Posted on October 15, 2014 at 11:56i want to control 4 rc servo. i used timer 1, 4 channel, PE9, PE11, PE13, PE14. of course, it don't working. it runs messy. i'm doing robot arm. can you help me find error?
#include ''stm32f4xx.h''
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
void Delay(__IO uint32_t nCount);
void RC_Servo_Init(void);
int main(void)
{
RC_Servo_Init();
TIM1->CCR1 = 2200;
Delay(10000000);
TIM1->CCR2 = 2700;
Delay(10000000);
TIM1->CCR3 = 1500;
Delay(10000000);
TIM1 ->CCR4 = 2800;
while (1)
{}
}
void RC_Servo_Init(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOE, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_11| GPIO_Pin_13 | GPIO_Pin_13;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL ;
GPIO_Init(GPIOE, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource9, GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource11, GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource13, GPIO_AF_TIM1);
GPIO_PinAFConfig(GPIOE, GPIO_PinSource14, GPIO_AF_TIM1);
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Prescaler = SystemCoreClock/1000000-1;
TIM_TimeBaseStructure.TIM_Period = 20000;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
//TIM_OCStructInit(&TIM_OCInitStructure);
/* Servo 1 */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* Servo 2 */
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
/* Servo 3 */
TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC3Init(TIM1,&TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM1,TIM_OCPreload_Enable);
/* Servo 4 */
TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC4Init(TIM1,&TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM1,TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM1, ENABLE);
/* TIM1 enable counter */
TIM_Cmd(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
}
void Delay(__IO uint32_t nCount)
{
while(nCount--)
{
}
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t* file, uint32_t line)
{
/* User can add his own implementation to report the file name and line number,
ex: printf(''Wrong parameters value: file %s on line %d\r\n'', file, line) */
while (1)
{}
}
#endif
