Yaroslav Krainyk / Mbed 2 deprecated LAB_Servo

Lab work with servo

Dependencies:   mbed

main.cpp@1:349234492517, 2017-10-30 (annotated)

Committer:
codebreaker7
Date:
Mon Oct 30 11:05:17 2017 +0000
Revision:
1:349234492517
Parent:
0:e0dc7a04fc82 
Corrected for two servos

Who changed what in which revision?

UserRevisionLine numberNew contents of line
codebreaker7 0:e0dc7a04fc82 1 #include "mbed.h"
codebreaker7 0:e0dc7a04fc82 2 #include "stm32l0xx.h"
codebreaker7 0:e0dc7a04fc82 3 #include "stm32l0xx_hal_tim.h"
codebreaker7 0:e0dc7a04fc82 4
codebreaker7 0:e0dc7a04fc82 5 TIM_HandleTypeDef timer;
codebreaker7 0:e0dc7a04fc82 6 TIM_OC_InitTypeDef octim;
codebreaker7 0:e0dc7a04fc82 7 int pulse = 1599;
codebreaker7 0:e0dc7a04fc82 8
codebreaker7 0:e0dc7a04fc82 9 DigitalOut led(LED1);
codebreaker7 0:e0dc7a04fc82 10
codebreaker7 0:e0dc7a04fc82 11 void HAL_TIM_Base_MspInit(TIM_HandleTypeDef * handle)
codebreaker7 0:e0dc7a04fc82 12 {
codebreaker7 0:e0dc7a04fc82 13 GPIO_InitTypeDef gpio;
codebreaker7 0:e0dc7a04fc82 14 __HAL_RCC_GPIOA_CLK_ENABLE();
codebreaker7 0:e0dc7a04fc82 15 __HAL_RCC_TIM2_CLK_ENABLE();
codebreaker7 0:e0dc7a04fc82 16 gpio.Mode = GPIO_MODE_AF_PP;
codebreaker7 1:349234492517 17 gpio.Pin = GPIO_PIN_1 | GPIO_PIN_0;
codebreaker7 0:e0dc7a04fc82 18 gpio.Pull = GPIO_PULLUP;
codebreaker7 0:e0dc7a04fc82 19 gpio.Speed = GPIO_SPEED_HIGH;
codebreaker7 0:e0dc7a04fc82 20 gpio.Alternate = GPIO_AF2_TIM2;
codebreaker7 0:e0dc7a04fc82 21 HAL_GPIO_Init(GPIOA, &gpio);
codebreaker7 0:e0dc7a04fc82 22 }
codebreaker7 0:e0dc7a04fc82 23
codebreaker7 0:e0dc7a04fc82 24 void InitTimer(void)
codebreaker7 0:e0dc7a04fc82 25 {
codebreaker7 0:e0dc7a04fc82 26 timer.Instance = TIM2;
codebreaker7 0:e0dc7a04fc82 27 timer.Init.CounterMode = TIM_COUNTERMODE_UP;
codebreaker7 0:e0dc7a04fc82 28 timer.Init.ClockDivision = 0;
codebreaker7 0:e0dc7a04fc82 29 timer.Init.Period = 64000 - 1;
codebreaker7 0:e0dc7a04fc82 30 timer.Init.Prescaler = (uint32_t)(SystemCoreClock / 3200000) - 1;
codebreaker7 0:e0dc7a04fc82 31 HAL_TIM_Base_Init(&timer);
codebreaker7 0:e0dc7a04fc82 32 HAL_TIM_PWM_Init(&timer);
codebreaker7 0:e0dc7a04fc82 33
codebreaker7 0:e0dc7a04fc82 34 octim.OCMode = TIM_OCMODE_PWM1;
codebreaker7 0:e0dc7a04fc82 35 octim.OCPolarity = TIM_OCPOLARITY_HIGH;
codebreaker7 0:e0dc7a04fc82 36 octim.OCFastMode = TIM_OCFAST_ENABLE;
codebreaker7 0:e0dc7a04fc82 37 octim.Pulse = pulse;
codebreaker7 0:e0dc7a04fc82 38
codebreaker7 1:349234492517 39 HAL_TIM_PWM_ConfigChannel(&timer, &octim, TIM_CHANNEL_1);
codebreaker7 1:349234492517 40 HAL_TIM_PWM_Start(&timer, TIM_CHANNEL_1);
codebreaker7 1:349234492517 41
codebreaker7 0:e0dc7a04fc82 42 HAL_TIM_PWM_ConfigChannel(&timer, &octim, TIM_CHANNEL_2);
codebreaker7 0:e0dc7a04fc82 43 HAL_TIM_PWM_Start(&timer, TIM_CHANNEL_2);
codebreaker7 0:e0dc7a04fc82 44 }
codebreaker7 0:e0dc7a04fc82 45
codebreaker7 0:e0dc7a04fc82 46 int cur_pw = 500;
codebreaker7 0:e0dc7a04fc82 47
codebreaker7 0:e0dc7a04fc82 48 int main()
codebreaker7 0:e0dc7a04fc82 49 {
codebreaker7 0:e0dc7a04fc82 50 HAL_Init();
codebreaker7 0:e0dc7a04fc82 51 InitTimer();
codebreaker7 0:e0dc7a04fc82 52 int dir = 0;
codebreaker7 0:e0dc7a04fc82 53 int count = 0;
codebreaker7 0:e0dc7a04fc82 54
codebreaker7 0:e0dc7a04fc82 55 while(1) {
codebreaker7 0:e0dc7a04fc82 56 led = !led;
codebreaker7 1:349234492517 57 wait(0.05f);
codebreaker7 0:e0dc7a04fc82 58 if (dir) {
codebreaker7 0:e0dc7a04fc82 59 pulse -= 100;
codebreaker7 0:e0dc7a04fc82 60 count--;
codebreaker7 0:e0dc7a04fc82 61 if (count == 0) {
codebreaker7 0:e0dc7a04fc82 62 dir = 0;
codebreaker7 0:e0dc7a04fc82 63 }
codebreaker7 0:e0dc7a04fc82 64 } else {
codebreaker7 0:e0dc7a04fc82 65 pulse += 100;
codebreaker7 0:e0dc7a04fc82 66 count++;
codebreaker7 0:e0dc7a04fc82 67 if (count== 58) {
codebreaker7 0:e0dc7a04fc82 68 dir = 1;
codebreaker7 0:e0dc7a04fc82 69 }
codebreaker7 0:e0dc7a04fc82 70 }
codebreaker7 0:e0dc7a04fc82 71 octim.Pulse = pulse;
codebreaker7 1:349234492517 72
codebreaker7 1:349234492517 73 HAL_TIM_PWM_ConfigChannel(&timer, &octim, TIM_CHANNEL_1);
codebreaker7 1:349234492517 74 HAL_TIM_PWM_Start(&timer, TIM_CHANNEL_1);
codebreaker7 1:349234492517 75
codebreaker7 0:e0dc7a04fc82 76 HAL_TIM_PWM_ConfigChannel(&timer, &octim, TIM_CHANNEL_2);
codebreaker7 0:e0dc7a04fc82 77 HAL_TIM_PWM_Start(&timer, TIM_CHANNEL_2);
codebreaker7 0:e0dc7a04fc82 78 }
codebreaker7 0:e0dc7a04fc82 79 }