From 7b7b8aaf6c9e42a03ebe6e971107afb502d53122 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jasper=20G=C3=BCldenstein?= Date: Mon, 2 Nov 2020 18:23:01 +0100 Subject: [PATCH 1/3] outpuw pwn working, set angle calculation needed --- keil_project/Services/Servo.c | 50 +++++++++++++++++++++++++++++++++++ keil_project/Services/Servo.h | 8 ++++++ 2 files changed, 58 insertions(+) create mode 100644 keil_project/Services/Servo.c create mode 100644 keil_project/Services/Servo.h diff --git a/keil_project/Services/Servo.c b/keil_project/Services/Servo.c new file mode 100644 index 0000000..32869d8 --- /dev/null +++ b/keil_project/Services/Servo.c @@ -0,0 +1,50 @@ +#include "Servo.h" +#include "stm32f1xx_ll_bus.h" // Pour l'activation des horloges +#include "stm32f1xx_ll_tim.h" +#include "stm32f1xx_ll_gpio.h" + + +void SERVO_Init(void){ + // use TIM2 since it has pa1 at channel 2 output + + // setup timer 2 + LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2); + 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(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 = 1500; // todo find good init value (maybe -1) + 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); + + // period of timer should be 20 ms + // input= 72mhz + // per +} + +void SERVO_SetAngle(int angle){ + // set ccr2 register to alter pwm output between 1 and 2 ms + +} diff --git a/keil_project/Services/Servo.h b/keil_project/Services/Servo.h new file mode 100644 index 0000000..dbc9294 --- /dev/null +++ b/keil_project/Services/Servo.h @@ -0,0 +1,8 @@ +#ifndef SERVO +#define SERVO + +void SERVO_Init(void); + +void SERVO_SetAngle(int angle); + +#endif From 9a6819b83d0818c67b0ead97f9b94e09b68faa84 Mon Sep 17 00:00:00 2001 From: Cavailles Kevin Date: Wed, 11 Nov 2020 15:37:12 +0100 Subject: [PATCH 2/3] o/pin changed, setAngle done --- keil_project/Services/Servo.c | 30 ++++++++++++++++++------------ 1 file changed, 18 insertions(+), 12 deletions(-) diff --git a/keil_project/Services/Servo.c b/keil_project/Services/Servo.c index 32869d8..b4565a9 100644 --- a/keil_project/Services/Servo.c +++ b/keil_project/Services/Servo.c @@ -1,3 +1,5 @@ +#include + #include "Servo.h" #include "stm32f1xx_ll_bus.h" // Pour l'activation des horloges #include "stm32f1xx_ll_tim.h" @@ -8,36 +10,36 @@ void SERVO_Init(void){ // use TIM2 since it has pa1 at channel 2 output // setup timer 2 - LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM2); + LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM4); 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(TIM2, &tim_init); + LL_TIM_Init(TIM4, &tim_init); // setup gpio - LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA); + LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOB); 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); + servo_gpio_init.Pin = LL_GPIO_PIN_8; + 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(GPIOB, &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 = 1500; // todo find good init value (maybe -1) + oc_init.CompareValue = 999; // 999 should corresponds to 0° 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); + LL_TIM_OC_Init(TIM4, LL_TIM_CHANNEL_CH3, &oc_init); + LL_TIM_EnableCounter(TIM4); // period of timer should be 20 ms // input= 72mhz @@ -45,6 +47,10 @@ void SERVO_Init(void){ } void SERVO_SetAngle(int angle){ - // set ccr2 register to alter pwm output between 1 and 2 ms + // 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(TIM4, CCR3, ccr3Value); } From 2957e7b4f5f2d63a818efb924ed8fffc3a0f8667 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jasper=20G=C3=BCldenstein?= Date: Wed, 11 Nov 2020 15:56:13 +0100 Subject: [PATCH 3/3] preliminary Sail transfer function --- keil_project/Services/Sail.c | 16 ++++++++++++++++ keil_project/Services/Sail.h | 6 ++++++ 2 files changed, 22 insertions(+) create mode 100644 keil_project/Services/Sail.c create mode 100644 keil_project/Services/Sail.h diff --git a/keil_project/Services/Sail.c b/keil_project/Services/Sail.c new file mode 100644 index 0000000..a018e46 --- /dev/null +++ b/keil_project/Services/Sail.c @@ -0,0 +1,16 @@ +#include "Sail.h" +#include "Servo.h" + + +#define SAIL_TRANSFER_FACTOR 1.0 +#define SAIL_TRANSFER_OFFSET 0 + +void SAIL_Init(void) +{ + SERVO_Init(); +} + +void SAIL_SetAngle(float angle) +{ + float servo_angle = angle * SAIL_TRANSFER_FACTOR + SAIL_TRANSFER_OFFSET; +} diff --git a/keil_project/Services/Sail.h b/keil_project/Services/Sail.h new file mode 100644 index 0000000..0cb3597 --- /dev/null +++ b/keil_project/Services/Sail.h @@ -0,0 +1,6 @@ + + +void SAIL_Init(void); + +// sets the opening angle of the sail +void SAIL_SetAngle(float angle); \ No newline at end of file