void setupServos(void) {
// PA2 & PA3
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_2|GPIO_PIN_3);
// Zero out configs
servoInit();
// Bind pads to servo configs
servo = servoAttach(GPIO_PORTA_BASE, GPIO_PIN_2);
servo2 = servoAttach(GPIO_PORTA_BASE, GPIO_PIN_3);
// Start the servo timers
servoStart();
}
/*
* @Brief: Initializes the servo peripheral
* @param uint8_t servoNumber
* @param uint8_t config
* @return nothing
* @IMPORTANT: this function uses Timer 1, 2 and 3 to generate the servo signals, so
* they won't be available to use.
*/
bool_t servoConfig( uint8_t servoNumber, uint8_t config ){
bool_t ret_val = 1;
switch(config){
case ENABLE_SERVO_TIMERS:
servoInitTimers();
break;
case DISABLE_SERVO_TIMERS:
ret_val = 0;
break;
case ENABLE_SERVO_OUTPUT:
ret_val = servoAttach( servoNumber );
break;
case DISABLE_SERVO_OUTPUT:
ret_val = servoDetach( servoNumber );
break;
default:
ret_val = 0;
break;
}
return ret_val;
}