Merge branch 'master' of https://git.etud.insa-toulouse.fr/guldenst/projet_voilier

sail angle

keil_project/Services/Alimentation.c

@@ -1,5 +1,10 @@
 #include "Alimentation.h"
 
+#include "stm32f1xx_ll_adc.h"
+#include "stm32f1xx_ll_bus.h"
+#include "stm32f1xx_ll_rcc.h"
+#include "stm32f1xx_ll_gpio.h"
+#include <math.h>
 
 void ALIMENTATION_Init(void){
 	RCC -> CFGR |= (0x1<<15);

keil_project/Services/Alimentation.h

@@ -1,25 +1,30 @@
-// RIEN A MODIFIER //
-
-//codé par Léonie GALLOIS et Morgane FOUSSATS
-
+/**
+  ******************************************************************************
+  * @file    RFOutput.h
+  * @author  GALLOIS, Leonie and GÜLDENSTEIN, Jasper and FOUSSATS, Morgane
+  * @brief   Service for using the RF Module to transmit characters.
+  ******************************************************************************
+  */
 #ifndef ALIMENTATION_H
 #define ALIMENTATION_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"
-
-/* =====================================================================================
-Les fonctions qui gèrent les IO (ajout par rapport à l'activité 1)
-=======================================================================================*/
-
+/**
+  * @brief Initializes for reading of the power supply/battery level
+	* Peripherals used: ADC1
+	* Pins used: PC2 (Analog input)
+  */
 void ALIMENTATION_Init(void);
+
+/**
+  * @brief Reads the power supply/battery level
+	* @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)
+  */
 int ALIMENTATION_IsLevelEnough(void);
 
 

keil_project/Services/DcMotor.h

@@ -1,6 +1,9 @@
-//codé par Kévin Cavailles et Jasper Güldenstein
+#ifndef DC_MOTOR_H
+#define DC_MOTOR_H
 
 void DC_MOTOR_Init(void);
 
 // set a speed between -100 (full throttle clockwise) 0 (stop) and 100 (full throttle counterclockwise)
 void DC_MOTOR_SetSpeed(int speed);
+
+#endif

keil_project/Services/IncrEncoder.c

@@ -7,13 +7,11 @@
 #include "stm32f1xx_ll_exti.h"
 #include "stm32f1xx_ll_tim.h"
 
-#define RESOLUTION 1
-#define ANGLE_DEBUT 45
-#define INCR_ENCODER_MID_VALUE 719
-
+#define ZERO_POSITION 0
+#define TICKS_PER_REVOLUTION 360*4
+#define DEGREE_PER_TICKS 0.25
 
 int index_passed = 0;
-int counts_per_revolution = 360;
 
 void INCR_ENCODER_Init(void){
 	
@@ -33,7 +31,7 @@ void INCR_ENCODER_Init(void){
 	LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM3);
 	LL_TIM_InitTypeDef tim3_init_struct;
 	
-	tim3_init_struct.Autoreload= counts_per_revolution*4-1;
+	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;
@@ -101,17 +99,12 @@ int INCR_ENCODER_IsAbsolute(void)
 	return index_passed;
 };
 
-int INCR_ENCODER_GetAngle(void)
+float INCR_ENCODER_GetAngle(void)
 {
 	int counter_value = LL_TIM_ReadReg(TIM3, CNT);
-	float vabs = abs(counter_value-INCR_ENCODER_MID_VALUE);
-	float vIEAngleDebut = INCR_ENCODER_MID_VALUE -(ANGLE_DEBUT*4);
-	float nbIncrements = 90/RESOLUTION;
-	
-	if(vabs > vIEAngleDebut)
-	{
-		return 0;
-	}else{
-		return 90 - RESOLUTION*floor(vabs/(vIEAngleDebut/nbIncrements) ) ;
-	}
+	// 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;
 };

keil_project/Services/IncrEncoder.h

@@ -1,11 +1,15 @@
-#ifndef INCR_ENCODER
+#ifndef INCR_ENCODER_H
+#define INCR_ENCODER_H
+
 
-/**
-  */
 void INCR_ENCODER_Init(void);
 
 int INCR_ENCODER_IsAbsolute(void);
 
-int INCR_ENCODER_GetAngle(void);
+/**
+  * @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);
 
 #endif

keil_project/Services/RFInput.c

@@ -26,7 +26,7 @@ void RF_INPUT_Init(void)
 	LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_TIM4);
 	LL_TIM_InitTypeDef tim4_init_struct;
 	
-	tim4_init_struct.Autoreload= 0xFFFF; // ??
+	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;

keil_project/Services/RFInput.h

@@ -1,14 +1,38 @@
-//codé par Kévin Cavailles et Jasper Güldenstein
+/**
+  ******************************************************************************
+  * @file    RFInput.h
+  * @author  CAVAILLES, Kevin and GÜLDENSTEIN, Jasper
+  * @brief   Service for reveiving a PWM signal from an RF remote 
+  ******************************************************************************
+  */
+#ifndef RF_INPUT_H
+#define RF_INPUT_H
 
-
-// initializes the PWM input of the remote on PB6
+/**
+  * @brief Initialziation function for the RF_OUTPUT module.
+	* Peripherals used: TIM4
+	* Pins used: PB6 (PWM Input)
+  */
 void RF_INPUT_Init(void);
 
-// returns the period of the PWM signal of the remote in us
+/**
+  * @brief Reads the period of the PWM signal
+	* @retval period of the PWM signal in microseconds (10^(-6))
+  */
 int RF_INPUT_GetPeriodUs(void);
 
-// returns the duty time of the PWM signal of the remote in us
+
+/**
+  * @brief Reads the length of the active time of the PWM signal
+	* @retval active time of the PWM signal in microseconds (10^(-6))
+  */
 int RF_INPUT_GetDutyTimeUs(void);
 
-// returns the duty time of the PWM signal of the remote as a value between -100 and 100
+/**
+  * @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
+  */
 int RF_INPUT_GetDutyTimeRelative(void);
+
+
+#endif

keil_project/Services/RFOutput.c

@@ -1,4 +1,8 @@
 #include "RFOutput.h"
+
+#include "stm32f1xx_ll_bus.h"
+#include "stm32f1xx_ll_usart.h"
+#include "stm32f1xx_ll_gpio.h"
 #include <stdio.h>
 
 char RF_OUTPUT_buf[100];

keil_project/Services/RFOutput.h

@@ -1,16 +1,36 @@
-#ifndef RECEPTEURHF_INPUT_H
-#define RECEPTEURHF_INPUT_H
-
-//codé par Léonie GALLOIS et Morgane FOUSSATS
-
-#include "stm32f1xx_ll_bus.h"
-#include "stm32f1xx_ll_usart.h"
-#include "stm32f1xx_ll_gpio.h"
+/**
+  ******************************************************************************
+  * @file    RFOutput.h
+  * @author  GALLOIS, Leonie and GÜLDENSTEIN, Jasper and FOUSSATS, Morgane
+  * @brief   Service for using the RF Module to transmit characters.
+  ******************************************************************************
+  */
+#ifndef RF_OUTPUT_INPUT_H
+#define RF_OUTPUT_INPUT_H
 
+/**
+  * @brief Initialziation function for the RF_OUTPUT module.
+	* 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
+	*/
 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
+	*/
 void RF_OUTPUT_SendMessage(int rouli_bon, int alimentation_bon, float angle_voile);
 
 
-
 #endif

keil_project/Services/Sail.c

@@ -1,15 +1,32 @@
 #include "Sail.h"
-#include "Servo.h"
 
+#include "Servo.h"
+#include <stdlib.h>
+#include <math.h>
 
 #define SAIL_TRANSFER_FACTOR 1.0
 #define SAIL_TRANSFER_OFFSET 0
 
+#define ANGLE_DEBUT 45
+
 void SAIL_Init(void)
 {
 	SERVO_Init();
 }
 
+int SAIL_AngleFromGirouette(float 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));
+	}
+
+}
+
 void SAIL_SetAngle(float angle)
 {
 	float servo_angle = angle * SAIL_TRANSFER_FACTOR + SAIL_TRANSFER_OFFSET;

keil_project/Services/Sail.h

@@ -1,6 +1,12 @@
 //codé par Kévin Cavailles et Jasper Güldenstein
 
+#ifndef SAIL_H
+#define SAIL_H
+
 void SAIL_Init(void);
 
+int SAIL_AngleFromGirouette(float girouette_value);
 // sets the opening angle of the sail
-void SAIL_SetAngle(float angle);
+void SAIL_SetAngle(float angle);
+
+#endif

keil_project/Services/Servo.h

@@ -1,7 +1,5 @@
-#ifndef SERVO
-#define SERVO
-
-//codé par Kévin Cavailles et Jasper Güldenstein
+#ifndef SERVO_H
+#define SERVO_H
 
 void SERVO_Init(void);
 

keil_project/Src/main.c

@@ -44,6 +44,7 @@ int angle_roulis_good = 0;
 int angle_sail = 0;
 int RF_Input_Duty = 0;
 int TX_Flag = 0, CONTROL_LOOP_Flag = 0;
+float angle_incr_encoder = 0;
 
 char wait_for_girouette[] = "En attente d'initialisation de la girouette\r\n";
 
@@ -79,8 +80,9 @@ int main(void)
 				SAIL_SetAngle(90);
 				DC_MOTOR_SetSpeed(0);
 			}else{
-				angle_sail = INCR_ENCODER_GetAngle();
-				SAIL_SetAngle(angle_sail/2);
+				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);
 			}