From 89850bfc2f6bf437076e24ad581b36f963c64fad Mon Sep 17 00:00:00 2001
From: Cavailles Kevin <kc.mailpro@gmail.com>
Date: Sat, 14 Nov 2020 16:13:49 +0100
Subject: [PATCH] =?UTF-8?q?main=20commenc=C3=A9=20+=20emetteur=5Frf=20chan?=
 =?UTF-8?q?g=C3=A9?=
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---
 keil_project/Services/emetteur_rf.c |  9 +++--
 keil_project/Services/emetteur_rf.h |  2 +-
 keil_project/Src/main.c             | 61 ++++++++++++++++++++---------
 3 files changed, 49 insertions(+), 23 deletions(-)

diff --git a/keil_project/Services/emetteur_rf.c b/keil_project/Services/emetteur_rf.c
index 31e5a1c..f796547 100644
--- a/keil_project/Services/emetteur_rf.c
+++ b/keil_project/Services/emetteur_rf.c
@@ -42,11 +42,14 @@ void emetteur_rf_init(void){
 	LL_USART_SetBaudRate(uart_port, periph_speed, baudrate);
 */}
 
-void emetteur_send_bytes(USART_TypeDef * uart_port,char* buf, int len){
+
+
+
+void emetteur_send_bytes(char* buf, int len){
 	for(int i = 0; i < len; i++){
 		LL_GPIO_SetOutputPin(GPIOA,LL_GPIO_PIN_11);
-		LL_USART_TransmitData8(uart_port, buf[i]);
-		while(!LL_USART_IsActiveFlag_TXE(uart_port));	
+		LL_USART_TransmitData8(USART1, buf[i]);
+		while(!LL_USART_IsActiveFlag_TXE(USART1));	
 		LL_GPIO_ResetOutputPin(GPIOA,LL_GPIO_PIN_11);	
 	}	
 }
diff --git a/keil_project/Services/emetteur_rf.h b/keil_project/Services/emetteur_rf.h
index 295fe4b..7a4592d 100644
--- a/keil_project/Services/emetteur_rf.h
+++ b/keil_project/Services/emetteur_rf.h
@@ -8,7 +8,7 @@
 #include "stm32f1xx_ll_gpio.h"
 
 void emetteur_rf_init(void);
-void emetteur_send_bytes(USART_TypeDef * uart_port,char* buf, int len);
+void emetteur_send_bytes(char* buf, int len);
 
 
 
diff --git a/keil_project/Src/main.c b/keil_project/Src/main.c
index 46d750c..01bbc70 100644
--- a/keil_project/Src/main.c
+++ b/keil_project/Src/main.c
@@ -21,6 +21,7 @@
 #include "stm32f1xx_ll_system.h" // utile dans la fonction SystemClock_Config
 #include "stm32f1xx_ll_bus.h" 
 
+
 #include "RFInput.h"
 #include "IncrEncoder.h"
 #include "DcMotor.h"
@@ -28,6 +29,9 @@
 #include "alimentation.h"
 #include "accelerometer.h"
 
+#define CONTROL_LOOP_PERIOD 250
+#define MSG_TRANSFER_PERIOD 3000
+
 void  SystemClock_Config(void);
 
 /* Private functions ---------------------------------------------------------*/
@@ -38,18 +42,18 @@ void  SystemClock_Config(void);
   * @retval None
   */
 	
-int val = 0;
-int val2 = 0;
+
 int counter = 0;
-float level;
-int level_enough;
-double xx,yy;
-int bon;
+int battery_level_good = 0;
+int angle_roulis_good = 0;
+int angle_sail = 0;
+int RF_Input_Duty = 0;
+int TX_Flag = 0, CONTROL_LOOP_Flag = 0;
+
 int main(void)
 {
   /* Configure the system clock to 72 MHz */
-  SystemClock_Config();
-	
+	SystemClock_Config();
 	//alimentation_init();
 	RF_INPUT_Init();
 	DC_MOTOR_Init();
@@ -59,20 +63,39 @@ int main(void)
   /* Infinite loop */
   while (1)
   {
-		LL_mDelay(100);
-		//counter = (counter + 1) % 100;
-		//DC_MOTOR_SetSpeed(counter);
-		//val = RF_INPUT_GetPeriodUs();
-		//val2 = RF_INPUT_GetDutyTimeUs();
-		//SAIL_SetAngle(counter);
-		//level = get_battery_level();
-		//level_enough = is_level_enough();
-		xx = accelero_get_x();
-		//yy = accelero_get_y();
-		//bon = accelero_angle_bon();
+	  	if(CONTROL_LOOP_Flag){
+			battery_level_good = is_level_enough();
+			angle_roulis_good = accelero_angle_bon();
+			
+			if(!angle_roulis_good){
+				SAIL_SetAngle(90);
+				DC_MOTOR_SetSpeed(0);
+			}else{
+				angle_sail = INCR_ENCODER_GetAngle();
+				SAIL_SetAngle(angle_sail/2);
+				RF_Input_Duty = RF_INPUT_GetDutyTimeRelative();
+				DC_MOTOR_SetSpeed(RF_Input_Duty);
+			}
+			
+			CONTROL_LOOP_Flag = 0;
+		}
+		if(TX_Flag){
+			
+			TX_Flag = 0;
+		}
   }
 }
 
+void SysTick_Handler(void)
+{
+	if(counter % CONTROL_LOOP_PERIOD == 0){
+		CONTROL_LOOP_Flag = 1;
+	}
+	if(counter % MSG_TRANSFER_PERIOD == 0){
+		TX_Flag = 1;
+	}
+	counter = (counter+1) % (CONTROL_LOOP_PERIOD*MSG_TRANSFER_PERIOD)  ;
+}