documentation accelero

keil_project/Services/Accelerometer.c

@@ -1,5 +1,24 @@
 #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);
@@ -39,29 +58,29 @@ 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);
+	double x= (LL_ADC_REG_ReadConversionData12(ADC1) - ZERO_G_READING) * VOLT_PER_G;
 	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);
-    double y = LL_ADC_REG_ReadConversionData12(ADC1);
-		return y;
+  while (LL_ADC_IsActiveFlag_EOS(ADC1) != 1);
+  double y = (LL_ADC_REG_ReadConversionData12(ADC1)-ZERO_G_READING) * VOLT_PER_G;
+	return y;
 }
 
 int ACCELEROMETER_AngleGood(void){
 	double x = ACCELEROMETER_GetX();
 	double y = ACCELEROMETER_GetY();
-	double angle = x/y;
+	double angle = atan(x/y);
 	
-    if (angle>tan(0.698132)){
-        return 0;
-    }else {
-        return 1;
-    }
-    //le flag EOC n'est jamais mis à un ....
-    // Soit la conversion est mal faite soit on n'utilise pas bien la simulation 
-    //soit on n'utilise pas bien isActiveFlag dans la boucle
+	if (fabs(angle)>ANGLE_LIMIT_RAD){
+		return 0;
+	}else {
+		return 1;
+	}
+	//le flag EOC n'est jamais mis à un ....
+	// Soit la conversion est mal faite soit on n'utilise pas bien la simulation
+	//soit on n'utilise pas bien isActiveFlag dans la boucle
 }

keil_project/Services/Accelerometer.h

@@ -1,29 +1,38 @@
-// 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 reading the analog signals of the Accelerometer.
+  ******************************************************************************
+  */
 #ifndef ACCELERO_H
 #define ACCELERO_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 the Accelerometer
+	* Peripherals used: ADC1
+	* Pins used: PC0 (Analog Input, X channel accelerometer)
+	* Pins used: PC1 (Analog Input, Y channel accelerometer)
+  */
 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

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

@@ -1,9 +1,25 @@
+/**
+  ******************************************************************************
+  * @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

@@ -1,13 +1,31 @@
+/**
+  ******************************************************************************
+  * @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 of the incremental encoder
+  * @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
   */
 float INCR_ENCODER_GetAngle(void);

keil_project/Services/RFInput.h

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

keil_project/Services/Sail.h

@@ -1,12 +1,27 @@
-//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

@@ -1,8 +1,26 @@
+/**
+  ******************************************************************************
+  * @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