From bc90d4524fb1dd36acbffa8c71e6721bec9d4101 Mon Sep 17 00:00:00 2001 From: Elise Le Roux Date: Wed, 20 Oct 2021 15:30:00 +0200 Subject: [PATCH] codeur incr --- .../Local_Sources/bordage/Include/MyTimer.c | 32 ++++++++ .../Local_Sources/bordage/Include/MyTimer.h | 8 ++ .../Local_Sources/bordage/Source/bordage.c | 23 +++++- .../Local_Sources/bordage/Source/principal.c | 28 ------- .../bordage/drivers.uvguix.lerouxde | 73 +++++++++++-------- 5 files changed, 101 insertions(+), 63 deletions(-) diff --git a/Keil_Elise_Yuwei/Local_Sources/bordage/Include/MyTimer.c b/Keil_Elise_Yuwei/Local_Sources/bordage/Include/MyTimer.c index eba1214..6a7af73 100644 --- a/Keil_Elise_Yuwei/Local_Sources/bordage/Include/MyTimer.c +++ b/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; diff --git a/Keil_Elise_Yuwei/Local_Sources/bordage/Include/MyTimer.h b/Keil_Elise_Yuwei/Local_Sources/bordage/Include/MyTimer.h index 319a924..2f9c942 100644 --- a/Keil_Elise_Yuwei/Local_Sources/bordage/Include/MyTimer.h +++ b/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 ) ; /* diff --git a/Keil_Elise_Yuwei/Local_Sources/bordage/Source/bordage.c b/Keil_Elise_Yuwei/Local_Sources/bordage/Source/bordage.c index 4482053..e3e648e 100644 --- a/Keil_Elise_Yuwei/Local_Sources/bordage/Source/bordage.c +++ b/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); +} diff --git a/Keil_Elise_Yuwei/Local_Sources/bordage/Source/principal.c b/Keil_Elise_Yuwei/Local_Sources/bordage/Source/principal.c index 6de53fd..21401c8 100644 --- a/Keil_Elise_Yuwei/Local_Sources/bordage/Source/principal.c +++ b/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 } } diff --git a/Keil_Elise_Yuwei/Local_Sources/bordage/drivers.uvguix.lerouxde b/Keil_Elise_Yuwei/Local_Sources/bordage/drivers.uvguix.lerouxde index 8e80a58..af267b9 100644 --- a/Keil_Elise_Yuwei/Local_Sources/bordage/drivers.uvguix.lerouxde +++ b/Keil_Elise_Yuwei/Local_Sources/bordage/drivers.uvguix.lerouxde @@ -124,8 +124,8 @@ 2 3 - -1 - -1 + -32000 + -32000 -1 @@ -141,8 +141,8 @@ 0 - 946 - 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