diff options
| -rw-r--r-- | main.cpp | 27 |
1 files changed, 27 insertions, 0 deletions
@@ -22,6 +22,11 @@ Pin mag_cs = GPIOC[14]; Pin mpu_cs = GPIOC[15]; Pin flash_cs = GPIOB[2]; +Pin pwm1 = GPIOA[0]; +Pin pwm2 = GPIOA[1]; +Pin pwm3 = GPIOA[2]; +Pin pwm4 = GPIOA[3]; + Pin s1 = GPIOA[0]; Pin s2 = GPIOA[1]; @@ -97,6 +102,28 @@ int main() { flash_cs.set_mode(Pin::Output); flash_cs.on(); + pwm1.set_mode(Pin::AF); + pwm1.set_af(1); + pwm2.set_mode(Pin::AF); + pwm2.set_af(1); + pwm3.set_mode(Pin::AF); + pwm3.set_af(1); + pwm4.set_mode(Pin::AF); + pwm4.set_af(1); + + RCC.enable(RCC.TIM2); + + TIM2.PSC = 71; + TIM2.ARR = 2500; + TIM2.CCER = (1 << 12) | (1 << 8) | (1 << 4) | (1 << 0); + TIM2.CCMR1 = (6 << 12) | (1 << 11) | (6 << 4) | (1 << 3); + TIM2.CCMR2 = (6 << 12) | (1 << 11) | (6 << 4) | (1 << 3); + TIM2.CCR1 = 1000; + TIM2.CCR2 = 1000; + TIM2.CCR3 = 1000; + TIM2.CCR4 = 1000; + TIM2.CR1 = (1 << 0); + magn.init(); mpu.init(); float buf[9] = {0,0,0,0,0,0,0,0,0}; |