Compare commits
No commits in common. "a2d245df7e5bf78604d1652622664fb37c4eb4cd" and "a606e6331b79ead8f848c8027506dd917611f541" have entirely different histories.
a2d245df7e
...
a606e6331b
5 changed files with 182 additions and 22 deletions
8
include/Timer.h
Normal file
8
include/Timer.h
Normal file
|
|
@ -0,0 +1,8 @@
|
|||
#ifndef TIMER_H_
|
||||
#define TIMER_H_
|
||||
#include <stm32f10x.h>
|
||||
// Config de timer
|
||||
extern void MyTimer_Base_Init(TIM_TypeDef *Timer , unsigned short ValARR , unsigned short ValPSC );
|
||||
// Enable timers
|
||||
void EnableTimer(TIM_TypeDef *Timer);
|
||||
#endif
|
||||
|
|
@ -1,9 +1,12 @@
|
|||
#include <stm32f10x.h>
|
||||
#include <Horloge.h>
|
||||
#include <MYGPIO.h>
|
||||
#include <stdlib.h>
|
||||
#include <MySPI.h>
|
||||
#include <stdint.h>
|
||||
#include <Accelerometre.h>
|
||||
#include <stdio.h>
|
||||
#include <Timer.h>
|
||||
#include <Servo.h>
|
||||
|
||||
void initAccelo(void)
|
||||
|
|
@ -25,26 +28,27 @@ void initAccelo(void)
|
|||
}
|
||||
|
||||
uint16_t * RecupAccelo(void) { // Recuperation des donnees de l'accelerometre
|
||||
static uint16_t Messie[3];
|
||||
uint8_t buf[6];
|
||||
MySPI_Clear_NSS();
|
||||
// Lecture multi-octet à partir de 0x32 (X0, X1, Y0, Y1, Z0 et Z1)
|
||||
MySPI_Send(0x80 | 0x40 | 0x32); // On envoie RW MB A5 ... A0 pour recuperer les données
|
||||
for (int i = 0; i < 6; i++) {buf[i] = (uint8_t)MySPI_Read();} // Lecture des 6 registres en séquenciel
|
||||
MySPI_Set_NSS();
|
||||
static uint16_t Messie[3];
|
||||
uint8_t buf[6];
|
||||
MySPI_Clear_NSS();
|
||||
// Lecture multi-octet à partir de 0x32 (X0, X1, Y0, Y1, Z0 et Z1)
|
||||
MySPI_Send(0x80 | 0x40 | 0x32); // On envoie RW MB A5 ... A0 pour recuperer les données
|
||||
for (int i = 0; i < 6; i++) {buf[i] = (uint8_t)MySPI_Read();} // Lecture des 6 registres en séquenciel
|
||||
MySPI_Set_NSS();
|
||||
|
||||
// Conversion des données récupérés en uint16_t
|
||||
Messie[0] = (uint16_t)(buf[1] << 8 | buf[0]); // X
|
||||
Messie[1] = (uint16_t)(buf[3] << 8 | buf[2]); // Y
|
||||
Messie[2] = (uint16_t)(buf[5] << 8 | buf[4]); // Z
|
||||
return Messie;
|
||||
// Conversion des données récupérés en uint16_t
|
||||
Messie[0] = (uint16_t)(buf[1] << 8 | buf[0]); // X
|
||||
Messie[1] = (uint16_t)(buf[3] << 8 | buf[2]); // Y
|
||||
Messie[2] = (uint16_t)(buf[5] << 8 | buf[4]); // Z
|
||||
return Messie;
|
||||
}
|
||||
|
||||
void initLacheur(void){
|
||||
GPIOB->CRH &= ~(0xF << (0 * 4));
|
||||
GPIOB->CRH |= (0xA << (0 * 4)); //On met GPIOB.8 en mode output 2Mhz, alternate pp
|
||||
GPIOB->CRH &= ~(0xF << (0 * 4));
|
||||
GPIOB->CRH |= (0xA << (0 * 4)); //On met GPIOB.8 en mode output 2Mhz, alternate pp
|
||||
|
||||
Timer_Init(TIM4, 0xFFFF, 22);
|
||||
EnableTimer(TIM4);
|
||||
MyTimer_Base_Init(TIM4, 0xFFFF, 22);
|
||||
}
|
||||
|
||||
void LacheVoile(int AngelLim, uint16_t moyennen){
|
||||
|
|
|
|||
127
src/Horloge.c
127
src/Horloge.c
|
|
@ -1,13 +1,18 @@
|
|||
#include <stm32f10x.h>
|
||||
#include <stdio.h>
|
||||
#include <Horloge.h>
|
||||
|
||||
|
||||
//Il faut trouver le signal
|
||||
//On est à Timer 2
|
||||
|
||||
static void (*TIM2_Appel)(void) = 0;
|
||||
|
||||
void Timer_Init(TIM_TypeDef *Timer, unsigned short Autoreload, unsigned short Prescaler){
|
||||
if (Timer == TIM1) {
|
||||
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
|
||||
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //L'horloge est enabléd
|
||||
} else if (Timer == TIM2) {
|
||||
TIM2->CR1 |= TIM_CR1_CEN;
|
||||
TIM2->CR1 |= TIM_CR1_CEN; //On enable l'horloge interne
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
|
||||
} else if (Timer == TIM3) {
|
||||
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
|
||||
|
|
@ -16,10 +21,9 @@ void Timer_Init(TIM_TypeDef *Timer, unsigned short Autoreload, unsigned short Pr
|
|||
}
|
||||
Timer->ARR |= Autoreload;
|
||||
Timer->PSC |= Prescaler;
|
||||
Timer->EGR |= TIM_EGR_UG;
|
||||
}
|
||||
|
||||
//La fonction TIM2_IRQHandler existe déjà dans le processeur, on l'a juste redifint, tel qu'à chaque overflow on met un bit 1 dans GPIOA_ODR
|
||||
//La fonction TIM2_IRQHandler s'utilise dans le processeur, on l'a juste redifint, tel qu'à chaque overflow on met un bit 1 dans GPIOA_ODR
|
||||
void TIM2_IRQHandler(void) { //On redefinit le IRQHandler qui est déjà ecrit dans le code source
|
||||
if (TIM2->SR & TIM_SR_UIF) { //On met le bit de overflow à un dès qu'on a overflow
|
||||
TIM2->SR &= ~TIM_SR_UIF; //Remise à zero
|
||||
|
|
@ -42,3 +46,118 @@ void MyTimer_ActiveIT(TIM_TypeDef * Timer, char Prio, void(*Interrupt_fonc)(void
|
|||
}
|
||||
|
||||
|
||||
//Fonction qui permet de clignoter le DEL à un pulse volue (Sinusoïdale)
|
||||
//Si le sinus est haut(haute tension) le Duty Cicle est proche de 100%,
|
||||
//si le sinus est bas (vers la tension la plus basse) le Duty Cycle est vers 0%
|
||||
//On s'applique sur un plage de [0V; 3.3V]
|
||||
|
||||
|
||||
/*
|
||||
|
||||
void MyTimer_PWM(TIM_TypeDef * Timer , int Channel){
|
||||
int pwrmd;
|
||||
#if POWERMODE //Powermode 1
|
||||
pwrmd = 0b110;
|
||||
#else
|
||||
pwrmd = 0b111; //Powermode 2
|
||||
#endif
|
||||
|
||||
if (Channel == 1){
|
||||
Timer->CCMR1 &= ~(0b111<<4); //On clear les trois bits qui sont de pwm
|
||||
Timer->CCMR1 |= (pwrmd<<4); //On affecte le powermode au bits de lecture pour le µ-controlleur
|
||||
Timer->CCMR1 |= TIM_CCMR1_OC1PE; //Update preload, il n'affecte pas le valeur avant que la prochaine cycle
|
||||
Timer->CCER = TIM_CCER_CC1E; //Enable le pin voulu basculer
|
||||
}
|
||||
else if (Channel == 2){
|
||||
Timer->CCMR1 &= ~(0b111<<12); //Le TIMx_CCMR1 configure deux channels, de bit [6:4] CH1, [14:12] CH2 (OC2M = Output Channel 2 )
|
||||
Timer->CCMR1 |= (pwrmd<<12);
|
||||
Timer->CCMR1 |= TIM_CCMR1_OC2PE;
|
||||
Timer->CCER |= TIM_CCER_CC2E;
|
||||
}
|
||||
else if (Channel == 3){
|
||||
Timer->CCMR1 &= ~(0b111<<4);
|
||||
Timer->CCMR2 |= (pwrmd<<4);
|
||||
Timer->CCMR2 |= TIM_CCMR2_OC3PE;
|
||||
Timer->CCER |= TIM_CCER_CC3E;
|
||||
}
|
||||
else if (Channel == 4){
|
||||
Timer->CCMR1 &= ~(0b111<<12);
|
||||
Timer->CCMR2 |= (pwrmd<<12);
|
||||
Timer->CCMR2 |= TIM_CCMR2_OC4PE;
|
||||
Timer->CCER |= TIM_CCER_CC4E;
|
||||
}
|
||||
|
||||
//En dessous d'ici, on a l'aide du plus gentil chat que je connais
|
||||
// Enable auto-reload preload -- //Ensures that your initial configuration — PWM mode, duty cycle, period — actually takes effect before the timer starts counting.
|
||||
Timer->CR1 |= TIM_CR1_ARPE;
|
||||
// Force update event to load ARR and CCR values immediately
|
||||
Timer->EGR |= TIM_EGR_UG;
|
||||
// Start the timer
|
||||
Timer->CR1 |= TIM_CR1_CEN;
|
||||
|
||||
switch (Channel) {
|
||||
case 1:
|
||||
if (Timer == TIM1){GPIOA->CRH &= ~(0xF<<0*4); GPIOA->CRH |= (0xA<<0*4); TIM1->BDTR |= 1<<15; }
|
||||
if (Timer == TIM2){GPIOA->CRL &= ~(0xF<<0*4); GPIOA->CRL |= (0xA<<0*4);}
|
||||
if (Timer == TIM3){GPIOA->CRL &= ~(0xF<<6*4); GPIOA->CRL |= (0xA<<6*4);}
|
||||
if (Timer == TIM4){GPIOB->CRL &= ~(0xF<<5*4); GPIOB->CRL |= (0xA<<5*4);}
|
||||
break;
|
||||
case 2:
|
||||
if (Timer == TIM1){GPIOA->CRH &= ~(0xF<<1*4); GPIOA->CRL |= (0xA<<1*4); TIM1->BDTR |= 1<<15;}
|
||||
if (Timer == TIM2){GPIOA->CRL &= ~(0xF<<1*4); GPIOA->CRL |= (0xA<<1*4);}
|
||||
if (Timer == TIM3){GPIOA->CRL &= ~(0xF<<7*4); GPIOA->CRL |= (0xA<<7*4);}
|
||||
if (Timer == TIM4){GPIOB->CRL &= ~(0xF<<7*4); GPIOB->CRL |= (0xA<<7*4);}
|
||||
break;
|
||||
case 3:
|
||||
if (Timer == TIM1){GPIOA->CRH &= ~(0xF<<2*4); GPIOA->CRH |= (0xA<<2*4); TIM1->BDTR |= 1<<15;}
|
||||
if (Timer == TIM2){GPIOA->CRL &= ~(0xF<<2*4); GPIOA->CRL |= (0xA<<2*4);}
|
||||
if (Timer == TIM3){GPIOB->CRL &= ~(0xF<<0*4); GPIOB->CRL |= (0xA<<0*4);}
|
||||
if (Timer == TIM4){GPIOB->CRH &= ~(0xF<<0*4); GPIOB->CRH |= (0xA<<0*4);}
|
||||
break;
|
||||
case 4:
|
||||
if (Timer == TIM1){GPIOA->CRH &= ~(0xF<<3*4); GPIOA->CRH |= (0xA<<3*4); TIM1->BDTR |= 1<<15;}
|
||||
if (Timer == TIM2){GPIOA->CRL &= ~(0xF<<3*4); GPIOA->CRL |= (0xA<<3*4);}
|
||||
if (Timer == TIM3){GPIOB->CRL &= ~(0xF<<1*4); GPIOB->CRL |= (0xA<<1*4);}
|
||||
if (Timer == TIM4){GPIOB->CRH &= ~(0xF<<1*4); GPIOB->CRH |= (0xA<<1*4);}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
//Une fonction qui met le bon PWM volue
|
||||
int Set_DutyCycle_PWM(TIM_TypeDef *Timer, int Channel, int DutyC){
|
||||
int CCR_VAL = (ARR_VAL + 1) * DutyC / 100; //ARR_VAL déjà definie
|
||||
switch (Channel){
|
||||
case 1: Timer->CCR1 = CCR_VAL;
|
||||
case 2: Timer->CCR2 = CCR_VAL;
|
||||
case 3: Timer->CCR3 = CCR_VAL;
|
||||
case 4: Timer->CCR4 = CCR_VAL;
|
||||
default: break;
|
||||
}
|
||||
return 0;
|
||||
Timer->EGR |= TIM_EGR_UG;
|
||||
}
|
||||
|
||||
*/
|
||||
//Putaing con, ça marche pas
|
||||
|
||||
|
||||
/*
|
||||
Pulse width modulation mode allows you to generate a signal with a frequency determined
|
||||
by the value of the TIMx_ARR register and a duty cycle determined by the value of the
|
||||
TIMx_CCRx register.
|
||||
|
||||
The PWM mode can be selected independently on each channel (one PWM per OCx
|
||||
output) by writing 110 (PWM mode 1) or ‘111 (PWM mode 2) in the OCxM bits in the
|
||||
TIMx_CCMRx register. You must enable the corresponding preload register by setting the
|
||||
OCxPE bit in the TIMx_CCMRx register, and eventually the auto-reload preload register by
|
||||
setting the ARPE bit in the TIMx_CR1 register.
|
||||
*/
|
||||
//Il faut créer une autre fonction qui lui met le bon duty cycle
|
||||
//Timer->CCR1 = Duty_cycle*0.01*3.3; // On divise par cent et multiplue par 3.3V, plage de ADC
|
||||
|
||||
//Pareil pour la frequence, faut une fonction externe qui lui fait ça
|
||||
|
||||
|
||||
//Pendant les vacances terminer l'ADC et l'USART (Activités sur Moodle)
|
||||
//Hell naw, that did not happen cuh
|
||||
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
#include <Servo.h>
|
||||
#include <DriverGPIO.h>
|
||||
#include <PWM.h>
|
||||
#include <Horloge.h>
|
||||
#include <Timer.h>
|
||||
|
||||
void Servo_Moteur(int angle, TIM_TypeDef * Timer, int Channel){ // Controle du moteur
|
||||
int dutyCycle = (5* angle + 5*90)/90; // 5-10 % Duty Cycle
|
||||
|
|
@ -10,7 +10,9 @@ void Servo_Moteur(int angle, TIM_TypeDef * Timer, int Channel){ // Controle du m
|
|||
|
||||
void initServo(TIM_TypeDef * Timer, int Channel){ // Config du moteur servo
|
||||
if (Timer == TIM4) {
|
||||
Timer_Init(TIM4, 0xFFFF, 22); // Pour obtenir un période de 20 ms
|
||||
EnableTimer(TIM4);
|
||||
//MyTimer_Base_Init(TIM4, 20000 - 1, 71);
|
||||
MyTimer_Base_Init(TIM4, 0xFFFF, 22); // Pour obtenir un période de 20 ms
|
||||
|
||||
if (Channel == 3){
|
||||
MyGPIO_Init(GPIOB, 8, AltOut_Ppull); // Outut push pull alternate
|
||||
|
|
|
|||
27
src/Timer.c
Normal file
27
src/Timer.c
Normal file
|
|
@ -0,0 +1,27 @@
|
|||
#include <stm32f10x.h>
|
||||
#include <Timer.h>
|
||||
|
||||
void MyTimer_Base_Init( TIM_TypeDef * Timer , unsigned short ValARR , unsigned short ValPSC ) { // Configuration du timer
|
||||
Timer -> PSC=(ValPSC);
|
||||
Timer-> ARR = (ValARR);
|
||||
Timer->EGR |= TIM_EGR_UG;
|
||||
};
|
||||
|
||||
|
||||
|
||||
void EnableTimer(TIM_TypeDef *Timer){
|
||||
if(Timer == TIM2){
|
||||
RCC -> APB1ENR |= RCC_APB1ENR_TIM2EN;
|
||||
}
|
||||
else if(Timer == TIM3){
|
||||
RCC -> APB1ENR |= RCC_APB1ENR_TIM3EN;
|
||||
}
|
||||
else if(Timer == TIM4){
|
||||
RCC -> APB1ENR |= RCC_APB1ENR_TIM4EN;
|
||||
}
|
||||
else if(Timer == TIM1){
|
||||
RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
|
||||
}
|
||||
else{
|
||||
}
|
||||
}
|
||||
Loading…
Reference in a new issue