uint16 Servo::readMicroseconds() const {
if (!this->attached()) {
ASSERT(0);
return 0;
}
stm32_pin_info pin_info = PIN_MAP[this->pin];
uint16 compare = timer_get_compare(pin_info.timer_device,
pin_info.timer_channel);
return COMPARE_TO_US(compare);
}
uint16_t Servo::readMicroseconds() const {
if (!this->attached()) {
// ASSERT(0);
return 0;
}
TIM_TypeDef *tdev = g_APinDescription[this->pin].ulTimerPeripheral;
uint8_t tchan = g_APinDescription[this->pin].ulTimerChannel;
uint16_t compare;
// stm32_pin_info pin_info = PIN_MAP[this->pin];
if(tchan == TIM_Channel_1) {
compare = tdev->CCR1;
}else if(tchan == TIM_Channel_2) {
compare = tdev->CCR2;
}else if(tchan == TIM_Channel_3) {
compare = tdev->CCR3;
}else if(tchan == TIM_Channel_4) {
compare = tdev->CCR4;
}
// uint16_t compare = timer_get_compare(pin_info.timer_device,
// pin_info.timer_channel);
return COMPARE_TO_US(compare);
}