keil_project/Services/Accelerometer.c

@@ -1,24 +1,5 @@
 #include "Accelerometer.h"
 
-#include "stm32f103xb.h" 
-#include "stm32f1xx_ll_adc.h" 
-#include "stm32f1xx_ll_bus.h"
-#include "stm32f1xx_ll_rcc.h"
-#include "stm32f1xx_ll_gpio.h"
-#include <math.h>
-
-#ifndef M_PI
-    #define M_PI 3.14159265358979323846
-#endif
-
-#define ANGLE_LIMIT_DEG 40
-#define ANGLE_LIMIT_RAD ANGLE_LIMIT_DEG * (180.0 / M_PI)
-
-#define ZERO_G_VOLTAGE 1.65
-#define ZERO_G_READING (ZERO_G_VOLTAGE / 3.3) * 4095
-
-#define VOLT_PER_G 0.48
-
 void ACCELEROMETER_Init(void){
     RCC -> CFGR |= (0x1<<15);
     RCC-> CFGR &= ~ (0x1<<14);
@@ -58,29 +39,29 @@ 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;
+	double x= LL_ADC_REG_ReadConversionData12(ADC1);
 	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);
-  while (LL_ADC_IsActiveFlag_EOS(ADC1) != 1);
+    while (LL_ADC_IsActiveFlag_EOS(ADC1) != 1);
-  double y = (LL_ADC_REG_ReadConversionData12(ADC1)-ZERO_G_READING) * VOLT_PER_G;
+    double y = LL_ADC_REG_ReadConversionData12(ADC1);
-	return y;
+		return y;
 }
 
 int ACCELEROMETER_AngleGood(void){
 	double x = ACCELEROMETER_GetX();
 	double y = ACCELEROMETER_GetY();
-	double angle = atan(x/y);
+	double angle = x/y;
 	
-	if (fabs(angle)>ANGLE_LIMIT_RAD){
+    if (angle>tan(0.698132)){
-		return 0;
+        return 0;
-	}else {
+    }else {
-		return 1;
+        return 1;
-	}
+    }
-	//le flag EOC n'est jamais mis à un ....
+    //le flag EOC n'est jamais mis à un ....
-	// Soit la conversion est mal faite soit on n'utilise pas bien la simulation
+    // Soit la conversion est mal faite soit on n'utilise pas bien la simulation 
-	//soit on n'utilise pas bien isActiveFlag dans la boucle
+    //soit on n'utilise pas bien isActiveFlag dans la boucle
 }

keil_project/Services/Accelerometer.h

@@ -1,38 +1,29 @@
-/**
+// RIEN A MODIFIER //
-  ******************************************************************************
+
-  * @file    RFOutput.h
+//codé par Léonie GALLOIS et Morgane FOUSSATS
-  * @author  GALLOIS, Leonie and GÜLDENSTEIN, Jasper and FOUSSATS, Morgane
+
-  * @brief   Service for reading the analog signals of the Accelerometer.
-  ******************************************************************************
-  */
 #ifndef ACCELERO_H
 #define ACCELERO_H
 
-/**
+
-  * @brief Initializes for reading the Accelerometer
+
-	* Peripherals used: ADC1
+#include "stm32f103xb.h" 
-	* Pins used: PC0 (Analog Input, X channel accelerometer)
+#include "stm32f1xx_ll_adc.h" 
-	* Pins used: PC1 (Analog Input, Y channel accelerometer)
+#include "stm32f1xx_ll_bus.h"
-  */
+#include "stm32f1xx_ll_rcc.h"
+#include "stm32f1xx_ll_gpio.h"
+#include "math.h"
+
+/* =====================================================================================
+Les fonctions qui gèrent les IO (ajout par rapport à l'activité 1)
+=======================================================================================*/
+
 void ACCELEROMETER_Init(void);
 
-/**
-  * @brief Reads the accelerometer x channel
-	* @retval acceleration in x direction in g
-  */
 double ACCELEROMETER_GetX(void);
 
-/**
-  * @brief Reads the accelerometer y channel
-	* @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)
-  */
 int ACCELEROMETER_AngleGood(void);
 
 

keil_project/Services/DcMotor.c

@@ -3,12 +3,14 @@
 #include "stm32f1xx_ll_bus.h"
 #include "stm32f1xx_ll_tim.h" 
 
-#define ARR_DC_MOTOR 100
+#define ARR_DC_MOTOR 50000
 void DC_MOTOR_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 = 35;
+	// todo check switching behavior of the mosfet to determine period of switching 
+	tim_init.Prescaler = 71;
 	tim_init.Autoreload = ARR_DC_MOTOR - 1;
 	tim_init.ClockDivision=LL_TIM_CLOCKDIVISION_DIV1;
 	tim_init.CounterMode=LL_TIM_COUNTERMODE_UP;

keil_project/Services/DcMotor.h

@@ -1,25 +1,9 @@
-/**
-  ******************************************************************************
-  * @file    DCMotor.h
-  * @author  CAVAILLES, Kevin and GÜLDENSTEIN, Jasper
-  * @brief   Service for setting the speed of a DC motor using a PWM signal.
-  ******************************************************************************
-  */
 #ifndef DC_MOTOR_H
 #define DC_MOTOR_H
 
-/**
-  * @brief Initialziation function for the DC_MOTOR module.
-	* Peripherals used: TIM2
-	* Pins used: PA1 (TIM2 channel 1, PWM Output)
-	*            PA2 (GPIO, direction control)
-  */
 void DC_MOTOR_Init(void);
 
-/**
+// set a speed between -100 (full throttle clockwise) 0 (stop) and 100 (full throttle counterclockwise)
-  * @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)
-	*/
 void DC_MOTOR_SetSpeed(int speed);
 
 #endif

keil_project/Services/IncrEncoder.h

@@ -1,31 +1,13 @@
-/**
-  ******************************************************************************
-  * @file    IncrEncoder.h
-  * @author  CAVAILLES, Kevin and GÜLDENSTEIN, Jasper
-  * @brief   Service for reading the incremental encoder.
-  ******************************************************************************
-  */
 #ifndef INCR_ENCODER_H
 #define INCR_ENCODER_H
 
-/**
+
-  * @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)
-  */
 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)
-  */
 int INCR_ENCODER_IsAbsolute(void);
 
 /**
-  * @brief Returns the angle reading of the incremental encoder
+  * @brief Returns the angle of the incremental encoder
 	* @retval -180 to 180 where 0 is the incremental encoder pointing towards the back of the boat
   */
 float INCR_ENCODER_GetAngle(void);

keil_project/Services/RFInput.h

@@ -9,7 +9,7 @@
 #define RF_INPUT_H
 
 /**
-  * @brief Initialziation function for the RF_INPUT module.
+  * @brief Initialziation function for the RF_OUTPUT module.
 	* Peripherals used: TIM4
 	* Pins used: PB6 (PWM Input)
   */

keil_project/Services/Sail.h

@@ -1,27 +1,12 @@
-/**
+//codé par Kévin Cavailles et Jasper Güldenstein
-  ******************************************************************************
+
-  * @file    Sail.h
-  * @author  CAVAILLES, Kevin and GÜLDENSTEIN, Jasper
-  * @brief   Service for using the RF Module to transmit characters.
-  ******************************************************************************
-  */
 #ifndef SAIL_H
 #define SAIL_H
 
 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)
-	*/
 int SAIL_AngleFromGirouette(float girouette_value);
-
+// sets the opening angle of the sail
-/**
-  * @brief Sets the opening angle of the sail
-	* @param opening angle of the sail between 0 and 90 (degrees)
-	*/
 void SAIL_SetAngle(float angle);
 
 #endif

keil_project/Services/Servo.h

@@ -1,26 +1,8 @@
-/**
-  ******************************************************************************
-  * @file    Servo.h
-  * @author  CAVAILLES, Kevin and GÜLDENSTEIN, Jasper
-  * @brief   Service for using the Servo to set the sail angle.
-  ******************************************************************************
-  */
 #ifndef SERVO_H
 #define SERVO_H
 
-/**
-  * @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)
-  */
 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
-  */
 void SERVO_SetAngle(int angle);
 
-
 #endif