int main(void) {
TM_PWM_TIM_t TIM2_Data;
uint8_t direction = 1;
/* Initialize system */
SystemInit();
/* Initialize delay functions */
TM_DELAY_Init();
/* Set PWM to 50Hz frequency on timer TIM2 */
/* 50Hz = 20ms = 20000us */
TM_PWM_InitTimer(TIM2, &TIM2_Data, 50);
/* Initialize PWM on TIM2, Channel 1 and PinsPack 2 = PA5 */
TM_PWM_InitChannel(TIM2, TM_PWM_Channel_1, TM_PWM_PinsPack_2);
/* Set channel 1 value, 1500us = servo at center position */
TM_PWM_SetChannelMicros(TIM2, &TIM2_Data, TM_PWM_Channel_1, 1500);
/* Servo in position */
Delayms(1000);
while (1) {
if (direction == 1) {
/* Set servo position = 1000us pulse length */
TM_PWM_SetChannelMicros(TIM2, &TIM2_Data, TM_PWM_Channel_1, 1000);
/* Change direction */
direction = 0;
} else {
/* Set servo position = 2000us pulse length */
TM_PWM_SetChannelMicros(TIM2, &TIM2_Data, TM_PWM_Channel_1, 2000);
/* Change direction */
direction = 1;
}
/* Set some delay for servo to set to correct position */
Delayms(1500);
}
}
int main(void) {
TM_PWM_TIM_t TIM4_Data, TIM2_Data;
/* Initialize system */
SystemInit();
/* STM32F4-Discovery LEDS start */
/* Leds on PD12, PD13, PD14, PD15 */
/* Set PWM to 1kHz frequency on timer TIM4 */
/* 1 kHz = 1ms = 1000us */
TM_PWM_InitTimer(TIM4, &TIM4_Data, 1000);
/* Initialize PWM on TIM4, Channel 1 and PinsPack 2 = PD12 */
TM_PWM_InitChannel(&TIM4_Data, TM_PWM_Channel_1, TM_PWM_PinsPack_2);
/* Initialize PWM on TIM4, Channel 2 and PinsPack 2 = PD13 */
TM_PWM_InitChannel(&TIM4_Data, TM_PWM_Channel_2, TM_PWM_PinsPack_2);
/* Initialize PWM on TIM4, Channel 3 and PinsPack 2 = PD14 */
TM_PWM_InitChannel(&TIM4_Data, TM_PWM_Channel_3, TM_PWM_PinsPack_2);
/* Initialize PWM on TIM4, Channel 4 and PinsPack 2 = PD15 */
TM_PWM_InitChannel(&TIM4_Data, TM_PWM_Channel_4, TM_PWM_PinsPack_2);
/* Set channel 1 value, 50% duty cycle */
TM_PWM_SetChannel(&TIM4_Data, TM_PWM_Channel_1, TIM4_Data.Period / 2);
/* Set channel 2 value, 33% duty cycle */
TM_PWM_SetChannel(&TIM4_Data, TM_PWM_Channel_2, TIM4_Data.Period / 3);
/* Set channel 3 value, 25% duty cycle */
TM_PWM_SetChannel(&TIM4_Data, TM_PWM_Channel_3, TIM4_Data.Period / 4);
/* Set channel 4 value, 5% duty cycle*/
TM_PWM_SetChannelPercent(&TIM4_Data, TM_PWM_Channel_4, 5);
/* STM32F4-Discovery LEDS stop */
/* Nucleo F4(0/1)1-RE LED start */
/* Led connected to PA5 */
/* Set PWM to 1kHz frequency on timer TIM2 */
/* 1 kHz = 1ms = 1000us */
TM_PWM_InitTimer(TIM2, &TIM2_Data, 1000);
/* Initialize PWM on TIM2, Channel 1 and PinsPack 2 = PA5 */
TM_PWM_InitChannel(&TIM2_Data, TM_PWM_Channel_1, TM_PWM_PinsPack_2);
/* Set channel 1 value, 500us pulse high = 500 / 1000 = 0.5 = 50% duty cycle */
TM_PWM_SetChannelMicros(&TIM2_Data, TM_PWM_Channel_1, 10);
/* Nucleo F4(0/1)1-RE LED stop */
while (1) {
}
}
int main(void) {
TM_PWM_TIM_t TIM2_Data;
TM_KEYPAD_Button_t Keypad_Button;
uint16_t duration = SERVO_MIDDLE;
/* Initialize system */
SystemInit();
/* Initialize delay functions */
TM_DELAY_Init();
/* Initialize matrix keypad, 4x4 */
TM_KEYPAD_Init(TM_KEYPAD_Type_Large);
/* Set PWM to 50Hz frequency on timer TIM2 */
/* 50Hz = 20ms = 20000us */
TM_PWM_InitTimer(TIM2, &TIM2_Data, 50);
/* Initialize PWM on TIM2, Channel 1 and PinsPack 2 = PA5 */
TM_PWM_InitChannel(TIM2, TM_PWM_Channel_1, TM_PWM_PinsPack_2);
/* Set channel 1 value, 1500us = servo at center position */
TM_PWM_SetChannelMicros(TIM2, &TIM2_Data, TM_PWM_Channel_1, SERVO_MIDDLE);
while (1) {
/* Read keypad */
Keypad_Button = TM_KEYPAD_Read();
/* If any button pressed */
if (Keypad_Button != TM_KEYPAD_Button_NOPRESSED) {
switch (Keypad_Button) {
case TM_KEYPAD_Button_0: /* Go to the middle position */
case TM_KEYPAD_Button_2:
case TM_KEYPAD_Button_5:
case TM_KEYPAD_Button_8:
/* Go to the middle */
duration = SERVO_MIDDLE;
break;
case TM_KEYPAD_Button_1: /* 1us decrease pulse length */
duration--;
break;
case TM_KEYPAD_Button_3: /* 1us increase pulse length */
duration++;
break;
case TM_KEYPAD_Button_4: /* 10us decrease pulse length */
duration -= 10;
break;
case TM_KEYPAD_Button_6: /* 10us increase pulse length */
duration += 10;
break;
case TM_KEYPAD_Button_7: /* 100us decrease pulse length */
duration -= 100;
break;
case TM_KEYPAD_Button_9: /* 100us increase pulse length */
duration += 100;
break;
case TM_KEYPAD_Button_STAR: /* Turn totally left */
duration = SERVO_MIN;
break;
case TM_KEYPAD_Button_HASH: /* Turn totally right */
duration = SERVO_MAX;
break;
default: /* Do nothing */
break;
}
/* Filter */
if (duration > SERVO_MAX) {
duration = SERVO_MAX;
} else if (duration < SERVO_MIN) {
duration = SERVO_MIN;
}
/* Set PWM length for servo */
TM_PWM_SetChannelMicros(TIM2, &TIM2_Data, TM_PWM_Channel_1, duration);
}
}
}
