From 642a5ebfdcb4b84a1d8654a60e7242fe123814f9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jasper=20G=C3=BCldenstein?= Date: Sun, 15 Nov 2020 18:21:34 +0100 Subject: [PATCH] fixed indentation on all files --- keil_project/MDK-ARM/Project.uvoptx | 20 +--- keil_project/Services/Accelerometer.c | 106 ++++++++--------- keil_project/Services/Accelerometer.h | 14 +-- keil_project/Services/Alimentation.c | 79 +++++++------ keil_project/Services/Alimentation.h | 8 +- keil_project/Services/DcMotor.c | 98 ++++++++-------- keil_project/Services/DcMotor.h | 10 +- keil_project/Services/IncrEncoder.c | 159 +++++++++++++------------- keil_project/Services/IncrEncoder.h | 14 +-- keil_project/Services/RFInput.c | 107 +++++++++-------- keil_project/Services/RFInput.h | 10 +- keil_project/Services/RFOutput.c | 77 ++++++------- keil_project/Services/RFOutput.h | 20 ++-- keil_project/Services/Sail.c | 22 ++-- keil_project/Services/Sail.h | 12 +- keil_project/Services/Servo.c | 91 ++++++++------- keil_project/Services/Servo.h | 8 +- keil_project/Src/main.c | 88 +++++++------- 18 files changed, 459 insertions(+), 484 deletions(-) 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)