diff --git a/keil_project/MDK-ARM/Project.uvoptx b/keil_project/MDK-ARM/Project.uvoptx
index 58b97a9..baf3638 100644
--- a/keil_project/MDK-ARM/Project.uvoptx
+++ b/keil_project/MDK-ARM/Project.uvoptx
@@ -402,22 +402,6 @@
0
0
- 40
- 1
- 134223706
- 0
- 0
- 0
- 0
- 0
- 1
- ..\Services\RFInput.c
-
- \\NUCLEO_F103RB\../Services/RFInput.c\40
-
-
- 1
- 0
71
1
0
@@ -432,7 +416,7 @@
- 2
+ 1
0
46
1
@@ -628,7 +612,7 @@
2
7
1
- 0
+ 1
0
0
..\Services\Accelerometer.c
diff --git a/keil_project/Services/Accelerometer.c b/keil_project/Services/Accelerometer.c
index 4a09e07..1fc14ae 100644
--- a/keil_project/Services/Accelerometer.c
+++ b/keil_project/Services/Accelerometer.c
@@ -8,7 +8,7 @@
#include
#ifndef M_PI
- #define M_PI 3.14159265358979323846
+ #define M_PI 3.14159265358979323846
#endif
#define ANGLE_LIMIT_DEG 40
@@ -20,67 +20,67 @@
#define VOLT_PER_G 0.48
void ACCELEROMETER_Init(void){
- RCC -> CFGR |= (0x1<<15);
- RCC-> CFGR &= ~ (0x1<<14);
- LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC1);
- LL_APB1_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOC);
-
- LL_GPIO_InitTypeDef pc0, pc1;
- LL_ADC_InitTypeDef adc;
- LL_ADC_REG_InitTypeDef adcReg;
-
- LL_GPIO_StructInit(&pc0);
- pc0.Pin = LL_GPIO_PIN_0;
- pc0.Mode = LL_GPIO_MODE_ANALOG;
- LL_GPIO_Init(GPIOA, &pc0);
-
- LL_GPIO_StructInit(&pc1);
- pc1.Pin = LL_GPIO_PIN_1;
- pc1.Mode = LL_GPIO_MODE_ANALOG;
- LL_GPIO_Init(GPIOA, &pc1);
-
-
- adc.DataAlignment = LL_ADC_DATA_ALIGN_RIGHT;
- adc.SequencersScanMode = LL_ADC_SEQ_SCAN_DISABLE;
- LL_ADC_Init(ADC1, &adc);
-
- adcReg.TriggerSource = LL_ADC_REG_TRIG_SOFTWARE ;
- adcReg.SequencerLength = LL_ADC_REG_SEQ_SCAN_DISABLE;
- adcReg.SequencerDiscont = LL_ADC_REG_SEQ_DISCONT_DISABLE;
- adcReg.ContinuousMode = LL_ADC_REG_CONV_SINGLE;
- adcReg.DMATransfer = LL_ADC_REG_DMA_TRANSFER_NONE;
-
- LL_ADC_REG_Init(ADC1, &adcReg);
- LL_ADC_Enable(ADC1);
+ RCC -> CFGR |= (0x1<<15);
+ RCC-> CFGR &= ~ (0x1<<14);
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC1);
+ LL_APB1_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOC);
+
+ LL_GPIO_InitTypeDef pc0, pc1;
+ LL_ADC_InitTypeDef adc;
+ LL_ADC_REG_InitTypeDef adcReg;
+
+ LL_GPIO_StructInit(&pc0);
+ pc0.Pin = LL_GPIO_PIN_0;
+ pc0.Mode = LL_GPIO_MODE_ANALOG;
+ LL_GPIO_Init(GPIOA, &pc0);
+
+ LL_GPIO_StructInit(&pc1);
+ pc1.Pin = LL_GPIO_PIN_1;
+ pc1.Mode = LL_GPIO_MODE_ANALOG;
+ LL_GPIO_Init(GPIOA, &pc1);
+
+
+ adc.DataAlignment = LL_ADC_DATA_ALIGN_RIGHT;
+ adc.SequencersScanMode = LL_ADC_SEQ_SCAN_DISABLE;
+ LL_ADC_Init(ADC1, &adc);
+
+ adcReg.TriggerSource = LL_ADC_REG_TRIG_SOFTWARE ;
+ adcReg.SequencerLength = LL_ADC_REG_SEQ_SCAN_DISABLE;
+ adcReg.SequencerDiscont = LL_ADC_REG_SEQ_DISCONT_DISABLE;
+ adcReg.ContinuousMode = LL_ADC_REG_CONV_SINGLE;
+ adcReg.DMATransfer = LL_ADC_REG_DMA_TRANSFER_NONE;
+
+ LL_ADC_REG_Init(ADC1, &adcReg);
+ LL_ADC_Enable(ADC1);
}
double ACCELEROMETER_GetX(void){
- LL_ADC_REG_SetSequencerRanks(ADC1, LL_ADC_REG_RANK_1, LL_ADC_CHANNEL_1);
- LL_ADC_REG_StartConversionSWStart(ADC1);
- while (LL_ADC_IsActiveFlag_EOS(ADC1) != 1);
- double x= (LL_ADC_REG_ReadConversionData12(ADC1) - ZERO_G_READING) * VOLT_PER_G;
- return x;
+ LL_ADC_REG_SetSequencerRanks(ADC1, LL_ADC_REG_RANK_1, LL_ADC_CHANNEL_1);
+ LL_ADC_REG_StartConversionSWStart(ADC1);
+ while (LL_ADC_IsActiveFlag_EOS(ADC1) != 1);
+ double x= (LL_ADC_REG_ReadConversionData12(ADC1) - ZERO_G_READING) * VOLT_PER_G;
+ return x;
}
double ACCELEROMETER_GetY(void){
- LL_ADC_REG_SetSequencerRanks(ADC1, LL_ADC_REG_RANK_1, LL_ADC_CHANNEL_11);
- LL_ADC_REG_StartConversionSWStart(ADC1);
+ LL_ADC_REG_SetSequencerRanks(ADC1, LL_ADC_REG_RANK_1, LL_ADC_CHANNEL_11);
+ LL_ADC_REG_StartConversionSWStart(ADC1);
while (LL_ADC_IsActiveFlag_EOS(ADC1) != 1);
double y = (LL_ADC_REG_ReadConversionData12(ADC1)-ZERO_G_READING) * VOLT_PER_G;
- return y;
+ return y;
}
int ACCELEROMETER_AngleGood(void){
- double x = ACCELEROMETER_GetX();
- double y = ACCELEROMETER_GetY();
- double angle = atan(x/y);
-
- if (fabs(angle)>ANGLE_LIMIT_RAD){
- return 0;
- }else {
- return 1;
- }
- //le flag EOC n'est jamais mis à un ....
- // Soit la conversion est mal faite soit on n'utilise pas bien la simulation
- //soit on n'utilise pas bien isActiveFlag dans la boucle
+ double x = ACCELEROMETER_GetX();
+ double y = ACCELEROMETER_GetY();
+ double angle = atan(x/y);
+
+ if (fabs(angle)>ANGLE_LIMIT_RAD){
+ return 0;
+ }else {
+ return 1;
+ }
+ //le flag EOC n'est jamais mis à un ....
+ // Soit la conversion est mal faite soit on n'utilise pas bien la simulation
+ //soit on n'utilise pas bien isActiveFlag dans la boucle
}
diff --git a/keil_project/Services/Accelerometer.h b/keil_project/Services/Accelerometer.h
index d3becbb..3b81186 100644
--- a/keil_project/Services/Accelerometer.h
+++ b/keil_project/Services/Accelerometer.h
@@ -10,28 +10,28 @@
/**
* @brief Initializes for reading the Accelerometer
- * Peripherals used: ADC1
- * Pins used: PC0 (Analog Input, X channel accelerometer)
- * Pins used: PC1 (Analog Input, Y channel accelerometer)
+ * Peripherals used: ADC1
+ * Pins used: PC0 (Analog Input, X channel accelerometer)
+ * Pins used: PC1 (Analog Input, Y channel accelerometer)
*/
void ACCELEROMETER_Init(void);
/**
* @brief Reads the accelerometer x channel
- * @retval acceleration in x direction in g
+ * @retval acceleration in x direction in g
*/
double ACCELEROMETER_GetX(void);
/**
* @brief Reads the accelerometer y channel
- * @retval acceleration in y direction in g
+ * @retval acceleration in y direction in g
*/
double ACCELEROMETER_GetY(void);
/**
* @brief Reads the accelerometer x and y channel
- Calculates if the roll angle lies between -40 and 40 degrees
- * @retval state (0 or 1)
+ Calculates if the roll angle lies between -40 and 40 degrees
+ * @retval state (0 or 1)
*/
int ACCELEROMETER_AngleGood(void);
diff --git a/keil_project/Services/Alimentation.c b/keil_project/Services/Alimentation.c
index 2015fa1..26bc957 100644
--- a/keil_project/Services/Alimentation.c
+++ b/keil_project/Services/Alimentation.c
@@ -7,52 +7,51 @@
#include
void ALIMENTATION_Init(void){
- RCC -> CFGR |= (0x1<<15);
- RCC-> CFGR &= ~ (0x1<<14);
- LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC1);
- LL_APB1_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOC);
-
- LL_GPIO_InitTypeDef pc2;
- LL_ADC_InitTypeDef adc;
- LL_ADC_REG_InitTypeDef adcReg;
-
- LL_GPIO_StructInit(&pc2);
- pc2.Pin = LL_GPIO_PIN_0;
- pc2.Mode = LL_GPIO_MODE_ANALOG;
- LL_GPIO_Init(GPIOC, &pc2);
+ RCC -> CFGR |= (0x1<<15);
+ RCC-> CFGR &= ~ (0x1<<14);
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC1);
+ LL_APB1_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOC);
+
+ LL_GPIO_InitTypeDef pc2;
+ LL_ADC_InitTypeDef adc;
+ LL_ADC_REG_InitTypeDef adcReg;
+
+ LL_GPIO_StructInit(&pc2);
+ pc2.Pin = LL_GPIO_PIN_0;
+ pc2.Mode = LL_GPIO_MODE_ANALOG;
+ LL_GPIO_Init(GPIOC, &pc2);
- adc.DataAlignment = LL_ADC_DATA_ALIGN_RIGHT;
- adc.SequencersScanMode = LL_ADC_SEQ_SCAN_DISABLE;
- LL_ADC_Init(ADC1, &adc);
+ adc.DataAlignment = LL_ADC_DATA_ALIGN_RIGHT;
+ adc.SequencersScanMode = LL_ADC_SEQ_SCAN_DISABLE;
+ LL_ADC_Init(ADC1, &adc);
- adcReg.TriggerSource = LL_ADC_REG_TRIG_SOFTWARE ;
- adcReg.SequencerLength = LL_ADC_REG_SEQ_SCAN_DISABLE;
- adcReg.SequencerDiscont = LL_ADC_REG_SEQ_DISCONT_DISABLE;
- adcReg.ContinuousMode = LL_ADC_REG_CONV_SINGLE;
- adcReg.DMATransfer = LL_ADC_REG_DMA_TRANSFER_NONE;
-
-
- LL_ADC_REG_Init(ADC1, &adcReg);
- LL_ADC_Enable(ADC1);
+ adcReg.TriggerSource = LL_ADC_REG_TRIG_SOFTWARE ;
+ adcReg.SequencerLength = LL_ADC_REG_SEQ_SCAN_DISABLE;
+ adcReg.SequencerDiscont = LL_ADC_REG_SEQ_DISCONT_DISABLE;
+ adcReg.ContinuousMode = LL_ADC_REG_CONV_SINGLE;
+ adcReg.DMATransfer = LL_ADC_REG_DMA_TRANSFER_NONE;
+
+ LL_ADC_REG_Init(ADC1, &adcReg);
+ LL_ADC_Enable(ADC1);
}
float ALIMENTATION_GetBatteryLevel(void){
- float u2;
- float battery_level;
- LL_ADC_REG_SetSequencerRanks(ADC1, LL_ADC_REG_RANK_1, LL_ADC_CHANNEL_12);
- LL_ADC_REG_StartConversionSWStart(ADC1);
- while (LL_ADC_IsActiveFlag_EOS(ADC1) != 1);
- battery_level = LL_ADC_REG_ReadConversionData12(ADC1);
- u2 = (battery_level*3.3)/4095.0;
- float level = u2*13.0;
- return level;
+ float u2;
+ float battery_level;
+ LL_ADC_REG_SetSequencerRanks(ADC1, LL_ADC_REG_RANK_1, LL_ADC_CHANNEL_12);
+ LL_ADC_REG_StartConversionSWStart(ADC1);
+ while (LL_ADC_IsActiveFlag_EOS(ADC1) != 1);
+ battery_level = LL_ADC_REG_ReadConversionData12(ADC1);
+ u2 = (battery_level*3.3)/4095.0;
+ float level = u2*13.0;
+ return level;
}
-
+
int ALIMENTATION_IsLevelEnough(void){
- if (ALIMENTATION_GetBatteryLevel()<(0.8*12)){
- return 0;
- }else{
- return 1;
- }
+ if (ALIMENTATION_GetBatteryLevel()<(0.8*12)){
+ return 0;
+ }else{
+ return 1;
+ }
}
diff --git a/keil_project/Services/Alimentation.h b/keil_project/Services/Alimentation.h
index 15d9f69..9c57f70 100644
--- a/keil_project/Services/Alimentation.h
+++ b/keil_project/Services/Alimentation.h
@@ -10,20 +10,20 @@
/**
* @brief Initializes for reading of the power supply/battery level
- * Peripherals used: ADC1
- * Pins used: PC2 (Analog input)
+ * Peripherals used: ADC1
+ * Pins used: PC2 (Analog input)
*/
void ALIMENTATION_Init(void);
/**
* @brief Reads the power supply/battery level
- * @retval battery level in Volts
+ * @retval battery level in Volts
*/
float ALIMENTATION_GetBatteryLevel(void);
/**
* @brief Returns if the power supply/battery level is above acceptable level
- * @retval state (0 or 1)
+ * @retval state (0 or 1)
*/
int ALIMENTATION_IsLevelEnough(void);
diff --git a/keil_project/Services/DcMotor.c b/keil_project/Services/DcMotor.c
index 95961ac..8dc1940 100644
--- a/keil_project/Services/DcMotor.c
+++ b/keil_project/Services/DcMotor.c
@@ -5,61 +5,61 @@
#define ARR_DC_MOTOR 100
void DC_MOTOR_Init(void) {
- // setup timer 2
- LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
- LL_TIM_InitTypeDef tim_init;
- tim_init.Prescaler = 35;
- tim_init.Autoreload = ARR_DC_MOTOR - 1;
- tim_init.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
- tim_init.CounterMode=LL_TIM_COUNTERMODE_UP;
- tim_init.RepetitionCounter=0;
- LL_TIM_Init(TIM2, &tim_init);
-
- // setup gpio
- LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
- LL_GPIO_InitTypeDef servo_gpio_init;
- servo_gpio_init.Pin = LL_GPIO_PIN_1;
+ // setup timer 2
+ LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
+ LL_TIM_InitTypeDef tim_init;
+ tim_init.Prescaler = 35;
+ tim_init.Autoreload = ARR_DC_MOTOR - 1;
+ tim_init.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
+ tim_init.CounterMode=LL_TIM_COUNTERMODE_UP;
+ tim_init.RepetitionCounter=0;
+ LL_TIM_Init(TIM2, &tim_init);
+
+ // setup gpio
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+ LL_GPIO_InitTypeDef servo_gpio_init;
+ servo_gpio_init.Pin = LL_GPIO_PIN_1;
servo_gpio_init.Mode = LL_GPIO_MODE_ALTERNATE;
servo_gpio_init.Speed = LL_GPIO_SPEED_FREQ_LOW;
servo_gpio_init.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
- LL_GPIO_Init(GPIOA, &servo_gpio_init);
-
- // setup output compare
- LL_TIM_OC_InitTypeDef oc_init;
- oc_init.OCMode = LL_TIM_OCMODE_PWM1;
- oc_init.OCState = LL_TIM_OCSTATE_ENABLE;
- oc_init.OCNState = LL_TIM_OCSTATE_ENABLE;
- oc_init.CompareValue = 0; // off at start
- oc_init.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
- oc_init.OCNPolarity = LL_TIM_OCPOLARITY_LOW;
- oc_init.OCIdleState = LL_TIM_OCIDLESTATE_LOW;
- oc_init.OCNIdleState = LL_TIM_OCIDLESTATE_HIGH;
- LL_TIM_OC_Init(TIM2, LL_TIM_CHANNEL_CH2, &oc_init);
- LL_TIM_EnableCounter(TIM2);
-
- // init gpio for direction (sense) pin
- LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+ LL_GPIO_Init(GPIOA, &servo_gpio_init);
-
- LL_GPIO_InitTypeDef pa2_init_conf;
- pa2_init_conf.Mode = LL_GPIO_MODE_OUTPUT;
- pa2_init_conf.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
- pa2_init_conf.Speed = LL_GPIO_SPEED_FREQ_LOW;
- pa2_init_conf.Pin = LL_GPIO_PIN_2;
- LL_GPIO_Init(GPIOA, &pa2_init_conf);
+ // setup output compare
+ LL_TIM_OC_InitTypeDef oc_init;
+ oc_init.OCMode = LL_TIM_OCMODE_PWM1;
+ oc_init.OCState = LL_TIM_OCSTATE_ENABLE;
+ oc_init.OCNState = LL_TIM_OCSTATE_ENABLE;
+ oc_init.CompareValue = 0; // off at start
+ oc_init.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
+ oc_init.OCNPolarity = LL_TIM_OCPOLARITY_LOW;
+ oc_init.OCIdleState = LL_TIM_OCIDLESTATE_LOW;
+ oc_init.OCNIdleState = LL_TIM_OCIDLESTATE_HIGH;
+ LL_TIM_OC_Init(TIM2, LL_TIM_CHANNEL_CH2, &oc_init);
+ LL_TIM_EnableCounter(TIM2);
+
+ // init gpio for direction (sense) pin
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+
+
+ LL_GPIO_InitTypeDef pa2_init_conf;
+ pa2_init_conf.Mode = LL_GPIO_MODE_OUTPUT;
+ pa2_init_conf.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+ pa2_init_conf.Speed = LL_GPIO_SPEED_FREQ_LOW;
+ pa2_init_conf.Pin = LL_GPIO_PIN_2;
+ LL_GPIO_Init(GPIOA, &pa2_init_conf);
}
void DC_MOTOR_SetSpeed(int speed){
- if(speed <= 100 && speed >= 0){
- LL_GPIO_SetOutputPin(GPIOA,LL_GPIO_PIN_2);
- int converted_speed = speed * (ARR_DC_MOTOR / 100);
- TIM2->CCR2 = converted_speed;
- } else if (speed >= -100 && speed <= 0) {
- LL_GPIO_ResetOutputPin(GPIOA,LL_GPIO_PIN_2); // TODO maybe switch around set and reset, depending on direction of turning
- int converted_speed = (-1) * speed * (ARR_DC_MOTOR / 100);
- TIM2->CCR2 = converted_speed;
- } else {
- TIM2->CCR2 = 0;
- }
+ if(speed <= 100 && speed >= 0){
+ LL_GPIO_SetOutputPin(GPIOA,LL_GPIO_PIN_2);
+ int converted_speed = speed * (ARR_DC_MOTOR / 100);
+ TIM2->CCR2 = converted_speed;
+ } else if (speed >= -100 && speed <= 0) {
+ LL_GPIO_ResetOutputPin(GPIOA,LL_GPIO_PIN_2); // TODO maybe switch around set and reset, depending on direction of turning
+ int converted_speed = (-1) * speed * (ARR_DC_MOTOR / 100);
+ TIM2->CCR2 = converted_speed;
+ } else {
+ TIM2->CCR2 = 0;
+ }
}
diff --git a/keil_project/Services/DcMotor.h b/keil_project/Services/DcMotor.h
index 96a4660..29d3008 100644
--- a/keil_project/Services/DcMotor.h
+++ b/keil_project/Services/DcMotor.h
@@ -10,16 +10,16 @@
/**
* @brief Initialziation function for the DC_MOTOR module.
- * Peripherals used: TIM2
- * Pins used: PA1 (TIM2 channel 1, PWM Output)
- * PA2 (GPIO, direction control)
+ * Peripherals used: TIM2
+ * Pins used: PA1 (TIM2 channel 1, PWM Output)
+ * PA2 (GPIO, direction control)
*/
void DC_MOTOR_Init(void);
/**
* @brief Sets the speed of the DC motor using a PWM signal with a period of 50us -> frequency of 20kHz and a resolution of 0.5us
- * @param speed value between -100 (full throttle clockwise), 0 (stop), and 100 (full throttle counterclockwise)
- */
+ * @param speed value between -100 (full throttle clockwise), 0 (stop), and 100 (full throttle counterclockwise)
+ */
void DC_MOTOR_SetSpeed(int speed);
#endif
diff --git a/keil_project/Services/IncrEncoder.c b/keil_project/Services/IncrEncoder.c
index 23a8587..13f9405 100644
--- a/keil_project/Services/IncrEncoder.c
+++ b/keil_project/Services/IncrEncoder.c
@@ -14,97 +14,94 @@
int index_passed = 0;
void INCR_ENCODER_Init(void){
-
- // GPIO initialization for channels a and b of the encoder
- LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
- LL_GPIO_InitTypeDef channel_a_pin_conf, channel_b_pin_conf;
-
- channel_a_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
- channel_a_pin_conf.Pin = LL_GPIO_PIN_6;
- LL_GPIO_Init(GPIOA, &channel_a_pin_conf);
-
- channel_b_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
- channel_b_pin_conf.Pin = LL_GPIO_PIN_7;
- LL_GPIO_Init(GPIOA, &channel_b_pin_conf);
-
- // timer init
- LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
- LL_TIM_InitTypeDef tim3_init_struct;
-
- tim3_init_struct.Autoreload= TICKS_PER_REVOLUTION-1;
- tim3_init_struct.Prescaler=0;
- tim3_init_struct.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
- tim3_init_struct.CounterMode=LL_TIM_COUNTERMODE_UP;
- tim3_init_struct.RepetitionCounter=0;
-
- LL_TIM_Init(TIM3, &tim3_init_struct);
-
- // timer as encoder init
- LL_TIM_ENCODER_InitTypeDef encoder_init_struct;
- encoder_init_struct.EncoderMode = LL_TIM_ENCODERMODE_X4_TI12;
- encoder_init_struct.IC1Polarity = LL_TIM_IC_POLARITY_RISING;
- encoder_init_struct.IC2Polarity = LL_TIM_IC_POLARITY_RISING;
- encoder_init_struct.IC1ActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI;
- encoder_init_struct.IC2ActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI;
- encoder_init_struct.IC1Prescaler = LL_TIM_ICPSC_DIV1;
- encoder_init_struct.IC2Prescaler= LL_TIM_ICPSC_DIV1;
- encoder_init_struct.IC1Filter = LL_TIM_IC_FILTER_FDIV1 ;
- encoder_init_struct.IC2Filter = LL_TIM_IC_FILTER_FDIV1 ;
-
- LL_TIM_ENCODER_Init(TIM3, &encoder_init_struct);
-
- LL_TIM_EnableCounter(TIM3);
- LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
- LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_AFIO);
-
-
- // gpio init for index (interrup) pin
- LL_GPIO_InitTypeDef index_pin_conf;
-
- index_pin_conf.Pin = LL_GPIO_PIN_5;
- index_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
-
- LL_GPIO_Init(GPIOC, &index_pin_conf);
-
- // exti init (interrupt)
- LL_EXTI_InitTypeDef exti;
-
- exti.Line_0_31 = LL_EXTI_LINE_5;
- exti.LineCommand = ENABLE;
- exti.Mode = LL_EXTI_MODE_IT;
- exti.Trigger = LL_EXTI_TRIGGER_RISING;
-
- LL_EXTI_Init(&exti);
- LL_GPIO_AF_SetEXTISource(LL_GPIO_AF_EXTI_PORTA, LL_GPIO_AF_EXTI_LINE5);
- // enable interrupt from exti in NVIC
- NVIC_SetPriority(EXTI9_5_IRQn, 12); // prio??
- NVIC_EnableIRQ(EXTI9_5_IRQn);
-
+ // GPIO initialization for channels a and b of the encoder
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+ LL_GPIO_InitTypeDef channel_a_pin_conf, channel_b_pin_conf;
+
+ channel_a_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
+ channel_a_pin_conf.Pin = LL_GPIO_PIN_6;
+ LL_GPIO_Init(GPIOA, &channel_a_pin_conf);
+
+ channel_b_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
+ channel_b_pin_conf.Pin = LL_GPIO_PIN_7;
+ LL_GPIO_Init(GPIOA, &channel_b_pin_conf);
+
+ // timer init
+ LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
+ LL_TIM_InitTypeDef tim3_init_struct;
+
+ tim3_init_struct.Autoreload= TICKS_PER_REVOLUTION-1;
+ tim3_init_struct.Prescaler=0;
+ tim3_init_struct.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
+ tim3_init_struct.CounterMode=LL_TIM_COUNTERMODE_UP;
+ tim3_init_struct.RepetitionCounter=0;
+
+ LL_TIM_Init(TIM3, &tim3_init_struct);
+
+ // timer as encoder init
+ LL_TIM_ENCODER_InitTypeDef encoder_init_struct;
+ encoder_init_struct.EncoderMode = LL_TIM_ENCODERMODE_X4_TI12;
+ encoder_init_struct.IC1Polarity = LL_TIM_IC_POLARITY_RISING;
+ encoder_init_struct.IC2Polarity = LL_TIM_IC_POLARITY_RISING;
+ encoder_init_struct.IC1ActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI;
+ encoder_init_struct.IC2ActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI;
+ encoder_init_struct.IC1Prescaler = LL_TIM_ICPSC_DIV1;
+ encoder_init_struct.IC2Prescaler= LL_TIM_ICPSC_DIV1;
+ encoder_init_struct.IC1Filter = LL_TIM_IC_FILTER_FDIV1 ;
+ encoder_init_struct.IC2Filter = LL_TIM_IC_FILTER_FDIV1 ;
+
+ LL_TIM_ENCODER_Init(TIM3, &encoder_init_struct);
+
+ LL_TIM_EnableCounter(TIM3);
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_AFIO);
+
+
+ // gpio init for index (interrup) pin
+ LL_GPIO_InitTypeDef index_pin_conf;
+
+ index_pin_conf.Pin = LL_GPIO_PIN_5;
+ index_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
+
+ LL_GPIO_Init(GPIOC, &index_pin_conf);
+
+ // exti init (interrupt)
+ LL_EXTI_InitTypeDef exti;
+
+ exti.Line_0_31 = LL_EXTI_LINE_5;
+ exti.LineCommand = ENABLE;
+ exti.Mode = LL_EXTI_MODE_IT;
+ exti.Trigger = LL_EXTI_TRIGGER_RISING;
+
+ LL_EXTI_Init(&exti);
+ LL_GPIO_AF_SetEXTISource(LL_GPIO_AF_EXTI_PORTA, LL_GPIO_AF_EXTI_LINE5);
+
+ // enable interrupt from exti in NVIC
+ NVIC_SetPriority(EXTI9_5_IRQn, 12); // prio??
+ NVIC_EnableIRQ(EXTI9_5_IRQn);
}
void EXTI9_5_IRQHandler(void){
-
- index_passed = 1;
- // reset counter = encoder position to 0 position
- LL_TIM_WriteReg(TIM3,CNT,0);
-
- // clear pending (EXTI necessary ?)
- LL_EXTI_ClearFlag_0_31(LL_EXTI_LINE_5);
- NVIC_ClearPendingIRQ(EXTI9_5_IRQn);
+ index_passed = 1;
+ // reset counter = encoder position to 0 position
+ LL_TIM_WriteReg(TIM3,CNT,0);
+ // clear pending (EXTI necessary ?)
+ LL_EXTI_ClearFlag_0_31(LL_EXTI_LINE_5);
+ NVIC_ClearPendingIRQ(EXTI9_5_IRQn);
}
int INCR_ENCODER_IsAbsolute(void)
{
- return index_passed;
+ return index_passed;
};
float INCR_ENCODER_GetAngle(void)
{
- int counter_value = LL_TIM_ReadReg(TIM3, CNT);
- // center
- int centered_counter_value = (counter_value - ZERO_POSITION) % TICKS_PER_REVOLUTION;
- // translate ticks to angle
- float angle = centered_counter_value * DEGREE_PER_TICKS;
- return angle;
+ int counter_value = LL_TIM_ReadReg(TIM3, CNT);
+ // center
+ int centered_counter_value = (counter_value - ZERO_POSITION) % TICKS_PER_REVOLUTION;
+ // translate ticks to angle
+ float angle = centered_counter_value * DEGREE_PER_TICKS;
+ return angle;
};
diff --git a/keil_project/Services/IncrEncoder.h b/keil_project/Services/IncrEncoder.h
index f622ac2..ab2e8e4 100644
--- a/keil_project/Services/IncrEncoder.h
+++ b/keil_project/Services/IncrEncoder.h
@@ -10,23 +10,23 @@
/**
* @brief Initialziation function for the RF_OUTPUT module.
- * Peripherals used: TIM3, EXTI
- * Pins used: PA5 (incremental encoder index, interrupt)
- * PA6 (incremental encoder channel a, TIM3 channel 1)
- * PA7 (incremental encoder channel b, TIM3 channel 2)
+ * Peripherals used: TIM3, EXTI
+ * Pins used: PA5 (incremental encoder index, interrupt)
+ * PA6 (incremental encoder channel a, TIM3 channel 1)
+ * PA7 (incremental encoder channel b, TIM3 channel 2)
*/
void INCR_ENCODER_Init(void);
/**
* @brief Indicates whether the index has been passed at least once.
- * If this is not the case, the reading is not absolute.
- * @retval state (0 or 1)
+ * If this is not the case, the reading is not absolute.
+ * @retval state (0 or 1)
*/
int INCR_ENCODER_IsAbsolute(void);
/**
* @brief Returns the angle reading of the incremental encoder
- * @retval -180 to 180 where 0 is the incremental encoder pointing towards the back of the boat
+ * @retval -180 to 180 where 0 is the incremental encoder pointing towards the back of the boat
*/
float INCR_ENCODER_GetAngle(void);
diff --git a/keil_project/Services/RFInput.c b/keil_project/Services/RFInput.c
index 3211ba5..04ac897 100644
--- a/keil_project/Services/RFInput.c
+++ b/keil_project/Services/RFInput.c
@@ -8,70 +8,69 @@
void RF_INPUT_Init(void)
{
- // GPIO setup
- LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOB);
- LL_GPIO_InitTypeDef pb6_init_conf, pb7_init_conf;
-
- pb6_init_conf.Mode = LL_GPIO_MODE_FLOATING;
- pb6_init_conf.Pin = LL_GPIO_PIN_6;
- pb6_init_conf.Pull = LL_GPIO_PULL_DOWN;
- LL_GPIO_Init(GPIOB, &pb6_init_conf);
-
- pb7_init_conf.Mode = LL_GPIO_MODE_FLOATING;
- pb7_init_conf.Pin = LL_GPIO_PIN_7;
- pb7_init_conf.Pull = LL_GPIO_PULL_DOWN;
- LL_GPIO_Init(GPIOB, &pb7_init_conf);
-
- // timer setup to
- LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM4);
- LL_TIM_InitTypeDef tim4_init_struct;
-
- tim4_init_struct.Autoreload= 0xFFFF;
- tim4_init_struct.Prescaler=71;
- tim4_init_struct.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
- tim4_init_struct.CounterMode=LL_TIM_COUNTERMODE_UP;
- tim4_init_struct.RepetitionCounter=0;
-
- LL_TIM_Init(TIM4, &tim4_init_struct);
-
-
- // setup channel 1 to capture period of pwm
- LL_TIM_IC_InitTypeDef tim4_ic_conf;
- tim4_ic_conf.ICPolarity= LL_TIM_IC_POLARITY_RISING;
- tim4_ic_conf.ICActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI;
- tim4_ic_conf.ICFilter = LL_TIM_IC_FILTER_FDIV1;
- tim4_ic_conf.ICPrescaler = LL_TIM_ICPSC_DIV1;
-
- LL_TIM_IC_Init(TIM4, LL_TIM_CHANNEL_CH1, &tim4_ic_conf);
-
- // setup channel 2 to capture duty time of pwm
- LL_TIM_IC_InitTypeDef tim4_ic_conf_2;
- tim4_ic_conf_2.ICPolarity= LL_TIM_IC_POLARITY_FALLING;
- tim4_ic_conf_2.ICActiveInput = LL_TIM_ACTIVEINPUT_INDIRECTTI;
- tim4_ic_conf_2.ICFilter = LL_TIM_IC_FILTER_FDIV1;
- tim4_ic_conf_2.ICPrescaler = LL_TIM_ICPSC_DIV1;
-
- LL_TIM_IC_Init(TIM4, LL_TIM_CHANNEL_CH2, &tim4_ic_conf_2);
-
- // setup reset of clock at rising edge
- LL_TIM_SetSlaveMode(TIM4, LL_TIM_SLAVEMODE_RESET);
- LL_TIM_SetTriggerInput(TIM4, LL_TIM_TS_TI1FP1);
-
- LL_TIM_EnableCounter(TIM4);
+ // GPIO setup
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOB);
+ LL_GPIO_InitTypeDef pb6_init_conf, pb7_init_conf;
+
+ pb6_init_conf.Mode = LL_GPIO_MODE_FLOATING;
+ pb6_init_conf.Pin = LL_GPIO_PIN_6;
+ pb6_init_conf.Pull = LL_GPIO_PULL_DOWN;
+ LL_GPIO_Init(GPIOB, &pb6_init_conf);
+
+ pb7_init_conf.Mode = LL_GPIO_MODE_FLOATING;
+ pb7_init_conf.Pin = LL_GPIO_PIN_7;
+ pb7_init_conf.Pull = LL_GPIO_PULL_DOWN;
+ LL_GPIO_Init(GPIOB, &pb7_init_conf);
+
+ // timer setup to
+ LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM4);
+ LL_TIM_InitTypeDef tim4_init_struct;
+
+ tim4_init_struct.Autoreload= 0xFFFF;
+ tim4_init_struct.Prescaler=71;
+ tim4_init_struct.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
+ tim4_init_struct.CounterMode=LL_TIM_COUNTERMODE_UP;
+ tim4_init_struct.RepetitionCounter=0;
+
+ LL_TIM_Init(TIM4, &tim4_init_struct);
+
+ // setup channel 1 to capture period of pwm
+ LL_TIM_IC_InitTypeDef tim4_ic_conf;
+ tim4_ic_conf.ICPolarity= LL_TIM_IC_POLARITY_RISING;
+ tim4_ic_conf.ICActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI;
+ tim4_ic_conf.ICFilter = LL_TIM_IC_FILTER_FDIV1;
+ tim4_ic_conf.ICPrescaler = LL_TIM_ICPSC_DIV1;
+
+ LL_TIM_IC_Init(TIM4, LL_TIM_CHANNEL_CH1, &tim4_ic_conf);
+
+ // setup channel 2 to capture duty time of pwm
+ LL_TIM_IC_InitTypeDef tim4_ic_conf_2;
+ tim4_ic_conf_2.ICPolarity= LL_TIM_IC_POLARITY_FALLING;
+ tim4_ic_conf_2.ICActiveInput = LL_TIM_ACTIVEINPUT_INDIRECTTI;
+ tim4_ic_conf_2.ICFilter = LL_TIM_IC_FILTER_FDIV1;
+ tim4_ic_conf_2.ICPrescaler = LL_TIM_ICPSC_DIV1;
+
+ LL_TIM_IC_Init(TIM4, LL_TIM_CHANNEL_CH2, &tim4_ic_conf_2);
+
+ // setup reset of clock at rising edge
+ LL_TIM_SetSlaveMode(TIM4, LL_TIM_SLAVEMODE_RESET);
+ LL_TIM_SetTriggerInput(TIM4, LL_TIM_TS_TI1FP1);
+
+ LL_TIM_EnableCounter(TIM4);
}
int RF_INPUT_GetPeriodUs(void)
{
- return LL_TIM_ReadReg(TIM4, CCR1);
+ return LL_TIM_ReadReg(TIM4, CCR1);
}
int RF_INPUT_GetDutyTimeUs(void)
{
- return LL_TIM_ReadReg(TIM4, CCR2);
+ return LL_TIM_ReadReg(TIM4, CCR2);
}
int RF_INPUT_GetDutyTimeRelative(void)
{
- int d = RF_INPUT_GetDutyTimeUs();
- return (d - 1500) / 5;
+ int d = RF_INPUT_GetDutyTimeUs();
+ return (d - 1500) / 5;
}
diff --git a/keil_project/Services/RFInput.h b/keil_project/Services/RFInput.h
index 853d98a..0d54fcc 100644
--- a/keil_project/Services/RFInput.h
+++ b/keil_project/Services/RFInput.h
@@ -10,27 +10,27 @@
/**
* @brief Initialziation function for the RF_INPUT module.
- * Peripherals used: TIM4
- * Pins used: PB6 (PWM Input)
+ * Peripherals used: TIM4
+ * Pins used: PB6 (PWM Input)
*/
void RF_INPUT_Init(void);
/**
* @brief Reads the period of the PWM signal
- * @retval period of the PWM signal in microseconds (10^(-6))
+ * @retval period of the PWM signal in microseconds (10^(-6))
*/
int RF_INPUT_GetPeriodUs(void);
/**
* @brief Reads the length of the active time of the PWM signal
- * @retval active time of the PWM signal in microseconds (10^(-6))
+ * @retval active time of the PWM signal in microseconds (10^(-6))
*/
int RF_INPUT_GetDutyTimeUs(void);
/**
* @brief Reads the length of the active time of the PWM signal and converts it to a relative value
- * @retval value between -100 corresponding to 1000us and 100 corresponding to 2000us active time of the PWM signal
+ * @retval value between -100 corresponding to 1000us and 100 corresponding to 2000us active time of the PWM signal
*/
int RF_INPUT_GetDutyTimeRelative(void);
diff --git a/keil_project/Services/RFOutput.c b/keil_project/Services/RFOutput.c
index c0f18b8..4d44977 100644
--- a/keil_project/Services/RFOutput.c
+++ b/keil_project/Services/RFOutput.c
@@ -9,51 +9,48 @@ char RF_OUTPUT_buf[100];
void RF_OUTPUT_Init(void){
- LL_USART_InitTypeDef My_LL_Usart_Init_Struct;
-
-
- LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_USART1);
- LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
- LL_GPIO_InitTypeDef tx;
- tx.Mode = LL_GPIO_MODE_ALTERNATE;
- tx.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
- tx.Speed = LL_GPIO_SPEED_FREQ_LOW;
- tx.Pin = LL_GPIO_PIN_9;
- LL_GPIO_Init(GPIOA, &tx);
-
- LL_GPIO_InitTypeDef pa11_init_conf;
- pa11_init_conf.Mode = LL_GPIO_MODE_OUTPUT;
- pa11_init_conf.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
- pa11_init_conf.Speed = LL_GPIO_SPEED_FREQ_LOW;
- pa11_init_conf.Pin = LL_GPIO_PIN_11;
- LL_GPIO_Init(GPIOA, &pa11_init_conf);
- LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_USART1);
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+
+ LL_GPIO_InitTypeDef tx;
+ tx.Mode = LL_GPIO_MODE_ALTERNATE;
+ tx.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+ tx.Speed = LL_GPIO_SPEED_FREQ_LOW;
+ tx.Pin = LL_GPIO_PIN_9;
+ LL_GPIO_Init(GPIOA, &tx);
+
+ LL_GPIO_InitTypeDef pa11_init_conf;
+ pa11_init_conf.Mode = LL_GPIO_MODE_OUTPUT;
+ pa11_init_conf.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+ pa11_init_conf.Speed = LL_GPIO_SPEED_FREQ_LOW;
+ pa11_init_conf.Pin = LL_GPIO_PIN_11;
+ LL_GPIO_Init(GPIOA, &pa11_init_conf);
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
- My_LL_Usart_Init_Struct.BaudRate = 9600;
- My_LL_Usart_Init_Struct.DataWidth = LL_USART_DATAWIDTH_8B ;
- My_LL_Usart_Init_Struct.HardwareFlowControl = LL_USART_HWCONTROL_NONE;
- My_LL_Usart_Init_Struct.OverSampling = LL_USART_OVERSAMPLING_16;
- My_LL_Usart_Init_Struct.Parity = LL_USART_PARITY_NONE;
- My_LL_Usart_Init_Struct.StopBits = LL_USART_STOPBITS_1;
- My_LL_Usart_Init_Struct.TransferDirection = LL_USART_DIRECTION_TX_RX ;
-
- LL_USART_Init(USART1,&My_LL_Usart_Init_Struct);
- LL_USART_Enable(USART1);
-
- }
+ LL_USART_InitTypeDef My_LL_Usart_Init_Struct;
+ My_LL_Usart_Init_Struct.BaudRate = 9600;
+ My_LL_Usart_Init_Struct.DataWidth = LL_USART_DATAWIDTH_8B ;
+ My_LL_Usart_Init_Struct.HardwareFlowControl = LL_USART_HWCONTROL_NONE;
+ My_LL_Usart_Init_Struct.OverSampling = LL_USART_OVERSAMPLING_16;
+ My_LL_Usart_Init_Struct.Parity = LL_USART_PARITY_NONE;
+ My_LL_Usart_Init_Struct.StopBits = LL_USART_STOPBITS_1;
+ My_LL_Usart_Init_Struct.TransferDirection = LL_USART_DIRECTION_TX_RX ;
+
+ LL_USART_Init(USART1,&My_LL_Usart_Init_Struct);
+ LL_USART_Enable(USART1);
+}
void RF_OUTPUT_SendBytes(char* buf, int len){
-
- LL_GPIO_SetOutputPin(GPIOA,LL_GPIO_PIN_11);
- for(int i = 0; i < len; i++){
- LL_USART_TransmitData8(USART1, buf[i]);
- while(!LL_USART_IsActiveFlag_TXE(USART1));
- }
- LL_GPIO_ResetOutputPin(GPIOA,LL_GPIO_PIN_11);
+ LL_GPIO_SetOutputPin(GPIOA,LL_GPIO_PIN_11);
+ for(int i = 0; i < len; i++){
+ LL_USART_TransmitData8(USART1, buf[i]);
+ while(!LL_USART_IsActiveFlag_TXE(USART1));
+ }
+ LL_GPIO_ResetOutputPin(GPIOA,LL_GPIO_PIN_11);
}
void RF_OUTPUT_SendMessage(int rouli_bon, int alimentation_bon, float angle_voile){
- int len = sprintf(RF_OUTPUT_buf, "Alim bon: %d, Rouli bon: %d, Angle de voile: %2f\r\n", alimentation_bon, rouli_bon, angle_voile);
- RF_OUTPUT_SendBytes(RF_OUTPUT_buf, len);
+ int len = sprintf(RF_OUTPUT_buf, "Alim bon: %d, Rouli bon: %d, Angle de voile: %2f\r\n", alimentation_bon, rouli_bon, angle_voile);
+ RF_OUTPUT_SendBytes(RF_OUTPUT_buf, len);
}
diff --git a/keil_project/Services/RFOutput.h b/keil_project/Services/RFOutput.h
index 23cd392..f3ce8a5 100644
--- a/keil_project/Services/RFOutput.h
+++ b/keil_project/Services/RFOutput.h
@@ -10,26 +10,26 @@
/**
* @brief Initialziation function for the RF_OUTPUT module.
- * Peripherals used: USART1
- * Pins used: PA9 (USART1 TX)
- * PA11 (TX Enable)
+ * Peripherals used: USART1
+ * Pins used: PA9 (USART1 TX)
+ * PA11 (TX Enable)
*/
void RF_OUTPUT_Init(void);
/**
* @brief Transmits a given number of bytes from a buffer using the RF Module
- * @param buf pointer to start of buffer to be transmitted
- * @param len length of the data to be transmitted
- */
+ * @param buf pointer to start of buffer to be transmitted
+ * @param len length of the data to be transmitted
+ */
void RF_OUTPUT_SendBytes(char* buf, int len);
/**
* @brief Transmits a formatted string of the given parameters
- * @param rouli_bon whether or not the angle is in an acceptable range
- * @param alimentation_bon whether or not the battery voltage has acceptable level
- * @param angle_voile opening angle of the sail between 0 and 90
- */
+ * @param rouli_bon whether or not the angle is in an acceptable range
+ * @param alimentation_bon whether or not the battery voltage has acceptable level
+ * @param angle_voile opening angle of the sail between 0 and 90
+ */
void RF_OUTPUT_SendMessage(int rouli_bon, int alimentation_bon, float angle_voile);
diff --git a/keil_project/Services/Sail.c b/keil_project/Services/Sail.c
index 89bc0c7..b85f957 100644
--- a/keil_project/Services/Sail.c
+++ b/keil_project/Services/Sail.c
@@ -11,24 +11,24 @@
void SAIL_Init(void)
{
- SERVO_Init();
+ SERVO_Init();
}
int SAIL_AngleFromGirouette(float girouette_value){
- float vabs = fabs(girouette_value);
+ float vabs = fabs(girouette_value);
- if(vabs < ANGLE_DEBUT)
- {
- return 0;
- }else{
- // map 45 to 180 -> 0 to 90 and floor it to get an integer
- return floor((90 / (180 - ANGLE_DEBUT)) * (vabs - ANGLE_DEBUT));
- }
+ if(vabs < ANGLE_DEBUT)
+ {
+ return 0;
+ }else{
+ // map 45 to 180 -> 0 to 90 and floor it to get an integer
+ return floor((90 / (180 - ANGLE_DEBUT)) * (vabs - ANGLE_DEBUT));
+ }
}
void SAIL_SetAngle(float angle)
{
- float servo_angle = angle * SAIL_TRANSFER_FACTOR + SAIL_TRANSFER_OFFSET;
- SERVO_SetAngle(servo_angle);
+ float servo_angle = angle * SAIL_TRANSFER_FACTOR + SAIL_TRANSFER_OFFSET;
+ SERVO_SetAngle(servo_angle);
}
diff --git a/keil_project/Services/Sail.h b/keil_project/Services/Sail.h
index 7ebce68..6b74505 100644
--- a/keil_project/Services/Sail.h
+++ b/keil_project/Services/Sail.h
@@ -12,16 +12,16 @@ void SAIL_Init(void);
/**
* @brief Calculates the "optimal" opening angle of the sail depending on the reading of the girouette
- * @param girouette_value angle reading where 0 corresponds to the wind blowing from the front
- *
- * @retval angle between 0 and 90 (degrees)
- */
+ * @param girouette_value angle reading where 0 corresponds to the wind blowing from the front
+ *
+ * @retval angle between 0 and 90 (degrees)
+ */
int SAIL_AngleFromGirouette(float girouette_value);
/**
* @brief Sets the opening angle of the sail
- * @param opening angle of the sail between 0 and 90 (degrees)
- */
+ * @param opening angle of the sail between 0 and 90 (degrees)
+ */
void SAIL_SetAngle(float angle);
#endif
diff --git a/keil_project/Services/Servo.c b/keil_project/Services/Servo.c
index e984a25..7796229 100644
--- a/keil_project/Services/Servo.c
+++ b/keil_project/Services/Servo.c
@@ -7,53 +7,52 @@
void SERVO_Init(void){
- // use TIM1 since it has pa8 at channel 1 output
-
- // setup timer 1
- LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_TIM1);
- LL_TIM_InitTypeDef tim_init;
- tim_init.Prescaler = 71;
- tim_init.Autoreload = 19999;
- tim_init.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
- tim_init.CounterMode=LL_TIM_COUNTERMODE_UP;
- tim_init.RepetitionCounter=0;
- LL_TIM_Init(TIM1, &tim_init);
-
- // setup main output enabled
- LL_TIM_EnableAllOutputs(TIM1);
-
- // setup gpio
- LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
- LL_GPIO_InitTypeDef servo_gpio_init;
- servo_gpio_init.Pin = LL_GPIO_PIN_8;
- servo_gpio_init.Mode = LL_GPIO_MODE_ALTERNATE;
- servo_gpio_init.Speed = LL_GPIO_MODE_OUTPUT_2MHz ;
- servo_gpio_init.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
- servo_gpio_init.Pull = LL_GPIO_PULL_DOWN; // dont know why but otherwise it crashes
- LL_GPIO_Init(GPIOA, &servo_gpio_init);
-
- // setup output compare
- LL_TIM_OC_InitTypeDef oc_init;
- oc_init.OCMode = LL_TIM_OCMODE_PWM1;
- oc_init.OCState = LL_TIM_OCSTATE_ENABLE;
- oc_init.OCNState = LL_TIM_OCSTATE_ENABLE;
- oc_init.CompareValue = 999;
- oc_init.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
- oc_init.OCNPolarity = LL_TIM_OCPOLARITY_LOW;
- oc_init.OCIdleState = LL_TIM_OCIDLESTATE_LOW;
- oc_init.OCNIdleState = LL_TIM_OCIDLESTATE_HIGH;
- LL_TIM_OC_Init(TIM1, LL_TIM_CHANNEL_CH1, &oc_init);
-
-
- LL_TIM_EnableCounter(TIM1);
-
+ // use TIM1 since it has pa8 at channel 1 output
+
+ // setup timer 1
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_TIM1);
+ LL_TIM_InitTypeDef tim_init;
+ tim_init.Prescaler = 71;
+ tim_init.Autoreload = 19999;
+ tim_init.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
+ tim_init.CounterMode=LL_TIM_COUNTERMODE_UP;
+ tim_init.RepetitionCounter=0;
+ LL_TIM_Init(TIM1, &tim_init);
+
+ // setup main output enabled
+ LL_TIM_EnableAllOutputs(TIM1);
+
+ // setup gpio
+ LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
+ LL_GPIO_InitTypeDef servo_gpio_init;
+ servo_gpio_init.Pin = LL_GPIO_PIN_8;
+ servo_gpio_init.Mode = LL_GPIO_MODE_ALTERNATE;
+ servo_gpio_init.Speed = LL_GPIO_MODE_OUTPUT_2MHz ;
+ servo_gpio_init.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
+ servo_gpio_init.Pull = LL_GPIO_PULL_DOWN; // dont know why but otherwise it crashes
+ LL_GPIO_Init(GPIOA, &servo_gpio_init);
+
+ // setup output compare
+ LL_TIM_OC_InitTypeDef oc_init;
+ oc_init.OCMode = LL_TIM_OCMODE_PWM1;
+ oc_init.OCState = LL_TIM_OCSTATE_ENABLE;
+ oc_init.OCNState = LL_TIM_OCSTATE_ENABLE;
+ oc_init.CompareValue = 999;
+ oc_init.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
+ oc_init.OCNPolarity = LL_TIM_OCPOLARITY_LOW;
+ oc_init.OCIdleState = LL_TIM_OCIDLESTATE_LOW;
+ oc_init.OCNIdleState = LL_TIM_OCIDLESTATE_HIGH;
+ LL_TIM_OC_Init(TIM1, LL_TIM_CHANNEL_CH1, &oc_init);
+
+
+ LL_TIM_EnableCounter(TIM1);
}
void SERVO_SetAngle(int angle){
- // set ccr3 register to alter pwm output between 1 and 2 ms
- float vminCOR = 999, vmaxCOR = 1999;
- float diffCOR = vmaxCOR - vminCOR;
- int ccr3Value = round(angle*diffCOR/90)+vminCOR;
-
- LL_TIM_WriteReg(TIM1, CCR1, ccr3Value);
+ // set ccr3 register to alter pwm output between 1 and 2 ms
+ float vminCOR = 999, vmaxCOR = 1999;
+ float diffCOR = vmaxCOR - vminCOR;
+ int ccr3Value = round(angle*diffCOR/90)+vminCOR;
+
+ LL_TIM_WriteReg(TIM1, CCR1, ccr3Value);
}
diff --git a/keil_project/Services/Servo.h b/keil_project/Services/Servo.h
index 07c791c..0a932ba 100644
--- a/keil_project/Services/Servo.h
+++ b/keil_project/Services/Servo.h
@@ -10,15 +10,15 @@
/**
* @brief Initialziation function for the RF_OUTPUT module.
- * The period of the PWM signal is 20ms.
- * Peripherals used: TIM1
- * Pins used: PA8 (TIM1 channel 1)
+ * The period of the PWM signal is 20ms.
+ * Peripherals used: TIM1
+ * Pins used: PA8 (TIM1 channel 1)
*/
void SERVO_Init(void);
/**
* @brief Sets the angle of the servo using a PWM signal with a on time between 1ms and 2ms and a resolution of 1us
- * @param angle of the servo between XXXXX and YYYYY degree
+ * @param angle of the servo between XXXXX and YYYYY degree
*/
void SERVO_SetAngle(int angle);
diff --git a/keil_project/Src/main.c b/keil_project/Src/main.c
index 4125615..929cab0 100644
--- a/keil_project/Src/main.c
+++ b/keil_project/Src/main.c
@@ -45,55 +45,55 @@ char wait_for_girouette[] = "En attente d'initialisation de la girouette\r\n";
int main(void)
{
/* Configure the system clock to 72 MHz */
- SystemClock_Config();
- ALIMENTATION_Init();
- ACCELEROMETER_Init();
- RF_INPUT_Init();
- DC_MOTOR_Init();
- SAIL_Init();
- RF_OUTPUT_Init();
-
- while(!INCR_ENCODER_IsAbsolute())
- {
- RF_OUTPUT_SendBytes(wait_for_girouette, sizeof(wait_for_girouette));
- LL_mDelay(500);
- }
-
+ SystemClock_Config();
+ ALIMENTATION_Init();
+ ACCELEROMETER_Init();
+ RF_INPUT_Init();
+ DC_MOTOR_Init();
+ SAIL_Init();
+ RF_OUTPUT_Init();
+
+ while(!INCR_ENCODER_IsAbsolute())
+ {
+ RF_OUTPUT_SendBytes(wait_for_girouette, sizeof(wait_for_girouette));
+ LL_mDelay(500);
+ }
+
while (1)
{
- if(CONTROL_LOOP_Flag){
- battery_level_good = ALIMENTATION_IsLevelEnough();
- angle_roulis_good = ACCELEROMETER_AngleGood();
-
- if(!angle_roulis_good){
- SAIL_SetAngle(90);
- DC_MOTOR_SetSpeed(0);
- }else{
- angle_incr_encoder = INCR_ENCODER_GetAngle();
- angle_sail = SAIL_AngleFromGirouette(angle_incr_encoder);
- SAIL_SetAngle(angle_sail);
- RF_Input_Duty = RF_INPUT_GetDutyTimeRelative();
- DC_MOTOR_SetSpeed(RF_Input_Duty);
- }
- CONTROL_LOOP_Flag = 0;
- }
- if(TX_Flag){
- RF_OUTPUT_SendMessage(angle_roulis_good, battery_level_good, angle_sail);
- TX_Flag = 0;
- }
+ if(CONTROL_LOOP_Flag){
+ battery_level_good = ALIMENTATION_IsLevelEnough();
+ angle_roulis_good = ACCELEROMETER_AngleGood();
+
+ if(!angle_roulis_good){
+ SAIL_SetAngle(90);
+ DC_MOTOR_SetSpeed(0);
+ }else{
+ angle_incr_encoder = INCR_ENCODER_GetAngle();
+ angle_sail = SAIL_AngleFromGirouette(angle_incr_encoder);
+ SAIL_SetAngle(angle_sail);
+ RF_Input_Duty = RF_INPUT_GetDutyTimeRelative();
+ DC_MOTOR_SetSpeed(RF_Input_Duty);
+ }
+ CONTROL_LOOP_Flag = 0;
+ }
+ if(TX_Flag){
+ RF_OUTPUT_SendMessage(angle_roulis_good, battery_level_good, angle_sail);
+ 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) ;
+
+ 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) ;
}
@@ -118,8 +118,8 @@ void SystemClock_Config(void)
LL_FLASH_SetLatency(LL_FLASH_LATENCY_2);
/* Enable HSE oscillator */
- // ********* Commenter la ligne ci-dessous pour MCBSTM32 *****************
- // ********* Conserver la ligne si Nucléo*********************************
+ // ********* Commenter la ligne ci-dessous pour MCBSTM32 *****************
+ // ********* Conserver la ligne si Nucléo*********************************
LL_RCC_HSE_EnableBypass();
LL_RCC_HSE_Enable();
while(LL_RCC_HSE_IsReady() != 1)