/**
*****************************************************************************
**
**  File        : main.c
**
**  Abstract    : main function.
**
**  Functions   : main
**
**  Environment : Atollic TrueSTUDIO(R)
**                STMicroelectronics STM32F4xx Standard Peripherals Library
**
**  Distribution: The file is distributed 殿s is,�without any warranty
**                of any kind.
**
**  (c)Copyright Atollic AB.
**  You may use this file as-is or modify it according to the needs of your
**  project. Distribution of this file (unmodified or modified) is not
**  permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the
**  rights to distribute the assembled, compiled & linked contents of this
**  file as part of an application binary file, provided that it is built
**  using the Atollic TrueSTUDIO(R) toolchain.
**
**
*****************************************************************************
*/

/* Includes */
#include "stm32f4xx.h"

/* Private macro */
/* Private variables */
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_OCInitTypeDef  TIM_OCInitStructure;

//サーボ位置の初期値 1.5ms
uint16_t servopos1 = 4500;
uint16_t servopos2 = 4500;
uint16_t servopos3 = 4500;
uint16_t servopos4 = 4500;
//uint16_t PrescalerValue = 0;

/* Private function prototypes*/
void TIM_Port_Config(void);
void TIM_Param_Config(void);
void myLongDelay(void);

/* Private functions */
int main(void)
{
  //タイマー用I/Oの設定
  TIM_Port_Config();
  //タイマーのパラメータを設定
  TIM_Param_Config();
  //チャネル１のサーボを動かす
  while (1)
  {
	  //チャネル１(PC6)のサーボをニュートラル(1500us)から333us動かす
	  //分解能は0.3333us。↓では0.3333 * 1000 = 333.3us
	  servopos1 += 1000;
	  TIM_OCInitStructure.TIM_Pulse = servopos1;
	  TIM_OC1Init(TIM3, &TIM_OCInitStructure);

	  myLongDelay();	//約１秒待つ

	  //ニュートラルに戻す
	  servopos1 -= 1000;
	  TIM_OCInitStructure.TIM_Pulse = servopos1;
	  TIM_OC1Init(TIM3, &TIM_OCInitStructure);

	  myLongDelay();	//約１秒待つ
  }
}


void TIM_Port_Config(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;

  //TIM3にクロック供給開始
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

  //GPIOCとGPIOBにクロック供給開始
  RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOB, ENABLE);

  //GPIOCのPin6とPin7をオルタネィテブファンクション(OUT)に設定
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 ;
  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_UP ;
  GPIO_Init(GPIOC, &GPIO_InitStructure);

  //GPIOBのPin0とPin1をオルタネィテブファンクション(OUT)に設定
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
  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_UP ;
  GPIO_Init(GPIOB, &GPIO_InitStructure);

  //設定したピンをTIM3の出力として設定
  GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM3);
  GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_TIM3);
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_TIM3);
  GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_TIM3);
}

void TIM_Param_Config(){
	//タイムベースの設定
	TIM_TimeBaseStructure.TIM_Period = 0xe8ff;
	TIM_TimeBaseStructure.TIM_Prescaler = 8;
	TIM_TimeBaseStructure.TIM_ClockDivision = 0;
	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

	//PWM1 Modeの設定・チャネル１
	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
	TIM_OCInitStructure.TIM_Pulse = servopos1;
	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
	TIM_OC1Init(TIM3, &TIM_OCInitStructure);
	TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);

	//PWM1 Modeの設定・チャネル２
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
	TIM_OCInitStructure.TIM_Pulse = servopos2;
	TIM_OC2Init(TIM3, &TIM_OCInitStructure);
	TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);

	//PWM1 Modeの設定・チャネル３
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
	TIM_OCInitStructure.TIM_Pulse = servopos3;
	TIM_OC3Init(TIM3, &TIM_OCInitStructure);
	TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);

	//PWM1 Modeの設定・チャネル４
	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
	TIM_OCInitStructure.TIM_Pulse = servopos4;
	TIM_OC4Init(TIM3, &TIM_OCInitStructure);
	TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);

	TIM_ARRPreloadConfig(TIM3, ENABLE);

	//TIM3を有効化
	TIM_Cmd(TIM3, ENABLE);
}

//時間遅延関数
void myLongDelay(){
	uint32_t ii;
	ii=0;
	//4,000,000回ループを回る
	while(ii<4000000){
		ii++;
	}
}

/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/