOCKS_PER_MS / 2)
+
+#define SERVO_POS_N_60 (CLOCKS_PER_MS)
+#define SERVO_POS_0 (CLOCKS_PER_MS + CLOCKS_PER_HALF_MS)
+#define SERVO_POS_P_60 (CLOCKS_PER_MS + CLOCKS_PER_MS)
+
+setPwmValue(SERVO_POS_0);
+pwmStart();
+while(true){
+	/*vTaskDelay(2000);
+	HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
+	setPwmValue(SERVO_POS_P_60);
+*/
+
+
+	vTaskDelay(3000);
+	HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
+	setPwmValue(CLOCKS_PER_HALF_MS  );
+
+	vTaskDelay(3000);
+			HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
+			setPwmValue(SERVO_POS_P_60 + CLOCKS_PER_HALF_MS );
+
+	/*vTaskDelay(2000);
+	HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
+	setPwmValue(SERVO_POS_N_60);
+
+	vTaskDelay(2000);
+	HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
+	setPwmValue(SERVO_POS_0);*/
+}