49 lines
1.1 KiB
C
49 lines
1.1 KiB
C
#pragma once
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static void setPwmValue(uint32_t value){
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htim2.Instance->CCR1 = value;
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}
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static void pwmStart(){
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HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
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}
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static void pwmStop(){
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HAL_TIM_PWM_Stop(&htim2, TIM_CHANNEL_1);
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}
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#define PERIOD_MS (20)
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#define CLOCKS_PER_PERIOD (1000000 / 50)
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#define CLOCKS_PER_MS (CLOCKS_PER_PERIOD / PERIOD_MS)
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#define CLOCKS_PER_HALF_MS (CLOCKS_PER_MS / 2)
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#define SERVO_POS_N_60 (CLOCKS_PER_MS)
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#define SERVO_POS_0 (CLOCKS_PER_MS + CLOCKS_PER_HALF_MS)
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#define SERVO_POS_P_60 (CLOCKS_PER_MS + CLOCKS_PER_MS)
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setPwmValue(SERVO_POS_0);
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pwmStart();
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while(true){
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/*vTaskDelay(2000);
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HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
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setPwmValue(SERVO_POS_P_60);
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*/
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vTaskDelay(3000);
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HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
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setPwmValue(CLOCKS_PER_HALF_MS );
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vTaskDelay(3000);
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HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
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setPwmValue(SERVO_POS_P_60 + CLOCKS_PER_HALF_MS );
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/*vTaskDelay(2000);
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HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
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setPwmValue(SERVO_POS_N_60);
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vTaskDelay(2000);
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HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
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setPwmValue(SERVO_POS_0);*/
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}
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