// io-hub - Modular Input/Output. {{{ // // Copyright (C) 2013 Maxime Hadjinlian // // APBTeam: // Web: http://apbteam.org/ // Email: team AT apbteam DOT org // // This program is free software; you can redistribute it and/or modify // it under the terms of the GNU General Public License as published by // the Free Software Foundation; either version 2 of the License, or // (at your option) any later version. // // This program is distributed in the hope that it will be useful, // but WITHOUT ANY WARRANTY; without even the implied warranty of // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the // GNU General Public License for more details. // // You should have received a copy of the GNU General Public License // along with this program; if not, write to the Free Software // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. // // }}} #include "servo.hh" #include #include #include Servo::Servo () { } void Servo::enable () { rcc_peripheral_enable_clock (&RCC_APB2ENR, RCC_APB2ENR_TIM8EN); timer_reset(TIM8); timer_set_mode(TIM8, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP); timer_set_prescaler(TIM8, 40); // 66Mhz which seems to be a pretty good fit for servos timer_set_period(TIM8, 43290); timer_set_repetition_counter(TIM8, 0); timer_continuous_mode(TIM8); // Cake servo 1 gpio_mode_setup(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO7); gpio_set_af(GPIOC, GPIO_AF3, GPIO7); // Cherry servo 2 gpio_mode_setup(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO8); gpio_set_af(GPIOC, GPIO_AF3, GPIO8); // Cake servo 1 timer_disable_oc_output(TIM8, TIM_OC2); timer_set_oc_mode(TIM8, TIM_OC2, TIM_OCM_PWM1); timer_enable_oc_output(TIM8, TIM_OC2); // Cherry servo 2 timer_disable_oc_output(TIM8, TIM_OC3); timer_set_oc_mode(TIM8, TIM_OC3, TIM_OCM_PWM1); timer_enable_oc_output(TIM8, TIM_OC3); timer_enable_counter(TIM8); timer_enable_break_main_output(TIM8); // Set null position, so the servo doesn't move. set_position(SERVO_CAKE, 0); set_position(SERVO_CHERRY, 0); } void Servo::set_position(int servo, int pos) { if (servo == SERVO_CAKE) { timer_set_oc_value(TIM8, TIM_OC2, pos); } else if (servo == SERVO_CHERRY) { timer_set_oc_value(TIM8, TIM_OC3, pos); } }