// init servo signal and pin
// does not check arguments, make sure to pass valide arguments
void servo_init(void)
{
xSysCtlPeripheralClockSourceSet(xSYSCTL_PWMB_MAIN, 1);
// Enable PWM peripheral
xSysCtlPeripheralEnable(SYSCTL_PERIPH_PWMB);
// Enable gpio pin peripheral
xSysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
// Enable PWM and set GPIO Pin as PWM
xSPinTypePWM(TIM1CH0, PB0);
// xSPinTypePWM(TIM0CH3, PE30);
// Set invert, dead zone and mode
xPWMInitConfigure(xPWMB_BASE, xPWM_CHANNEL0, xPWM_TOGGLE_MODE);
// Set CNR, Prescale and Divider. FHz = 50Hz
xPWMFrequencySet(xPWMB_BASE, xPWM_CHANNEL0, 50);
// Set CMR, high pulse @ 1,5 ms middle position
servo_angle(0);
// Set output enable
xPWMOutputEnable(xPWMB_BASE, xPWM_CHANNEL0);
// start pwm
xPWMStart(xPWMB_BASE, xPWM_CHANNEL0);
// initialization ok
}
void pwmInit(){
xSysCtlPeripheralClockSourceSet(xSYSCTL_PWMA_HCLK, 1);
xSysCtlPeripheralEnable(SYSCTL_PERIPH_PWMA);
xSysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
xSPinTypePWM(TIM0CH0, PB11);
xSPinTypePWM(TIM0CH1, PB10);
xPWMInitConfigure(xPWMA_BASE, xPWM_CHANNEL0, xPWM_TOGGLE_MODE);
xPWMInitConfigure(xPWMA_BASE, xPWM_CHANNEL1, xPWM_TOGGLE_MODE);
xPWMFrequencySet(xPWMA_BASE, xPWM_CHANNEL0, 50);
xPWMDutySetPrec(xPWMA_BASE, xPWM_CHANNEL0, 750);
xPWMOutputEnable(xPWMA_BASE, xPWM_CHANNEL0);
xPWMStart(xPWMA_BASE, xPWM_CHANNEL1);
xPWMFrequencySet(xPWMA_BASE, xPWM_CHANNEL1, 50);
xPWMDutySetPrec(xPWMA_BASE, xPWM_CHANNEL1, 750 + STEER_OFFSET);
xPWMOutputEnable(xPWMA_BASE, xPWM_CHANNEL1);
xPWMStart(xPWMA_BASE, xPWM_CHANNEL1);
}
