projet_voilier/keil_project/Src/main.c

/**
  ******************************************************************************
  * @file    Templates_LL/Src/main.c
  * @author  MCD Application Team
  * @brief   Main program body through the LL API
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2016 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
#include "stm32f1xx_ll_rcc.h" // utile dans la fonction SystemClock_Config
#include "stm32f1xx_ll_utils.h"   // utile dans la fonction SystemClock_Config
#include "stm32f1xx_ll_system.h" // utile dans la fonction SystemClock_Config
#include "stm32f1xx_ll_bus.h" 


#include "RFInput.h"
#include "IncrEncoder.h"
#include "DcMotor.h"
#include "Sail.h"
#include "Alimentation.h"
#include "Accelerometer.h"
#include "RFOutput.h"

#define CONTROL_LOOP_PERIOD 250
#define MSG_TRANSFER_PERIOD 3000

void  SystemClock_Config(void);

/* Private functions ---------------------------------------------------------*/

/**
  * @brief  Main program
  * @param  None
  * @retval None
  */
	

int counter = 0;
int battery_level_good = 0;
int angle_roulis_good = 0;
int angle_sail = 0;
int RF_Input_Duty = 0;
int TX_Flag = 0, CONTROL_LOOP_Flag = 0;

char wait_for_girouette[] = "En attente d'initialisation de la girouette\r\n";
int main(void)
{
  /* Configure the system clock to 72 MHz */
	SystemClock_Config();
	alimentation_init();
	accelero_init();
	RF_INPUT_Init();
	DC_MOTOR_Init();
	SAIL_Init();
	emetteur_rf_init();
	
	while(!INCR_ENCODER_IsAbsolute())
	{
		emetteur_send_bytes(wait_for_girouette, sizeof(wait_for_girouette));
		LL_mDelay(500);
	}
	
  /* Infinite loop */
  while (1)
  {
	  	if(CONTROL_LOOP_Flag){
			battery_level_good = is_level_enough();
			angle_roulis_good = accelero_angle_bon();
			
			if(!angle_roulis_good){
				SAIL_SetAngle(90);
				DC_MOTOR_SetSpeed(0);
			}else{
				angle_sail = INCR_ENCODER_GetAngle();
				SAIL_SetAngle(angle_sail/2);
				RF_Input_Duty = RF_INPUT_GetDutyTimeRelative();
				DC_MOTOR_SetSpeed(RF_Input_Duty);
			}
			CONTROL_LOOP_Flag = 0;
		}
		if(TX_Flag){
			emetteur_send_message(angle_roulis_good, battery_level_good, angle_sail);
			TX_Flag = 0;
		}
  }
}

void SysTick_Handler(void)
{
	
	if(counter % CONTROL_LOOP_PERIOD == 0){
		CONTROL_LOOP_Flag = 1;
	}
	if(counter % MSG_TRANSFER_PERIOD == 0){
		TX_Flag = 1;
	}
	counter = (counter+1) % (CONTROL_LOOP_PERIOD*MSG_TRANSFER_PERIOD)  ;
}






/**
  * @brief  System Clock Configuration
  *         The system Clock is configured as follow :
  *            System Clock source            = PLL (HSE)
  *            SYSCLK(Hz)                     = 72000000
  *            HCLK(Hz)                       = 72000000
  *            AHB Prescaler                  = 1
  *            APB1 Prescaler                 = 2
  *            APB2 Prescaler                 = 1
  *            HSE Frequency(Hz)              = 8000000
  *            PLLMUL                         = 9
  *            Flash Latency(WS)              = 2
  * @param  None
  * @retval None
  */
void SystemClock_Config(void)
{
  /* Set FLASH latency */
  LL_FLASH_SetLatency(LL_FLASH_LATENCY_2);

  /* Enable HSE oscillator */
	// ********* Commenter la ligne ci-dessous pour MCBSTM32 *****************
	// ********* Conserver la ligne si Nucl<63>o*********************************
  LL_RCC_HSE_EnableBypass();
  LL_RCC_HSE_Enable();
  while(LL_RCC_HSE_IsReady() != 1)
  {
  };

  /* Main PLL configuration and activation */
  LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSE_DIV_1, LL_RCC_PLL_MUL_9);

  LL_RCC_PLL_Enable();
  while(LL_RCC_PLL_IsReady() != 1)
  {
  };

  /* Sysclk activation on the main PLL */
  LL_RCC_SetAHBPrescaler(LL_RCC_SYSCLK_DIV_1);
  LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL);
  while(LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL)
  {
  };

  /* Set APB1 & APB2 prescaler*/
  LL_RCC_SetAPB1Prescaler(LL_RCC_APB1_DIV_2);
  LL_RCC_SetAPB2Prescaler(LL_RCC_APB2_DIV_1);

  /* Set systick to 1ms in using frequency set to 72MHz */
  LL_Init1msTick(72000000); // utile lorsqu'on utilise la fonction LL_mDelay

  /* Update CMSIS variable (which can be updated also through SystemCoreClockUpdate function) */
  LL_SetSystemCoreClock(72000000);
}



/* ==============   BOARD SPECIFIC CONFIGURATION CODE END      ============== */

#ifdef  USE_FULL_ASSERT

/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d", file, line) */

  /* Infinite loop */
  while (1)
  {
  }
}
#endif

/**
  * @}
  */

/**
  * @}
  */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/