mirror of
https://github.com/eddyem/stm32samples.git
synced 2026-08-12 09:39:25 +03:00
85 lines
2.9 KiB
C
85 lines
2.9 KiB
C
/*
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* This file is part of the servo project.
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* Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stm32g4.h>
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#include <stdint.h>
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#include "flash.h"
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#include "hardware.h"
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#include "servo.h"
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static uint16_t servo_tagpos[SERVO_AMOUNT] = {SG90_MIDPULSE, SG90_MIDPULSE, SG90_MIDPULSE, SG90_MIDPULSE};
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static uint16_t servo_speed[SERVO_AMOUNT] = {0, 0, 0, 0};
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void process_servo(){
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static bool notinited = true;
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#if SERVO_AMOUNT != 4
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#error "Add timers' variables"
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#endif
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static const uint32_t trgflags[SERVO_AMOUNT] = {TIM_SR_CC1IF, TIM_SR_CC2IF, TIM_SR_CC3IF, TIM_SR_CC4IF};
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if(notinited){ // init tagpos with starting values from settings at first run
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for(int i = 0; i < SERVO_AMOUNT; ++i) servo_tagpos[i] = the_conf.startpulse[i];
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notinited = false;
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}
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uint32_t sr = TIM3->SR;
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uint32_t clear_mask = 0;
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for(uint8_t i = 0; i < SERVO_AMOUNT; ++i){
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uint16_t curpos;
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if(!get_servo(i, &curpos) || !(sr & trgflags[i])) continue;
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clear_mask |= trgflags[i];
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if(servo_tagpos[i] == curpos || servo_speed[i] < 1) continue;
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int32_t newpos = curpos;
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if(servo_tagpos[i] > curpos){
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newpos += servo_speed[i];
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if(newpos > servo_tagpos[i]) newpos = servo_tagpos[i];
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}else{
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newpos -= servo_speed[i];
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if(newpos < servo_tagpos[i]) newpos = servo_tagpos[i];
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}
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set_servo(i, (uint16_t) newpos);
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}
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if(clear_mask) TIM3->SR &= ~clear_mask;
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}
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// set speed in steps per tick
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bool servo_set_speed(uint8_t N, uint16_t s){
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if(N >= SERVO_AMOUNT) return false;
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if(s > the_conf.maxspeed[N]) return false; // let s==0: this will allow to stop mowing to tagpos
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servo_speed[N] = s;
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return true;
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}
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bool servo_get_speed(uint8_t N, uint16_t *s){
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if(N >= SERVO_AMOUNT) return false;
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if(s) *s = servo_speed[N];
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return true;
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}
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bool servo_set_tagpos(uint8_t N, uint16_t pos){
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if(N >= SERVO_AMOUNT) return false;
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if(pos < the_conf.minpulse[N] || pos > the_conf.maxpulse[N]) return false;
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servo_tagpos[N] = pos;
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return true;
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}
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bool servo_get_tagpos(uint8_t N, uint16_t *pos){
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if(N >= SERVO_AMOUNT) return false;
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if(pos) *pos = servo_tagpos[N];
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return true;
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}
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