Analog servos with F334R8

[SkelePaw]

Hi everybody!

I started programming ARM microcontrollers after watching Mr. Patrick Hood-Daniels' tutorials on YouTube. I am using a Nucleo F334R8 development board to control a Puppet animatronic I am making for my niece. 

You can see it here:

https://youtube.com/shorts/40tsBrCdnOg?si=NuuiD9RuRrL3VxnX

I want to share the code I used with everyone, hope you find It useful

// PUPPET head servos many positions
#include "main.h"

void SystemClock_Config(void);

int main(void)
{

int headServo;
int neckServo;
int handServo;
int armServo;

int pulsecounter;

HAL_Init();

SystemClock_Config();

RCC->AHBENR |= RCC_AHBENR_GPIOCEN;
RCC->AHBENR |= RCC_AHBENR_GPIODEN;

GPIOD->MODER |=GPIO_MODER_MODER2_0;
GPIOD->MODER &= ~(GPIO_MODER_MODER2_1);
GPIOD->OTYPER &= ~(GPIO_OTYPER_OT_2);
GPIOD->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR2;
GPIOD->PUPDR &= ~(GPIO_PUPDR_PUPDR2);

GPIOC->MODER |= GPIO_MODER_MODER4_0;
GPIOC->MODER &= ~(GPIO_MODER_MODER4_1);
GPIOC->OTYPER &= ~(GPIO_OTYPER_OT_4);
GPIOC->OSPEEDR &= ~(GPIO_OSPEEDER_OSPEEDR4);
GPIOC->PUPDR &= ~(GPIO_PUPDR_PUPDR4);

GPIOC->MODER |= GPIO_MODER_MODER1_0;
GPIOC->MODER &= ~(GPIO_MODER_MODER1_1);
GPIOC->OTYPER &= ~(GPIO_OTYPER_OT_1);
GPIOC->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR1;
GPIOC->PUPDR &= ~(GPIO_PUPDR_PUPDR1);

GPIOC->MODER |= GPIO_MODER_MODER2_0;
GPIOC->MODER &= ~(GPIO_MODER_MODER2_1);
GPIOC->OTYPER &= ~ (GPIO_OTYPER_OT_2);
GPIOC->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR2;
GPIOC->PUPDR &= ~(GPIO_PUPDR_PUPDR2);

GPIOC->MODER |= GPIO_MODER_MODER3_0;
GPIOC->MODER &= ~(GPIO_MODER_MODER3_1);
GPIOC->OTYPER &= ~(GPIO_OTYPER_OT_3);
GPIOC->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR3;
GPIOC->PUPDR &= ~(GPIO_PUPDR_PUPDR3);

RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;

TIM1->CR1 |= TIM_CR1_CEN;

TIM1->PSC= 48;

TIM1->ARR = 19999;

while (1)
{

if (pulsecounter<200)
{
headServo=1000;
neckServo=1000;
handServo=800;
armServo=1500;
}
if (pulsecounter>=200 && pulsecounter < 380)
{
headServo=1000;
neckServo=2000;
handServo=1500;
armServo=1100;
}
if (pulsecounter>=380 && pulsecounter<560)
{
headServo=2000;
neckServo=2000;
handServo=2000;
armServo=1900;
}
if (pulsecounter>=560 && pulsecounter<740)
{
headServo=2000;
neckServo=1000;
handServo=800;
armServo=1100;
}
if (pulsecounter>=740 && pulsecounter<1100)
{
headServo=1500;
neckServo=1500;
handServo=2000;
armServo=1500;
GPIOC->ODR |= GPIO_ODR_4;
}
if (pulsecounter>=1100)
{
pulsecounter=0;
GPIOC->ODR &= ~(GPIO_ODR_4);
}

if ( TIM1->CNT < 800 || TIM1->CNT >2300 )
{

if (TIM1->CNT >19996)
{
if ((GPIOC->ODR & GPIO_ODR_1) && (GPIOC->ODR & GPIO_ODR_2) && (GPIOD->ODR & GPIO_ODR_2) && (GPIOC->ODR & GPIO_ODR_3))
{

}

else
{
GPIOC->ODR |= GPIO_ODR_1;
GPIOC->ODR |= GPIO_ODR_2;
GPIOD->ODR |= GPIO_ODR_2;
GPIOC->ODR |= GPIO_ODR_3;
pulsecounter++;
}

}
}
if (TIM1->CNT >=800 && TIM1->CNT <=2300 )
{
if (TIM1->CNT >= headServo && (GPIOC->ODR & GPIO_ODR_1))
{
GPIOC->ODR &= ~ (GPIO_ODR_1);
}

if (TIM1->CNT >= neckServo && (GPIOC->ODR & GPIO_ODR_2))
{
GPIOC->ODR &= ~ (GPIO_ODR_2);
}
if (TIM1->CNT >= handServo && (GPIOD->ODR & GPIO_ODR_2))
{
GPIOD->ODR &= ~ (GPIO_ODR_2);
}
if (TIM1->CNT >=armServo && (GPIOC->ODR & GPIO_ODR_3))
{
GPIOC->ODR &= ~ (GPIO_ODR_3);
}
}

}

}

void SystemClock_Config(void)
{

RCC->CR |= RCC_CR_HSION;

while ((RCC->CR & RCC_CR_HSIRDY)==0) {}

RCC->CFGR &= ~(RCC_CFGR_SW);

while ((RCC->CFGR & RCC_CFGR_SWS) !=RCC_CFGR_SWS_HSI) {}

RCC->CR &= ~(RCC_CR_PLLON);

while ((RCC->CR & RCC_CR_PLLRDY)!=0) {}

RCC->CFGR &= ~(RCC_CFGR_PLLMUL);

RCC->CFGR |= RCC_CFGR_PLLMUL12;

RCC->CR |= RCC_CR_PLLON;

while ((RCC->CR & RCC_CR_PLLRDY)==0) {}

RCC->CFGR |= RCC_CFGR_SW_PLL;

while ((RCC->CFGR & RCC_CFGR_SWS)!= RCC_CFGR_SWS_PLL) {}
}