void servo_set_pulse(int16_t pulse_width) {
if(pulse_width >= P_MAX) {
pwm_set_pulse_width(P_MAX);
}
else if(pulse_width < P_MIN) {
pwm_set_pulse_width(P_MIN);
}
else {
pwm_set_pulse_width(pulse_width);
}
return;
}
void motor_put_control( Motor motor, double control ) {
control = control > motor->control_max ? motor->control_max : control;
control = control < motor->control_min ? motor->control_min : control;
double pwm_fraction =
(control - motor->control_min) /
(motor->control_max - motor->control_min);
pwm_set_pulse_width( motor->pin, pwm_fraction );
}
void esc_init(void)
{
/* init timer2 with a period of 20ms */
// pwm_init_timer(&RCC_APB1ENR, RCC_APB1ENR_TIM2EN, LED_TIM, PWM_PRESCALE, PWM_PERIOD);
pwm_init_timer(&RCC_APB1ENR, RCC_APB1ENR_TIM4EN, ESC_TIMER, PWM_PRESCALE, ESC_PWM_PERIOD);
/* init output of channel2 of timer2 */
// pwm_init_output_channel(LED_TIM, LED_CH1, &RCC_APB2ENR, RCC_APB2ENR_IOPAEN, GPIOA, GPIO_TIM2_CH2);
pwm_init_output_channel(ESC_TIMER, ESC_CHANNEL1, &RCC_APB2ENR, RCC_APB2ENR_IOPBEN, GPIOB, GPIO_TIM4_CH1);
pwm_init_output_channel(ESC_TIMER, ESC_CHANNEL2, &RCC_APB2ENR, RCC_APB2ENR_IOPBEN, GPIOB, GPIO_TIM4_CH2);
pwm_set_pulse_width(ESC_TIMER, ESC_CHANNEL1, ESC_LOW);
pwm_set_pulse_width(ESC_TIMER, ESC_CHANNEL2, ESC_LOW);
/* start timer1 */
// pwm_start_timer(TIM2);
pwm_start_timer(ESC_TIMER);
}
void esc_set_pulse_width(enum tim_oc_id ch, uint32_t pos_us)
{
// pwm_set_pulse_width(TIM2, ch, pos_us);
pwm_set_pulse_width(ESC_TIMER, ch, pos_us);
}
