168servos

A resource saving Servo driver for 168 servos for STM32 microcontrollers

• Servo pulses with no jitter
• Resolution 0.1% (1000 steps)
• Period time: 20ms
• Needs only one basic timer with ISR
• Why 168 servos? Beccause 168 is the maximum amount of GPIOs on an STM32
• Demo project for NUCLEOF746ZG board based on the STM32CubeMxIDE

How to integrate it in your project

• Copy servos.c and servos.h into your project
• Configure Timer6 with a prescaler to get a 1µs base time. Diable autoreaload. See tim.c
• Enable Timer6 IQR with highest priority in the project
• Add the call of SEROS_ISR() in TIM6_DAC_IRQHandler(void) in stm32f7xx_it.c and check if there are no other interrupts that use this handler.
• Call SERVOS_Init() in your main.c
• Configure the servos with SERVOS_Configure();
• Call SERVOS_Task1ms() in a 1ms task