diff options
| author | Keith Packard <keithp@keithp.com> | 2016-04-13 06:16:01 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2016-04-13 06:20:34 -0700 |
| commit | b8a19e83b7b1b8e2a1fcbdd58e41f9f974ae28ff (patch) | |
| tree | 258a7c88d6ceaa3c8b06849f44d729a3b33d0f65 /src/detherm | |
| parent | cfb91ec7ef6ef485d813af96a0f206bb7a2204dd (diff) | |
altos/detherm: Add servo driver
This just provides commands to test the servo with.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/detherm')
| -rw-r--r-- | src/detherm/Makefile | 1 | ||||
| -rw-r--r-- | src/detherm/ao_detherm.c | 2 | ||||
| -rw-r--r-- | src/detherm/ao_pins.h | 16 |
3 files changed, 15 insertions, 4 deletions
diff --git a/src/detherm/Makefile b/src/detherm/Makefile index 35df6c96..6b0e0bf8 100644 --- a/src/detherm/Makefile +++ b/src/detherm/Makefile @@ -42,6 +42,7 @@ ALTOS_SRC = \ ao_ms5607.c \ ao_convert_pa.c \ ao_pwm.c \ + ao_servo.c \ ao_task.c \ ao_config.c \ ao_cmd.c \ diff --git a/src/detherm/ao_detherm.c b/src/detherm/ao_detherm.c index 64dee586..fba9195e 100644 --- a/src/detherm/ao_detherm.c +++ b/src/detherm/ao_detherm.c @@ -18,6 +18,7 @@ #include <ao.h> #include <ao_exti.h> #include <ao_pwm.h> +#include <ao_servo.h> void main(void) { @@ -38,6 +39,7 @@ void main(void) ao_ms5607_init(); // ao_flight_init(); ao_pwm_init(); + ao_servo_init(); ao_log_init(); ao_report_init(); ao_config_init(); diff --git a/src/detherm/ao_pins.h b/src/detherm/ao_pins.h index 8cd4a9c4..1c577b6e 100644 --- a/src/detherm/ao_pins.h +++ b/src/detherm/ao_pins.h @@ -98,10 +98,18 @@ #define AO_PWM_TIMER_ENABLE STM_RCC_APB1ENR_TIM3EN #define AO_PWM_TIMER_SCALE 32 -/* Motor */ +/* Servo */ -#define AO_MOTOR_DIR_GPIO (&stm_gpiob) -#define AO_MOTOR_DIR_PIN 0 -#define AO_MOTOR_SPEED_PWM 0 +#define AO_SERVO_DIR_PORT (&stm_gpiob) +#define AO_SERVO_DIR_BIT 0 +#define AO_SERVO_SPEED_PWM 0 + +/* limit 2 */ +#define AO_SERVO_LIMIT_FORE_PORT (&stm_gpiob) +#define AO_SERVO_LIMIT_FORE_BIT 6 + +/* limit 1 */ +#define AO_SERVO_LIMIT_BACK_PORT (&stm_gpiob) +#define AO_SERVO_LIMIT_BACK_BIT 7 #endif /* _AO_PINS_H_ */ |