STM32 servomotor library

Servomotor control library for STM32 microcontrollers with CubeMX generated HAL

IMPORTANT

The library's dependency includes need to be included in your project's main.h file. Are they:

• The ..._hal.h header
• The ..._hal_tim.h header (for timers)

/* For stm32f0xx */
#include <stm32f0xx_hal.h>
#include <stm32f0xx_hal_tim.h>
   
/* For stm32f1xx */
#include <stm32f1xx_hal.h>
#include <stm32f1xx_hal_tim.h>
    
/* For stm32f2xx */
#include <stm32f2xx_hal.h>
#include <stm32f2xx_hal_tim.h>
    
/* For stm32f3xx */
#include <stm32f3xx_hal.h>
#include <stm32f3xx_hal_tim.h>
    
/* For stm32f4xx */
#include <stm32f4xx_hal.h>
#include <stm32f4xx_hal_tim.h>

Documentation

The functions are declared and documented in the servomotor.h file.

Timer configuration

The timer that will be used for PWM generation needs to be previously configured. This library will not do this for you.

It is recommended to use STM32CubeMX to configure the timers settings.

Timer channels

When doing this, you must define in the timers a PWM generation channel for each servomotor.

APB timer clocks

You should check the frequency of the APB clock used by the timer. To find out which APB clock is used by the timer you have chosen, see your microcontroller datasheet.

Prescaler (PSC) & Counter Period (ARR)

Use the servocalc.py python script to calculate the timer's Prescaler (PSC) and Counter Period (ARR) values.

Other setting

Keep other settings as default

Wrong settings will cause servomotors to not work.