Commit 5e756c98 authored by Damien George's avatar Damien George
Browse files

stmhal: Rename servo_TIM2_Handle -> TIM2_Handle.

parent e2548095
......@@ -29,7 +29,7 @@ STATIC const mp_obj_type_t servo_obj_type;
STATIC pyb_servo_obj_t pyb_servo_obj[PYB_SERVO_NUM];
TIM_HandleTypeDef servo_TIM2_Handle;
TIM_HandleTypeDef TIM2_Handle;
void servo_init(void) {
// TIM2 clock enable
......@@ -40,12 +40,12 @@ void servo_init(void) {
HAL_NVIC_EnableIRQ(TIM2_IRQn);
// PWM clock configuration
servo_TIM2_Handle.Instance = TIM2;
servo_TIM2_Handle.Init.Period = 2000; // timer cycles at 50Hz
servo_TIM2_Handle.Init.Prescaler = ((SystemCoreClock / 2) / 100000) - 1; // timer runs at 100kHz
servo_TIM2_Handle.Init.ClockDivision = 0;
servo_TIM2_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&servo_TIM2_Handle);
TIM2_Handle.Instance = TIM2;
TIM2_Handle.Init.Period = 2000; // timer cycles at 50Hz
TIM2_Handle.Init.Prescaler = ((SystemCoreClock / 2) / 100000) - 1; // timer runs at 100kHz
TIM2_Handle.Init.ClockDivision = 0;
TIM2_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
HAL_TIM_PWM_Init(&TIM2_Handle);
// reset servo objects
for (int i = 0; i < PYB_SERVO_NUM; i++) {
......@@ -83,9 +83,9 @@ void servo_timer_irq_callback(void) {
}
}
if (need_it) {
__HAL_TIM_ENABLE_IT(&servo_TIM2_Handle, TIM_IT_UPDATE);
__HAL_TIM_ENABLE_IT(&TIM2_Handle, TIM_IT_UPDATE);
} else {
__HAL_TIM_DISABLE_IT(&servo_TIM2_Handle, TIM_IT_UPDATE);
__HAL_TIM_DISABLE_IT(&TIM2_Handle, TIM_IT_UPDATE);
}
}
......@@ -115,10 +115,10 @@ STATIC void servo_init_channel(pyb_servo_obj_t *s) {
oc_init.Pulse = s->pulse_cur; // units of 10us
oc_init.OCPolarity = TIM_OCPOLARITY_HIGH;
oc_init.OCFastMode = TIM_OCFAST_DISABLE;
HAL_TIM_PWM_ConfigChannel(&servo_TIM2_Handle, &oc_init, channel);
HAL_TIM_PWM_ConfigChannel(&TIM2_Handle, &oc_init, channel);
// start PWM
HAL_TIM_PWM_Start(&servo_TIM2_Handle, channel);
HAL_TIM_PWM_Start(&TIM2_Handle, channel);
}
/******************************************************************************/
......
extern TIM_HandleTypeDef servo_TIM2_Handle;
extern TIM_HandleTypeDef TIM2_Handle;
void servo_init(void);
void servo_timer_irq_callback(void);
......
......@@ -149,7 +149,7 @@ void HAL_RTC_MspDeInit(RTC_HandleTypeDef *hrtc)
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
if (htim == &TIM3_Handle) {
USBD_CDC_HAL_TIM_PeriodElapsedCallback();
} else if (htim == &servo_TIM2_Handle) {
} else if (htim == &TIM2_Handle) {
servo_timer_irq_callback();
}
}
......
......@@ -352,8 +352,7 @@ void RTC_WKUP_IRQHandler(void) {
}
void TIM2_IRQHandler(void) {
// servo timer is TIM2
HAL_TIM_IRQHandler(&servo_TIM2_Handle);
HAL_TIM_IRQHandler(&TIM2_Handle);
}
void TIM3_IRQHandler(void) {
......
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