codeur incr

Keil_Elise_Yuwei/Local_Sources/bordage/Include/MyTimer.c

@@ -16,6 +16,38 @@ void MyTimer_Base_Init ( MyTimer_Struct_TypeDef * Timer ) {
 	Timer->Timer->CR1 |=  (1 << 0); // Active le compteur
 }
 
+void MyTimer_EncoderMode_Conf ( TIM_TypeDef * TIM ) {
+	
+	TIM->PSC = 0; // Réglage de la période du Timer
+	TIM->ARR = 360*4; 
+	
+// CC1S= ‘01’ (TIMx_CCMR1 register, TI1FP1 mapped on TI1)
+	TIM->CCMR1 &= ~TIM_CCMR1_CC1S;
+	TIM->CCMR1 |= TIM_CCMR1_CC1S_0;
+	
+// CC2S= ‘01’ (TIMx_CCMR2 register, TI2FP2 mapped on TI2)
+	TIM->CCMR2 &= ~TIM_CCMR1_CC2S;
+	TIM->CCMR2 |= TIM_CCMR1_CC2S_0;
+	
+// CC1P= ‘0’, CC1NP = ‘0’, IC1F =’0000’ (TIMx_CCER register, TI1FP1 noninverted, TI1FP1=TI1)
+	TIM->CCER &= ~TIM_CCER_CC1P;
+	TIM->CCER &= ~TIM_CCER_CC1NP;
+	TIM->CCER &= ~TIM_CCMR1_IC1F;
+	
+// CC2P= ‘0’, CC2NP = ‘0’, IC2F =’0000’ (TIMx_CCER register, TI2FP2 noninverted, TI2FP2=TI2)
+	TIM->CCER &= ~TIM_CCER_CC2P;
+	TIM->CCER &= ~TIM_CCER_CC2NP;
+	TIM->CCER &= ~TIM_CCMR1_IC2F; // ou CCMR2 ?
+	
+// SMS= ‘011’ (TIMx_SMCR register, both inputs are active on both rising and falling edges)
+	TIM->SMCR &= ~TIM_SMCR_SMS;
+	TIM->SMCR |= TIM_SMCR_SMS_0;
+	TIM->SMCR |= TIM_SMCR_SMS_1;
+	
+// CEN = 1 (TIMx_CR1 register, Counter is enabled)
+	TIM->CR1 |= TIM_CR1_CEN;
+}
+
 
 void MyTimer_ActiveIT ( TIM_TypeDef * Timer , char Prio , void (* IT_function ) ( void ) ) {
 	char num_IT;

Keil_Elise_Yuwei/Local_Sources/bordage/Include/MyTimer.h

@@ -22,6 +22,14 @@ conf plus fines (PWM, codeur inc . . . )
 void MyTimer_Base_Init ( MyTimer_Struct_TypeDef * Timer ) ;
 
 
+/*
+*****************************************************************************************
+* @brief
+* @param -> - TIM_TypeDef * Timer : Timer concerne
+* @Note -> 
+*************************************************************************************************
+*/
+void MyTimer_EncoderMode_Conf ( TIM_TypeDef *TIM ) ;
 
 
 /*

Keil_Elise_Yuwei/Local_Sources/bordage/Source/bordage.c

@@ -5,10 +5,14 @@
 
 #define TIMER_PWM (TIM3)
 #define CANAL_PWM (1)
-
+#define TIMER_CI (TIM2) // Timer codeur incrémental
+#define GIROUETTE_PHA (PA1)
+#define GIROUETTE_PHB (PA4)
+#define GIROUETTE_INDEX (PB0)
+#define SERVO_VOILE_PWM (PA4)
 
 /*
-*****************************************************************************************
+*************************************************************************************************
 * @brief
 * @param -> int angle : angle que l'on veut donner à la voile (entre 0 et 90°)
 * @Note -> 
@@ -29,6 +33,19 @@ int bordage ( int angle ) {
 	MyTimer_PWM (TIMER_PWM, CANAL_PWM);
 	Set_Duty_Cycle(TIMER_PWM, CANAL_PWM, duty_cycle);
 	
-	
 	return 0;
 }
+ 
+
+
+/*
+*************************************************************************************************
+* @brief Handler a appeler lorsque l'angle de roulis est supérieur à 40°
+* @param ->
+* @Note -> 
+*************************************************************************************************
+*/
+void Roulis_Handler ( void )
+{
+	bordage(0);
+}

Keil_Elise_Yuwei/Local_Sources/bordage/Source/principal.c

@@ -14,39 +14,11 @@ void CallBack ( void )
 
 int main ( void ) {
 	
-	int res = 0;
-	
-	// Configuration du timer
-	MyTimer_Struct_TypeDef TIM;
-	TIM.Timer = TIM3;
-	TIM.ARR = 719; //2000
-	TIM.PSC = 0; // 18000
-	MyTimer_Base_Init(&TIM);
-	
-	// Configuration de la diode PA.6
-	GPIO_Struct.GPIO = GPIOA;
-	GPIO_Struct.GPIO_Pin = 6;
-	GPIO_Struct.GPIO_Conf = AltOut_Ppull;
-	MyGPIO_Init(&GPIO_Struct);
-	
-	// PWM à 100kHz avec un rapport cyclique de 0% sur le Timer 3 et le canal 1.
-	MyTimer_PWM (TIM3, 1);
-	Set_Duty_Cycle(TIM3, 1, 0);
-	
-	// Configuration de la broche PB.0
-	GPIO_Struct.GPIO = GPIOB;
-	GPIO_Struct.GPIO_Pin = 0;
-	GPIO_Struct.GPIO_Conf = In_Analog;
-	MyGPIO_Init(&GPIO_Struct);
-	
-	MyADC_Init(8);
 	
 	
 	
    
 while (1)
 {
-	res = convert_single(); // conversion
-  Set_Duty_Cycle(TIM3, 1, 100 * res / 0xFFF ); // mise à jour de l’intensité de la led
 }
 }