Merge branch 'master' of https://git.etud.insa-toulouse.fr/guldenst/projet_voilier
This commit is contained in:
Jasper Güldenstein
commit
1b3ff2c0b6
12 changed files with 85 additions and 88 deletions
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@ -28,17 +28,17 @@
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@ -77,7 +77,7 @@
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@ -123,8 +123,8 @@
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@ -1835,7 +1835,7 @@
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@ -3616,48 +3616,12 @@
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@ -431,6 +431,22 @@
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<ExecCommand></ExecCommand>
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<Expression></Expression>
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</Bp>
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<ExecCommand></ExecCommand>
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<Expression></Expression>
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</Bp>
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</Breakpoint>
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<WatchWindow1>
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<Ww>
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@ -552,7 +568,7 @@
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<PathWithFileName>..\Services\Chrono.c</PathWithFileName>
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@ -185,7 +185,6 @@
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<uocXRam>0</uocXRam>
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<RvdsVP>0</RvdsVP>
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<RvdsMve>0</RvdsMve>
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<RvdsCdeCp>0</RvdsCdeCp>
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<hadIRAM2>0</hadIRAM2>
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<hadIROM2>0</hadIROM2>
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<StupSel>8</StupSel>
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@ -352,7 +351,7 @@
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<NoWarn>0</NoWarn>
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<uSurpInc>0</uSurpInc>
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<useXO>0</useXO>
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<ClangAsOpt>4</ClangAsOpt>
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<uClangAs>0</uClangAs>
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<VariousControls>
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<MiscControls></MiscControls>
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<Define></Define>
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@ -704,7 +703,6 @@
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<uocXRam>0</uocXRam>
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<RvdsVP>0</RvdsVP>
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<RvdsMve>0</RvdsMve>
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<RvdsCdeCp>0</RvdsCdeCp>
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<hadIRAM2>0</hadIRAM2>
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<hadIROM2>0</hadIROM2>
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<StupSel>8</StupSel>
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@ -871,7 +869,7 @@
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<NoWarn>0</NoWarn>
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<uSurpInc>0</uSurpInc>
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<useXO>0</useXO>
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<ClangAsOpt>4</ClangAsOpt>
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<uClangAs>0</uClangAs>
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<VariousControls>
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<MiscControls></MiscControls>
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<Define></Define>
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@ -1060,19 +1058,4 @@
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<files/>
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</RTE>
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<LayerInfo>
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<Layers>
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<Layer>
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<LayName><Project Info></LayName>
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<LayDesc></LayDesc>
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<LayUrl></LayUrl>
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<LayKeys></LayKeys>
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<LayCat></LayCat>
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<LayLic></LayLic>
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<LayTarg>0</LayTarg>
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<LayPrjMark>1</LayPrjMark>
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</Layer>
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</Layers>
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</LayerInfo>
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</Project>
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@ -1,3 +1,5 @@
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//codé par Kévin Cavailles et Jasper Güldenstein
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void DC_MOTOR_Init(void);
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// set a speed between -100 (full throttle clockwise) 0 (stop) and 100 (full throttle counterclockwise)
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@ -1,5 +1,5 @@
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#ifndef INCR_ENCODER
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//codé par Kévin Cavailles et Jasper Güldenstein
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/**
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*/
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void INCR_ENCODER_Init(void);
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@ -1,3 +1,5 @@
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//codé par Kévin Cavailles et Jasper Güldenstein
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// initializes the PWM input of the remote on PB6
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void RF_INPUT_Init(void);
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@ -1,4 +1,4 @@
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//codé par Kévin Cavailles et Jasper Güldenstein
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void SAIL_Init(void);
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@ -1,6 +1,8 @@
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#ifndef SERVO
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#define SERVO
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//codé par Kévin Cavailles et Jasper Güldenstein
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void SERVO_Init(void);
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void SERVO_SetAngle(int angle);
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@ -1,5 +1,7 @@
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// RIEN A MODIFIER //
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//codé par Léonie GALLOIS et Morgane FOUSSATS
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#ifndef ACCELERO_H
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#define ACCELERO_H
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@ -1,5 +1,7 @@
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// RIEN A MODIFIER //
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//codé par Léonie GALLOIS et Morgane FOUSSATS
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#ifndef ALIMENTATION_H
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#define ALIMENTATION_H
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@ -1,6 +1,7 @@
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#ifndef RECEPTEURHF_INPUT_H
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#define RECEPTEURHF_INPUT_H
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//codé par Léonie GALLOIS et Morgane FOUSSATS
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#include "stm32f1xx_ll_bus.h"
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#include "stm32f1xx_ll_usart.h"
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@ -21,6 +21,7 @@
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#include "stm32f1xx_ll_system.h" // utile dans la fonction SystemClock_Config
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#include "stm32f1xx_ll_bus.h"
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#include "RFInput.h"
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#include "IncrEncoder.h"
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#include "DcMotor.h"
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@ -28,6 +29,9 @@
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#include "alimentation.h"
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#include "accelerometer.h"
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#define CONTROL_LOOP_PERIOD 250
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#define MSG_TRANSFER_PERIOD 3000
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void SystemClock_Config(void);
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/* Private functions ---------------------------------------------------------*/
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@ -38,18 +42,18 @@ void SystemClock_Config(void);
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* @retval None
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*/
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||||
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int val = 0;
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int val2 = 0;
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int counter = 0;
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float level;
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int level_enough;
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double xx,yy;
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int bon;
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int battery_level_good = 0;
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int angle_roulis_good = 0;
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int angle_sail = 0;
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int RF_Input_Duty = 0;
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int TX_Flag = 0, CONTROL_LOOP_Flag = 0;
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int main(void)
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{
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/* Configure the system clock to 72 MHz */
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SystemClock_Config();
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//alimentation_init();
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RF_INPUT_Init();
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DC_MOTOR_Init();
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@ -59,20 +63,39 @@ int main(void)
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/* Infinite loop */
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while (1)
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{
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LL_mDelay(100);
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//counter = (counter + 1) % 100;
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//DC_MOTOR_SetSpeed(counter);
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//val = RF_INPUT_GetPeriodUs();
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//val2 = RF_INPUT_GetDutyTimeUs();
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//SAIL_SetAngle(counter);
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//level = get_battery_level();
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//level_enough = is_level_enough();
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xx = accelero_get_x();
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//yy = accelero_get_y();
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//bon = accelero_angle_bon();
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if(CONTROL_LOOP_Flag){
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battery_level_good = is_level_enough();
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||||
angle_roulis_good = accelero_angle_bon();
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||||
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||||
if(!angle_roulis_good){
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||||
SAIL_SetAngle(90);
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DC_MOTOR_SetSpeed(0);
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}else{
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angle_sail = INCR_ENCODER_GetAngle();
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SAIL_SetAngle(angle_sail/2);
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RF_Input_Duty = RF_INPUT_GetDutyTimeRelative();
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DC_MOTOR_SetSpeed(RF_Input_Duty);
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}
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CONTROL_LOOP_Flag = 0;
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||||
}
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||||
if(TX_Flag){
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TX_Flag = 0;
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||||
}
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}
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||||
}
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||||
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||||
void SysTick_Handler(void)
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||||
{
|
||||
if(counter % CONTROL_LOOP_PERIOD == 0){
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||||
CONTROL_LOOP_Flag = 1;
|
||||
}
|
||||
if(counter % MSG_TRANSFER_PERIOD == 0){
|
||||
TX_Flag = 1;
|
||||
}
|
||||
counter = (counter+1) % (CONTROL_LOOP_PERIOD*MSG_TRANSFER_PERIOD) ;
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||||
}
|
||||
|
||||
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||||
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||||
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