191 lines
4.9 KiB
C
191 lines
4.9 KiB
C
/**
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******************************************************************************
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* @file main.c
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* @author CAVAILLES, Kevin and GALLOIS, Leonie and GÜLDENSTEIN, Jasper and FOUSSATS, Morgane
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* @brief Main program body through the LL API
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******************************************************************************
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*/
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#include "stm32f1xx_ll_rcc.h" // utile dans la fonction SystemClock_Config
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#include "stm32f1xx_ll_utils.h" // utile dans la fonction SystemClock_Config
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#include "stm32f1xx_ll_system.h" // utile dans la fonction SystemClock_Config
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#include "stm32f1xx_ll_bus.h"
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#include "RFInput.h"
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#include "IncrEncoder.h"
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#include "DcMotor.h"
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#include "Sail.h"
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#include "Alimentation.h"
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#include "Accelerometer.h"
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#include "RFOutput.h"
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#define CONTROL_LOOP_PERIOD 250
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#define MSG_TRANSFER_PERIOD 3000
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void SystemClock_Config(void);
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/* Private functions ---------------------------------------------------------*/
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// global variables for monitoring in keil
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int counter = 0;
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int battery_level_good = 0;
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int angle_roulis_good = 0;
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int angle_sail = 0;
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int RF_Input_Duty = 0;
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int TX_Flag = 0, CONTROL_LOOP_Flag = 0;
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float angle_incr_encoder = 0;
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char wait_for_girouette[] = "En attente d'initialisation de la girouette\r\n";
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/**
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* @brief Main program
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* @param None
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* @retval None
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*/
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int main(void)
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{
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/* Configure the system clock to 72 MHz */
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SystemClock_Config();
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//ALIMENTATION_Init();
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ACCELEROMETER_Init();
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/* RF_INPUT_Init();
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DC_MOTOR_Init();
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SAIL_Init();
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RF_OUTPUT_Init();*/
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/*while(!INCR_ENCODER_IsAbsolute())
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{
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RF_OUTPUT_SendBytes(wait_for_girouette, sizeof(wait_for_girouette));
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LL_mDelay(500);
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}*/
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/*while (1)
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{
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if(CONTROL_LOOP_Flag){
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battery_level_good = ALIMENTATION_IsLevelEnough();
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angle_roulis_good = ACCELEROMETER_AngleGood();
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if(!angle_roulis_good){
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SAIL_SetAngle(90);
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DC_MOTOR_SetSpeed(0);
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}else{
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angle_sail = INCR_ENCODER_GetAngle();
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SAIL_SetAngle(angle_sail/2);
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RF_Input_Duty = RF_INPUT_GetDutyTimeRelative();
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DC_MOTOR_SetSpeed(RF_Input_Duty);
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}
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CONTROL_LOOP_Flag = 0;
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}
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if(TX_Flag){
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RF_OUTPUT_SendMessage(angle_roulis_good, battery_level_good, angle_sail);
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TX_Flag = 0;
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}
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}*/
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while(1){
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angle_roulis_good = ACCELEROMETER_AngleGood();
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}
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}
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void SysTick_Handler(void)
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{
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if(counter % CONTROL_LOOP_PERIOD == 0){
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CONTROL_LOOP_Flag = 1;
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}
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if(counter % MSG_TRANSFER_PERIOD == 0){
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TX_Flag = 1;
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}
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counter = (counter+1) % (CONTROL_LOOP_PERIOD*MSG_TRANSFER_PERIOD) ;
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}
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/**
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* @brief System Clock Configuration
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* The system Clock is configured as follow :
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* System Clock source = PLL (HSE)
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* SYSCLK(Hz) = 72000000
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* HCLK(Hz) = 72000000
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* AHB Prescaler = 1
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* APB1 Prescaler = 2
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* APB2 Prescaler = 1
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* HSE Frequency(Hz) = 8000000
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* PLLMUL = 9
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* Flash Latency(WS) = 2
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* @param None
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* @retval None
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*/
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void SystemClock_Config(void)
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{
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/* Set FLASH latency */
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LL_FLASH_SetLatency(LL_FLASH_LATENCY_2);
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// ********* Commenter la ligne ci-dessous pour MCBSTM32 *****************
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// ********* Conserver la ligne si Nucléo*********************************
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//LL_RCC_HSE_EnableBypass();
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LL_RCC_HSE_Enable();
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while(LL_RCC_HSE_IsReady() != 1)
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{
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};
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/* Main PLL configuration and activation */
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LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSE_DIV_1, LL_RCC_PLL_MUL_9);
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LL_RCC_PLL_Enable();
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while(LL_RCC_PLL_IsReady() != 1)
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{
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};
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/* Sysclk activation on the main PLL */
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LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_1);
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LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL);
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while(LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL)
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{
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};
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/* Set APB1 & APB2 prescaler*/
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LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_2);
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LL_RCC_SetAPB2Prescaler(LL_RCC_APB2_DIV_1);
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/* Set systick to 1ms in using frequency set to 72MHz */
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LL_Init1msTick(72000000); // utile lorsqu'on utilise la fonction LL_mDelay
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/* Update CMSIS variable (which can be updated also through SystemCoreClockUpdate function) */
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LL_SetSystemCoreClock(72000000);
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}
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/* ============== BOARD SPECIFIC CONFIGURATION CODE END ============== */
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#ifdef USE_FULL_ASSERT
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/**
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* @brief Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* @param file: pointer to the source file name
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* @param line: assert_param error line source number
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* @retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* User can add his own implementation to report the file name and line number,
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ex: printf("Wrong parameters value: file %s on line %d", file, line) */
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/* Infinite loop */
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while (1)
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{
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}
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}
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#endif
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/**
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* @}
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*/
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/**
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* @}
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*/
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/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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