#include "std.h"
#include <BOARD_CONFIG>
#include <libopencm3/stm32/gpio.h>
#include <libopencm3/stm32/rcc.h>
#include <libopencm3/stm32/timer.h>
#include <libopencm3/cm3/nvic.h>
#include "mcu_arch.h"

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Macros
#define	ONE_MHZ_CLK 1000000

#define	PWM_BASE_FREQ ONE_MHZ_CLK

#define	SERVO_HZ 40
	Default servo update rate in Hz. More...

#define	TIM1_SERVO_HZ SERVO_HZ

#define	TIM2_SERVO_HZ SERVO_HZ

#define	TIM3_SERVO_HZ SERVO_HZ

#define	TIM4_SERVO_HZ SERVO_HZ

#define	TIM5_SERVO_HZ SERVO_HZ

#define	TIM8_SERVO_HZ SERVO_HZ

#define	TIM9_SERVO_HZ SERVO_HZ

#define	TIM12_SERVO_HZ SERVO_HZ

Functions
void	actuators_pwm_arch_channel_init (uint32_t timer_peripheral, enum tim_oc_id oc_id)
	Set PWM channel configuration. More...

void	set_servo_timer (uint32_t timer, uint32_t period, uint8_t channels_mask)
	Set Timer configuration. More...

Detailed Description

STM32 PWM and dualPWM servos shared functions.

Definition in file actuators_shared_arch.h.

Macro Definition Documentation

◆ ONE_MHZ_CLK

#define ONE_MHZ_CLK 1000000

Definition at line 39 of file actuators_shared_arch.h.

◆ PWM_BASE_FREQ

#define PWM_BASE_FREQ ONE_MHZ_CLK

Definition at line 43 of file actuators_shared_arch.h.

◆ SERVO_HZ

#define SERVO_HZ 40

Default servo update rate in Hz.

Definition at line 49 of file actuators_shared_arch.h.

◆ TIM12_SERVO_HZ

#define TIM12_SERVO_HZ SERVO_HZ

Definition at line 75 of file actuators_shared_arch.h.

◆ TIM1_SERVO_HZ

#define TIM1_SERVO_HZ SERVO_HZ

Definition at line 54 of file actuators_shared_arch.h.

◆ TIM2_SERVO_HZ

#define TIM2_SERVO_HZ SERVO_HZ

Definition at line 57 of file actuators_shared_arch.h.

◆ TIM3_SERVO_HZ

#define TIM3_SERVO_HZ SERVO_HZ

Definition at line 60 of file actuators_shared_arch.h.

◆ TIM4_SERVO_HZ

#define TIM4_SERVO_HZ SERVO_HZ

Definition at line 63 of file actuators_shared_arch.h.

◆ TIM5_SERVO_HZ

#define TIM5_SERVO_HZ SERVO_HZ

Definition at line 66 of file actuators_shared_arch.h.

◆ TIM8_SERVO_HZ

#define TIM8_SERVO_HZ SERVO_HZ

Definition at line 69 of file actuators_shared_arch.h.

◆ TIM9_SERVO_HZ

#define TIM9_SERVO_HZ SERVO_HZ

Definition at line 72 of file actuators_shared_arch.h.

Function Documentation

◆ actuators_pwm_arch_channel_init()

void actuators_pwm_arch_channel_init	(	uint32_t	timer_peripheral,
		enum tim_oc_id	oc_id
	)

Set PWM channel configuration.

Definition at line 35 of file actuators_shared_arch.c.

Referenced by set_servo_timer().

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◆ set_servo_timer()

void set_servo_timer	(	uint32_t	timer,
		uint32_t	freq,
		uint8_t	channels_mask
	)

Set Timer configuration.

Parameters

[in]	timer	Timer register address base
[in]	freq	PWM frequency in Hz (1 / auto-reload period)
[in]	channels_mask	output compare channels to enable

Definition at line 59 of file actuators_shared_arch.c.

References actuators_pwm_arch_channel_init(), PWM_BASE_FREQ, and timer_get_frequency().

Referenced by actuators_dualpwm_arch_init(), and actuators_pwm_arch_init().

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