Merge branch 'master' of https://git.etud.insa-toulouse.fr/guldenst/projet_voilier

keil_project/MDK-ARM/Project.uvguix.momof

@@ -28,17 +28,17 @@
     <View>
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     <View>
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       <ViewName>Code Coverage</ViewName>
-      <TableColWidths>1008 414</TableColWidths>
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     <View>
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       <ViewName>Performance Analyzer</ViewName>
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@@ -77,7 +77,7 @@
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       <ViewName>Trace Data</ViewName>
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@@ -123,8 +123,8 @@
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@@ -1835,7 +1835,7 @@
         <Name>Build</Name>
         <Buttons>
           <Len>998</Len>
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@@ -3616,48 +3616,12 @@
     <ActiveMDIGroup>0</ActiveMDIGroup>
     <MDIGroup>
       <Size>100</Size>
-      <ActiveTab>3</ActiveTab>
+      <ActiveTab>0</ActiveTab>
-      <Doc>
-        <Name>startup_stm32f103xb.s</Name>
-        <ColumnNumber>0</ColumnNumber>
-        <TopLine>122</TopLine>
-        <CurrentLine>133</CurrentLine>
-        <Folding>1</Folding>
-        <ContractedFolders></ContractedFolders>
-        <PaneID>0</PaneID>
-      </Doc>
       <Doc>
         <Name>../Src/main.c</Name>
-        <ColumnNumber>0</ColumnNumber>
+        <ColumnNumber>26</ColumnNumber>
-        <TopLine>22</TopLine>
+        <TopLine>31</TopLine>
-        <CurrentLine>45</CurrentLine>
+        <CurrentLine>29</CurrentLine>
-        <Folding>1</Folding>
-        <ContractedFolders></ContractedFolders>
-        <PaneID>0</PaneID>
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-      <Doc>
-        <Name>..\LLDrivers\inc\stm32f1xx_ll_adc.h</Name>
-        <ColumnNumber>0</ColumnNumber>
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-      <Doc>
-        <Name>..\Services\alimentation.c</Name>
-        <ColumnNumber>29</ColumnNumber>
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-      <Doc>
-        <Name>..\Services\alimentation.h</Name>
-        <ColumnNumber>5</ColumnNumber>
-        <TopLine>1</TopLine>
-        <CurrentLine>20</CurrentLine>
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keil_project/MDK-ARM/Project.uvoptx

@@ -431,6 +431,22 @@
           <ExecCommand></ExecCommand>
           <Expression></Expression>
         </Bp>
+        <Bp>
+          <Number>3</Number>
+          <Type>0</Type>
+          <LineNumber>46</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>0</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>0</BreakIfRCount>
+          <Filename>../Src/main.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression></Expression>
+        </Bp>
       </Breakpoint>
       <WatchWindow1>
         <Ww>
@@ -552,7 +568,7 @@
       <GroupNumber>2</GroupNumber>
       <FileNumber>2</FileNumber>
       <FileType>1</FileType>
-      <tvExp>0</tvExp>
+      <tvExp>1</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\Services\Chrono.c</PathWithFileName>

keil_project/MDK-ARM/Project.uvprojx

@@ -185,7 +185,6 @@
             <uocXRam>0</uocXRam>
             <RvdsVP>0</RvdsVP>
             <RvdsMve>0</RvdsMve>
-            <RvdsCdeCp>0</RvdsCdeCp>
             <hadIRAM2>0</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -352,7 +351,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>0</uSurpInc>
             <useXO>0</useXO>
-            <ClangAsOpt>4</ClangAsOpt>
+            <uClangAs>0</uClangAs>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define></Define>
@@ -704,7 +703,6 @@
             <uocXRam>0</uocXRam>
             <RvdsVP>0</RvdsVP>
             <RvdsMve>0</RvdsMve>
-            <RvdsCdeCp>0</RvdsCdeCp>
             <hadIRAM2>0</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
@@ -871,7 +869,7 @@
             <NoWarn>0</NoWarn>
             <uSurpInc>0</uSurpInc>
             <useXO>0</useXO>
-            <ClangAsOpt>4</ClangAsOpt>
+            <uClangAs>0</uClangAs>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define></Define>
@@ -1060,19 +1058,4 @@
     <files/>
   </RTE>
 
-  <LayerInfo>
-    <Layers>
-      <Layer>
-        <LayName>&lt;Project Info&gt;</LayName>
-        <LayDesc></LayDesc>
-        <LayUrl></LayUrl>
-        <LayKeys></LayKeys>
-        <LayCat></LayCat>
-        <LayLic></LayLic>
-        <LayTarg>0</LayTarg>
-        <LayPrjMark>1</LayPrjMark>
-      </Layer>
-    </Layers>
-  </LayerInfo>
-
 </Project>

keil_project/Services/DcMotor.h

@@ -1,3 +1,5 @@
+//codé par Kévin Cavailles et Jasper Güldenstein
+
 void DC_MOTOR_Init(void);
 
 // set a speed between -100 (full throttle clockwise) 0 (stop) and 100 (full throttle counterclockwise)

keil_project/Services/IncrEncoder.h

@@ -1,5 +1,5 @@
 #ifndef INCR_ENCODER
-
+//codé par Kévin Cavailles et Jasper Güldenstein
 /**
   */
 void INCR_ENCODER_Init(void);

keil_project/Services/RFInput.h

@@ -1,3 +1,5 @@
+//codé par Kévin Cavailles et Jasper Güldenstein
+
 
 // initializes the PWM input of the remote on PB6
 void RF_INPUT_Init(void);

keil_project/Services/Sail.h

@@ -1,4 +1,4 @@
-
+//codé par Kévin Cavailles et Jasper Güldenstein
 
 void SAIL_Init(void);
 

keil_project/Services/Servo.h

@@ -1,6 +1,8 @@
 #ifndef SERVO
 #define SERVO
 
+//codé par Kévin Cavailles et Jasper Güldenstein
+
 void SERVO_Init(void);
 
 void SERVO_SetAngle(int angle);

keil_project/Services/accelerometer.h

@@ -1,5 +1,7 @@
 // RIEN A MODIFIER //
 
+//codé par Léonie GALLOIS et Morgane FOUSSATS
+
 #ifndef ACCELERO_H
 #define ACCELERO_H
 

keil_project/Services/alimentation.h

@@ -1,5 +1,7 @@
 // RIEN A MODIFIER //
 
+//codé par Léonie GALLOIS et Morgane FOUSSATS
+
 #ifndef ALIMENTATION_H
 #define ALIMENTATION_H
 

keil_project/Services/emetteur_rf.h

@@ -1,6 +1,7 @@
 #ifndef RECEPTEURHF_INPUT_H
 #define RECEPTEURHF_INPUT_H
 
+//codé par Léonie GALLOIS et Morgane FOUSSATS
 
 #include "stm32f1xx_ll_bus.h"
 #include "stm32f1xx_ll_usart.h"

keil_project/Src/main.c

@@ -21,6 +21,7 @@
 #include "stm32f1xx_ll_system.h" // utile dans la fonction SystemClock_Config
 #include "stm32f1xx_ll_bus.h" 
 
+
 #include "RFInput.h"
 #include "IncrEncoder.h"
 #include "DcMotor.h"
@@ -28,6 +29,9 @@
 #include "alimentation.h"
 #include "accelerometer.h"
 
+#define CONTROL_LOOP_PERIOD 250
+#define MSG_TRANSFER_PERIOD 3000
+
 void  SystemClock_Config(void);
 
 /* Private functions ---------------------------------------------------------*/
@@ -38,18 +42,18 @@ void  SystemClock_Config(void);
   * @retval None
   */
 	
-int val = 0;
+
-int val2 = 0;
 int counter = 0;
-float level;
+int battery_level_good = 0;
-int level_enough;
+int angle_roulis_good = 0;
-double xx,yy;
+int angle_sail = 0;
-int bon;
+int RF_Input_Duty = 0;
+int TX_Flag = 0, CONTROL_LOOP_Flag = 0;
+
 int main(void)
 {
   /* Configure the system clock to 72 MHz */
-  SystemClock_Config();
+	SystemClock_Config();
-	
 	//alimentation_init();
 	RF_INPUT_Init();
 	DC_MOTOR_Init();
@@ -59,20 +63,39 @@ int main(void)
   /* Infinite loop */
   while (1)
   {
-		LL_mDelay(100);
+	  	if(CONTROL_LOOP_Flag){
-		//counter = (counter + 1) % 100;
+			battery_level_good = is_level_enough();
-		//DC_MOTOR_SetSpeed(counter);
+			angle_roulis_good = accelero_angle_bon();
-		//val = RF_INPUT_GetPeriodUs();
+			
-		//val2 = RF_INPUT_GetDutyTimeUs();
+			if(!angle_roulis_good){
-		//SAIL_SetAngle(counter);
+				SAIL_SetAngle(90);
-		//level = get_battery_level();
+				DC_MOTOR_SetSpeed(0);
-		//level_enough = is_level_enough();
+			}else{
-		xx = accelero_get_x();
+				angle_sail = INCR_ENCODER_GetAngle();
-		//yy = accelero_get_y();
+				SAIL_SetAngle(angle_sail/2);
-		//bon = accelero_angle_bon();
+				RF_Input_Duty = RF_INPUT_GetDutyTimeRelative();
+				DC_MOTOR_SetSpeed(RF_Input_Duty);
+			}
+			
+			CONTROL_LOOP_Flag = 0;
+		}
+		if(TX_Flag){
+			
+			TX_Flag = 0;
+		}
   }
 }
 
+void SysTick_Handler(void)
+{
+	if(counter % CONTROL_LOOP_PERIOD == 0){
+		CONTROL_LOOP_Flag = 1;
+	}
+	if(counter % MSG_TRANSFER_PERIOD == 0){
+		TX_Flag = 1;
+	}
+	counter = (counter+1) % (CONTROL_LOOP_PERIOD*MSG_TRANSFER_PERIOD)  ;
+}