fixed indentation on all files
This commit is contained in:
Jasper Güldenstein
parent
3b3b35d537
commit
642a5ebfdc
18 changed files with 459 additions and 484 deletions
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@ -402,22 +402,6 @@
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<Bp>
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<Number>0</Number>
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<Type>0</Type>
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<LineNumber>40</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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<Address>134223706</Address>
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<ByteObject>0</ByteObject>
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<HtxType>0</HtxType>
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<ManyObjects>0</ManyObjects>
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<SizeOfObject>0</SizeOfObject>
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>..\Services\RFInput.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression>\\NUCLEO_F103RB\../Services/RFInput.c\40</Expression>
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</Bp>
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<Bp>
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<Number>1</Number>
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<Type>0</Type>
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<LineNumber>71</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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<Address>0</Address>
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@ -432,7 +416,7 @@
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<Expression></Expression>
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</Bp>
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<Bp>
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<Number>2</Number>
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<Number>1</Number>
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<Type>0</Type>
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<LineNumber>46</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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@ -628,7 +612,7 @@
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<GroupNumber>2</GroupNumber>
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<FileNumber>7</FileNumber>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExp>1</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2>
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<PathWithFileName>..\Services\Accelerometer.c</PathWithFileName>
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@ -8,7 +8,7 @@
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#include <math.h>
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#define M_PI 3.14159265358979323846
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#endif
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#define ANGLE_LIMIT_DEG 40
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@ -20,67 +20,67 @@
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#define VOLT_PER_G 0.48
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void ACCELEROMETER_Init(void){
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RCC -> CFGR |= (0x1<<15);
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RCC-> CFGR &= ~ (0x1<<14);
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LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC1);
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LL_APB1_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOC);
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RCC -> CFGR |= (0x1<<15);
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RCC-> CFGR &= ~ (0x1<<14);
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LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC1);
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LL_APB1_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOC);
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LL_GPIO_InitTypeDef pc0, pc1;
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LL_ADC_InitTypeDef adc;
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LL_ADC_REG_InitTypeDef adcReg;
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LL_GPIO_InitTypeDef pc0, pc1;
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LL_ADC_InitTypeDef adc;
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LL_ADC_REG_InitTypeDef adcReg;
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LL_GPIO_StructInit(&pc0);
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pc0.Pin = LL_GPIO_PIN_0;
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pc0.Mode = LL_GPIO_MODE_ANALOG;
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LL_GPIO_Init(GPIOA, &pc0);
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LL_GPIO_StructInit(&pc0);
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pc0.Pin = LL_GPIO_PIN_0;
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pc0.Mode = LL_GPIO_MODE_ANALOG;
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LL_GPIO_Init(GPIOA, &pc0);
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LL_GPIO_StructInit(&pc1);
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pc1.Pin = LL_GPIO_PIN_1;
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pc1.Mode = LL_GPIO_MODE_ANALOG;
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LL_GPIO_Init(GPIOA, &pc1);
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LL_GPIO_StructInit(&pc1);
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pc1.Pin = LL_GPIO_PIN_1;
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pc1.Mode = LL_GPIO_MODE_ANALOG;
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LL_GPIO_Init(GPIOA, &pc1);
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adc.DataAlignment = LL_ADC_DATA_ALIGN_RIGHT;
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adc.SequencersScanMode = LL_ADC_SEQ_SCAN_DISABLE;
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LL_ADC_Init(ADC1, &adc);
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adc.DataAlignment = LL_ADC_DATA_ALIGN_RIGHT;
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adc.SequencersScanMode = LL_ADC_SEQ_SCAN_DISABLE;
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LL_ADC_Init(ADC1, &adc);
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adcReg.TriggerSource = LL_ADC_REG_TRIG_SOFTWARE ;
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adcReg.SequencerLength = LL_ADC_REG_SEQ_SCAN_DISABLE;
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adcReg.SequencerDiscont = LL_ADC_REG_SEQ_DISCONT_DISABLE;
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adcReg.ContinuousMode = LL_ADC_REG_CONV_SINGLE;
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adcReg.DMATransfer = LL_ADC_REG_DMA_TRANSFER_NONE;
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adcReg.TriggerSource = LL_ADC_REG_TRIG_SOFTWARE ;
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adcReg.SequencerLength = LL_ADC_REG_SEQ_SCAN_DISABLE;
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adcReg.SequencerDiscont = LL_ADC_REG_SEQ_DISCONT_DISABLE;
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adcReg.ContinuousMode = LL_ADC_REG_CONV_SINGLE;
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adcReg.DMATransfer = LL_ADC_REG_DMA_TRANSFER_NONE;
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LL_ADC_REG_Init(ADC1, &adcReg);
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LL_ADC_Enable(ADC1);
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LL_ADC_REG_Init(ADC1, &adcReg);
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LL_ADC_Enable(ADC1);
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}
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double ACCELEROMETER_GetX(void){
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LL_ADC_REG_SetSequencerRanks(ADC1, LL_ADC_REG_RANK_1, LL_ADC_CHANNEL_1);
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LL_ADC_REG_StartConversionSWStart(ADC1);
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while (LL_ADC_IsActiveFlag_EOS(ADC1) != 1);
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double x= (LL_ADC_REG_ReadConversionData12(ADC1) - ZERO_G_READING) * VOLT_PER_G;
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return x;
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LL_ADC_REG_SetSequencerRanks(ADC1, LL_ADC_REG_RANK_1, LL_ADC_CHANNEL_1);
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LL_ADC_REG_StartConversionSWStart(ADC1);
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while (LL_ADC_IsActiveFlag_EOS(ADC1) != 1);
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double x= (LL_ADC_REG_ReadConversionData12(ADC1) - ZERO_G_READING) * VOLT_PER_G;
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return x;
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}
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double ACCELEROMETER_GetY(void){
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LL_ADC_REG_SetSequencerRanks(ADC1, LL_ADC_REG_RANK_1, LL_ADC_CHANNEL_11);
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LL_ADC_REG_StartConversionSWStart(ADC1);
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LL_ADC_REG_SetSequencerRanks(ADC1, LL_ADC_REG_RANK_1, LL_ADC_CHANNEL_11);
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LL_ADC_REG_StartConversionSWStart(ADC1);
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while (LL_ADC_IsActiveFlag_EOS(ADC1) != 1);
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double y = (LL_ADC_REG_ReadConversionData12(ADC1)-ZERO_G_READING) * VOLT_PER_G;
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return y;
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return y;
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}
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int ACCELEROMETER_AngleGood(void){
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double x = ACCELEROMETER_GetX();
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double y = ACCELEROMETER_GetY();
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double angle = atan(x/y);
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double x = ACCELEROMETER_GetX();
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double y = ACCELEROMETER_GetY();
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double angle = atan(x/y);
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if (fabs(angle)>ANGLE_LIMIT_RAD){
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return 0;
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}else {
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return 1;
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}
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//le flag EOC n'est jamais mis à un ....
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// Soit la conversion est mal faite soit on n'utilise pas bien la simulation
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//soit on n'utilise pas bien isActiveFlag dans la boucle
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if (fabs(angle)>ANGLE_LIMIT_RAD){
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return 0;
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}else {
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return 1;
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}
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//le flag EOC n'est jamais mis à un ....
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// Soit la conversion est mal faite soit on n'utilise pas bien la simulation
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//soit on n'utilise pas bien isActiveFlag dans la boucle
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}
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@ -10,28 +10,28 @@
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/**
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* @brief Initializes for reading the Accelerometer
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* Peripherals used: ADC1
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* Pins used: PC0 (Analog Input, X channel accelerometer)
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* Pins used: PC1 (Analog Input, Y channel accelerometer)
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* Peripherals used: ADC1
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* Pins used: PC0 (Analog Input, X channel accelerometer)
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* Pins used: PC1 (Analog Input, Y channel accelerometer)
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*/
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void ACCELEROMETER_Init(void);
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/**
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* @brief Reads the accelerometer x channel
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* @retval acceleration in x direction in g
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* @retval acceleration in x direction in g
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*/
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double ACCELEROMETER_GetX(void);
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/**
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* @brief Reads the accelerometer y channel
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* @retval acceleration in y direction in g
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* @retval acceleration in y direction in g
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*/
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double ACCELEROMETER_GetY(void);
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/**
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* @brief Reads the accelerometer x and y channel
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Calculates if the roll angle lies between -40 and 40 degrees
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* @retval state (0 or 1)
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Calculates if the roll angle lies between -40 and 40 degrees
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* @retval state (0 or 1)
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*/
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int ACCELEROMETER_AngleGood(void);
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@ -7,52 +7,51 @@
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#include <math.h>
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void ALIMENTATION_Init(void){
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RCC -> CFGR |= (0x1<<15);
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RCC-> CFGR &= ~ (0x1<<14);
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LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC1);
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LL_APB1_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOC);
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RCC -> CFGR |= (0x1<<15);
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RCC-> CFGR &= ~ (0x1<<14);
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LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC1);
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LL_APB1_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOC);
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LL_GPIO_InitTypeDef pc2;
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LL_ADC_InitTypeDef adc;
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LL_ADC_REG_InitTypeDef adcReg;
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LL_GPIO_InitTypeDef pc2;
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LL_ADC_InitTypeDef adc;
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LL_ADC_REG_InitTypeDef adcReg;
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LL_GPIO_StructInit(&pc2);
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pc2.Pin = LL_GPIO_PIN_0;
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pc2.Mode = LL_GPIO_MODE_ANALOG;
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LL_GPIO_Init(GPIOC, &pc2);
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LL_GPIO_StructInit(&pc2);
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pc2.Pin = LL_GPIO_PIN_0;
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pc2.Mode = LL_GPIO_MODE_ANALOG;
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LL_GPIO_Init(GPIOC, &pc2);
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adc.DataAlignment = LL_ADC_DATA_ALIGN_RIGHT;
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adc.SequencersScanMode = LL_ADC_SEQ_SCAN_DISABLE;
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LL_ADC_Init(ADC1, &adc);
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adc.DataAlignment = LL_ADC_DATA_ALIGN_RIGHT;
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adc.SequencersScanMode = LL_ADC_SEQ_SCAN_DISABLE;
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LL_ADC_Init(ADC1, &adc);
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adcReg.TriggerSource = LL_ADC_REG_TRIG_SOFTWARE ;
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adcReg.SequencerLength = LL_ADC_REG_SEQ_SCAN_DISABLE;
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adcReg.SequencerDiscont = LL_ADC_REG_SEQ_DISCONT_DISABLE;
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adcReg.ContinuousMode = LL_ADC_REG_CONV_SINGLE;
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adcReg.DMATransfer = LL_ADC_REG_DMA_TRANSFER_NONE;
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adcReg.TriggerSource = LL_ADC_REG_TRIG_SOFTWARE ;
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adcReg.SequencerLength = LL_ADC_REG_SEQ_SCAN_DISABLE;
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adcReg.SequencerDiscont = LL_ADC_REG_SEQ_DISCONT_DISABLE;
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adcReg.ContinuousMode = LL_ADC_REG_CONV_SINGLE;
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adcReg.DMATransfer = LL_ADC_REG_DMA_TRANSFER_NONE;
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LL_ADC_REG_Init(ADC1, &adcReg);
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LL_ADC_Enable(ADC1);
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LL_ADC_REG_Init(ADC1, &adcReg);
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LL_ADC_Enable(ADC1);
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}
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float ALIMENTATION_GetBatteryLevel(void){
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float u2;
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float battery_level;
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LL_ADC_REG_SetSequencerRanks(ADC1, LL_ADC_REG_RANK_1, LL_ADC_CHANNEL_12);
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LL_ADC_REG_StartConversionSWStart(ADC1);
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while (LL_ADC_IsActiveFlag_EOS(ADC1) != 1);
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battery_level = LL_ADC_REG_ReadConversionData12(ADC1);
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u2 = (battery_level*3.3)/4095.0;
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float level = u2*13.0;
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return level;
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float u2;
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float battery_level;
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LL_ADC_REG_SetSequencerRanks(ADC1, LL_ADC_REG_RANK_1, LL_ADC_CHANNEL_12);
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LL_ADC_REG_StartConversionSWStart(ADC1);
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while (LL_ADC_IsActiveFlag_EOS(ADC1) != 1);
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battery_level = LL_ADC_REG_ReadConversionData12(ADC1);
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u2 = (battery_level*3.3)/4095.0;
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float level = u2*13.0;
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return level;
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}
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int ALIMENTATION_IsLevelEnough(void){
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if (ALIMENTATION_GetBatteryLevel()<(0.8*12)){
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return 0;
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}else{
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return 1;
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}
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if (ALIMENTATION_GetBatteryLevel()<(0.8*12)){
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return 0;
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}else{
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return 1;
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}
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}
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/**
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* @brief Initializes for reading of the power supply/battery level
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* Peripherals used: ADC1
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* Pins used: PC2 (Analog input)
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* Peripherals used: ADC1
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* Pins used: PC2 (Analog input)
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*/
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void ALIMENTATION_Init(void);
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/**
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* @brief Reads the power supply/battery level
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* @retval battery level in Volts
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* @retval battery level in Volts
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*/
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float ALIMENTATION_GetBatteryLevel(void);
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/**
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* @brief Returns if the power supply/battery level is above acceptable level
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* @retval state (0 or 1)
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* @retval state (0 or 1)
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*/
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int ALIMENTATION_IsLevelEnough(void);
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@ -5,61 +5,61 @@
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#define ARR_DC_MOTOR 100
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void DC_MOTOR_Init(void) {
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// setup timer 2
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LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
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LL_TIM_InitTypeDef tim_init;
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tim_init.Prescaler = 35;
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tim_init.Autoreload = ARR_DC_MOTOR - 1;
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tim_init.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
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tim_init.CounterMode=LL_TIM_COUNTERMODE_UP;
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tim_init.RepetitionCounter=0;
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LL_TIM_Init(TIM2, &tim_init);
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// setup timer 2
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LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2);
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LL_TIM_InitTypeDef tim_init;
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tim_init.Prescaler = 35;
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tim_init.Autoreload = ARR_DC_MOTOR - 1;
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tim_init.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
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tim_init.CounterMode=LL_TIM_COUNTERMODE_UP;
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tim_init.RepetitionCounter=0;
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LL_TIM_Init(TIM2, &tim_init);
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// setup gpio
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LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
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LL_GPIO_InitTypeDef servo_gpio_init;
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servo_gpio_init.Pin = LL_GPIO_PIN_1;
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// setup gpio
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LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
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LL_GPIO_InitTypeDef servo_gpio_init;
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servo_gpio_init.Pin = LL_GPIO_PIN_1;
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servo_gpio_init.Mode = LL_GPIO_MODE_ALTERNATE;
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servo_gpio_init.Speed = LL_GPIO_SPEED_FREQ_LOW;
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servo_gpio_init.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
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LL_GPIO_Init(GPIOA, &servo_gpio_init);
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LL_GPIO_Init(GPIOA, &servo_gpio_init);
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// setup output compare
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LL_TIM_OC_InitTypeDef oc_init;
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oc_init.OCMode = LL_TIM_OCMODE_PWM1;
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oc_init.OCState = LL_TIM_OCSTATE_ENABLE;
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oc_init.OCNState = LL_TIM_OCSTATE_ENABLE;
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oc_init.CompareValue = 0; // off at start
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oc_init.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
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oc_init.OCNPolarity = LL_TIM_OCPOLARITY_LOW;
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oc_init.OCIdleState = LL_TIM_OCIDLESTATE_LOW;
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oc_init.OCNIdleState = LL_TIM_OCIDLESTATE_HIGH;
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LL_TIM_OC_Init(TIM2, LL_TIM_CHANNEL_CH2, &oc_init);
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LL_TIM_EnableCounter(TIM2);
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// setup output compare
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LL_TIM_OC_InitTypeDef oc_init;
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oc_init.OCMode = LL_TIM_OCMODE_PWM1;
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oc_init.OCState = LL_TIM_OCSTATE_ENABLE;
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oc_init.OCNState = LL_TIM_OCSTATE_ENABLE;
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oc_init.CompareValue = 0; // off at start
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oc_init.OCPolarity = LL_TIM_OCPOLARITY_HIGH;
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oc_init.OCNPolarity = LL_TIM_OCPOLARITY_LOW;
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oc_init.OCIdleState = LL_TIM_OCIDLESTATE_LOW;
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oc_init.OCNIdleState = LL_TIM_OCIDLESTATE_HIGH;
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LL_TIM_OC_Init(TIM2, LL_TIM_CHANNEL_CH2, &oc_init);
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LL_TIM_EnableCounter(TIM2);
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// init gpio for direction (sense) pin
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LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
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// init gpio for direction (sense) pin
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LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
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LL_GPIO_InitTypeDef pa2_init_conf;
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pa2_init_conf.Mode = LL_GPIO_MODE_OUTPUT;
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pa2_init_conf.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
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pa2_init_conf.Speed = LL_GPIO_SPEED_FREQ_LOW;
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pa2_init_conf.Pin = LL_GPIO_PIN_2;
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LL_GPIO_Init(GPIOA, &pa2_init_conf);
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LL_GPIO_InitTypeDef pa2_init_conf;
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pa2_init_conf.Mode = LL_GPIO_MODE_OUTPUT;
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pa2_init_conf.OutputType = LL_GPIO_OUTPUT_PUSHPULL;
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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;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -15,96 +15,93 @@ 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;
|
||||
// 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_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);
|
||||
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;
|
||||
// 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;
|
||||
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);
|
||||
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 ;
|
||||
// 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_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);
|
||||
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;
|
||||
// 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;
|
||||
index_pin_conf.Pin = LL_GPIO_PIN_5;
|
||||
index_pin_conf.Mode = LL_GPIO_MODE_FLOATING;
|
||||
|
||||
LL_GPIO_Init(GPIOC, &index_pin_conf);
|
||||
LL_GPIO_Init(GPIOC, &index_pin_conf);
|
||||
|
||||
// exti init (interrupt)
|
||||
LL_EXTI_InitTypeDef exti;
|
||||
// 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;
|
||||
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);
|
||||
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;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
// 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);
|
||||
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);
|
||||
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;
|
||||
// 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;
|
||||
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);
|
||||
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;
|
||||
|
||||
// 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);
|
||||
|
||||
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;
|
||||
|
||||
// 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);
|
||||
|
||||
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);
|
||||
|
||||
// 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);
|
||||
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;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
||||
|
|
|
|||
|
|
@ -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_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_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_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);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -7,53 +7,52 @@
|
|||
|
||||
|
||||
void SERVO_Init(void){
|
||||
// use TIM1 since it has pa8 at channel 1 output
|
||||
// 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 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 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 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);
|
||||
// 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);
|
||||
|
||||
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;
|
||||
// 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);
|
||||
LL_TIM_WriteReg(TIM1, CCR1, ccr3Value);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
||||
|
|
|
|||
|
|
@ -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();
|
||||
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(!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(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(!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)
|
||||
|
|
|
|||
Loading…
Reference in a new issue