- Complementary pwm (up to 3 phases) with dead zone
- Drive by APB2 clck (84MHz default on nucleo)
- prescaler set to 84 => timer frequency = 1 MHz
- prescaler set to 1000 (STEPS) => PWM period = 1 ms
- default pulse set to 500 (STEPS/2) => duty cycle = 50 %
uart1 (RX-PA10 + TX-PB6) + uart2 (USB) are activated
The both uart are IRQ managed in parallel, they work exactly the same way.
?: get duty cycles. answer=xxxx,yyyy\r\n#xxxx+yyyy: set left duty cycle to xxxx and right to yyyy (xxxx and yyyy truncated at 1000) answer!xxxx,yyyy\r\n
Blue Button: change duty-cyles by 10% (cycling up and down) + toggle LD2
Black Button: reset set CPU and set duty cycles to 50% + uart answer: !0500,0500\r\n
| Name | pin |
|---|---|
| UART1 RX | PA10 |
| UART1 TX | PB6 |
| Tim1 chan1 | PA8 |
| Tim1 chan1N | PB13 |
| Tim1 chan2 | PA9 |
| Tim1 chan2N | PB14 |
| Tim8 chan1 | PC6 |
| Tim8 chan1N | PA7 |
| Tim8 chan2 | PC7 |
| Tim8 chan2N | PB0 |
- add enable signal to stop motors
- manage rotary encoder and return speed?