140 lines
3.9 KiB
C
140 lines
3.9 KiB
C
#include <stm32f10x.h>
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#include <Horloge.h>
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#include <MYGPIO.h>
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#include <stdlib.h>
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#include <MySPI.h>
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#include <stdint.h>
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//Pin GPIOA_9 et GPIOA_10 sont pris par USART
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/*
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I2C SDA IN/OUT
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I2C SCL OUT
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*/
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//il faut recuperer le data qui sort
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/*
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SPI1_NSS PA4 - Utilisé
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NSS = 0 -> slave active
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NSS = 1 -> slave inactive
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SPI1_SCK PA5
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SPI1_MISO PA6
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SPI1_MOSI PA7
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TIM3 CH3 PB0
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0x32 50 DATAX0 R 00000000 X-Axis Data 0
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0x33 51 DATAX1 R 00000000 X-Axis Data 1
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0x34 52 DATAY0 R 00000000 Y-Axis Data 0
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0x35 53 DATAY1 R 00000000 Y-Axis Data 1
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0x36 54 DATAZ0 R 00000000 Z-Axis Data 0
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0x37 55 DATAZ1 R 00000000 Z-Axis Data 1
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*/
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void initAccelo(void)
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{
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MySPI_Init(SPI1);
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// Power_CTL register = 0x2D ? write 0x08 (MEASURE = 1)
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MySPI_Clear_NSS();
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MySPI_Send(0x2D & 0x3F); // write address (no read bit!)
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MySPI_Send(0x08); // set MEASURE bit
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MySPI_Set_NSS();
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for (volatile int i = 0; i < 10000; i++); // small delay
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}
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// send bits, les bits inclus en char envoyés: RW MB A5 A4 A3 A2 A1 A0
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//RW: R = 1 et W = 0
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//MB à 1 veut measurement et MB à 0 Standby
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uint16_t * RecupAccelo(void){ //Renvoie 48 bits en forme des chars
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static uint16_t Messias[3];
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//On lit X0
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MySPI_Clear_NSS();//Mettre la broche PA4 à 0
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MySPI_Send(0x80|0x00|0x32); //Lecture de X0 et MB à 1 pour garder les valeurs 0b11110010: (R/W|MB|Adress)
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//Faktisk dritsmart det katten gjør, setter MB=1 som sier multiple byte read, så leser den alle 6 bytes samtidig istedenfor en og en
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uint16_t X0 = MySPI_Read();
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MySPI_Set_NSS(); //Mettre la broche PA4 à 1
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//On lit X1
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MySPI_Clear_NSS();//Mettre la broche PA4 à 0
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MySPI_Send(0x80|0x00|0x33); //Lecture de X1
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Messias[0] = X0 | (MySPI_Read() << 8);
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MySPI_Set_NSS(); //Mettre la broche PA4 à 1
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//On lit Y0
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MySPI_Clear_NSS();//Mettre la broche PA4 à 0
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MySPI_Send(0x80|0x00|0x34); //Lecture de Y0
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uint16_t Y0 = MySPI_Read();
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MySPI_Set_NSS(); //Mettre la broche PA4 à 1
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//On lit Y1
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MySPI_Clear_NSS();//Mettre la broche PA4 à 0
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MySPI_Send(0x80|0x00|0x35); //Lecture de Y1
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Messias[1] = Y0 | (MySPI_Read() << 8);
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MySPI_Set_NSS(); //Mettre la broche PA4 à 1
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//On lit Z0
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MySPI_Clear_NSS();//Mettre la broche PA4 à 0
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MySPI_Send(0x80|0x00|0x36); //Lecture de Z0
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uint16_t Z0 = MySPI_Read();
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MySPI_Set_NSS(); //Mettre la broche PA4 à 1
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//On lit Z1
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MySPI_Clear_NSS();//Mettre la broche PA4 à 0
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MySPI_Send(0x80|0x00|0x37); //Lecture de Z1
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Messias[2] = Z0 | (MySPI_Read() << 8);
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MySPI_Set_NSS(); //Mettre la broche PA4 à 1
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return Messias;
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}
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uint16_t * KattRecupAccelo(void) //Beaucoup plus smart
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{
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static uint16_t Messias[3];
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uint8_t buf[6];
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// Multi-byte read from 0x32 (X0..Z1)
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MySPI_Clear_NSS();
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// Send READ + MB + address
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MySPI_Send(0x80 | 0x40 | 0x32); // 0xF2
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// Read 6 sequential registers
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for (int i = 0; i < 6; i++) {
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buf[i] = (uint8_t)MySPI_Read();
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}
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MySPI_Set_NSS();
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// Convert little-endian to 16-bit signed values
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Messias[0] = (uint16_t)(buf[1] << 8 | buf[0]); // X
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Messias[1] = (uint16_t)(buf[3] << 8 | buf[2]); // Y
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Messias[2] = (uint16_t)(buf[5] << 8 | buf[4]); // Z
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return Messias;
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}
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void initLacheur(void){
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GPIOB->CRH &= ~(0xF << (0 * 4));
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GPIOB->CRH |= (0xA << (0 * 4)); //On met GPIOB.8 en mode output 2Mhz, alternate pp
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Timer_Init(TIM4, 20000 - 1, 71); //Claire m'a aidé
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}
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//Recuperer le DATA en X, Z, Y
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void LacheVoile(uint16_t * DATA){
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//uint16_t X = DATA[0]; //Z le longe du mât (masten)
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//uint16_t Z = DATA[2];// //X le long du sense de voilier
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uint16_t Y = DATA[1]; ////Y vers les bords (Tribord/Babord)
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if (Y>=0x007B){// exatement à 40 degrés, on lache le 40%. 0xFF*(40deg/90deg)
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//Le PWM du moteur est gère par PB7
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MyTimer_PWM(TIM4, 3); //TIM4 CH3 pour PB8
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Set_DutyCycle_PWM(TIM4, 3, 2); //On met Duty cycle à 2% et il reste autour de 90 deg
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}
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}
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