From c531decce4912f278fa51bba138bc1cb9403ce00 Mon Sep 17 00:00:00 2001
From: Cyril Vasseur <vasseu@insa-toulouse.fr>
Date: Fri, 7 Apr 2023 15:19:56 +0200
Subject: [PATCH] IT_Roulis

---
 Drivers/Inc/Rouli.h                     |   3 +
 Drivers/Inc/TIMER.h                     |   6 ++
 Drivers/Src/TIMER.c                     | 121 ++++++++++++++++++------
 Projet_DevDrivers/Sources/Principal.c   |  31 +++++-
 Projet_DevDrivers/{ => Sources}/Rouli.c |   4 +-
 Projet_DevDrivers/TP1.uvoptx            |  11 ++-
 Projet_DevDrivers/TP1.uvprojx           |   4 +-
 7 files changed, 141 insertions(+), 39 deletions(-)
 rename Projet_DevDrivers/{ => Sources}/Rouli.c (97%)

diff --git a/Drivers/Inc/Rouli.h b/Drivers/Inc/Rouli.h
index d2b0bf7..bbb0a68 100644
--- a/Drivers/Inc/Rouli.h
+++ b/Drivers/Inc/Rouli.h
@@ -1,4 +1,6 @@
 #include "stm32f10x.h"
+#include "Timer.h"
+
 typedef struct 
 {
 	float gX;
@@ -12,3 +14,4 @@ void rouli_InitAccel(void);
 void rouli_GetAccel (XYZ * axe);
 
 void rouli_IT_Bascule(void);
+
diff --git a/Drivers/Inc/TIMER.h b/Drivers/Inc/TIMER.h
index 235b60b..57bfb3c 100644
--- a/Drivers/Inc/TIMER.h
+++ b/Drivers/Inc/TIMER.h
@@ -31,6 +31,12 @@ void MyTimer_ActiveIT (TIM_TypeDef * Timer, char Prio, void (*IT_function)(void)
 
 #define MyTimer_Base_Start(Timer) (Timer->CR1 |= 0x01)
 #define MyTimer_Base_Stop(Timer) (Timer->CR1 &= ~0x01)
+#define PWM_output 0x00
+#define PWM_inputTI1 0x01
+#define PWM_inputTI2 0x10
+#define PWM_inputTRC 0x11
 
+void MyPWM_init ( TIM_TypeDef * Timer,char Channel);
+void MyPWM_Duty (TIM_TypeDef * Timer,char Channel, unsigned short CRR );
 
 #endif
diff --git a/Drivers/Src/TIMER.c b/Drivers/Src/TIMER.c
index 7b9f22b..39e4235 100644
--- a/Drivers/Src/TIMER.c
+++ b/Drivers/Src/TIMER.c
@@ -1,92 +1,157 @@
 #include "TIMER.h"
 
-/*periode_timer=peridoe_horloge*prescaler*resolution
-debordement stocké dans registre UIF
-fixer val prescaler+ autoreload(equivalent resolution)
-demarrage timer => CEN=1*/
-
-void (*ptr_func)(void);
+void (*tim_ptr1_func)(void);
+void (*tim_ptr2_func)(void);
+void (*tim_ptr3_func)(void);
+void (*tim_ptr4_func)(void);
 
 void MyTimer_Base_Init ( MyTimer_Struct_TypeDef * Timer)
 {
 	if(Timer->Timer==TIM1)
 	{
-		RCC->APB2ENR |= 0x01<<11;
+		RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;
 	}
 	else if (Timer->Timer==TIM2)
 	{
-		RCC->APB1ENR |= 0x01;
+		RCC->APB1ENR |= RCC_APB1ENR_TIM2EN;
 	}
 	else if (Timer->Timer==TIM3)
 	{
-		RCC->APB1ENR |= 0x01<<1;
+		RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
 	}
 	else if (Timer->Timer==TIM4)
 	{
-		RCC->APB1ENR |= 0x01<<2;
+		RCC->APB1ENR |= RCC_APB1ENR_TIM4EN;
 	}
-	Timer->Timer->ARR=Timer->ARR;
-	Timer->Timer->PSC=Timer->PSC;
+	Timer->Timer->ARR=Timer->ARR;	// On set la donnée d'autoreload
+	Timer->Timer->PSC=Timer->PSC;	// On set la donnée de prescaler (ce qui va nous permettre de diviser la valeur d'autoreaload)
 }
 
+void MyPWM_init ( TIM_TypeDef * Timer,char Channel)
+{
+	if(Channel==1)
+	{	
+		Timer->CCMR1&=~0x00FF;
+		Timer->CCMR1 &= ~TIM_CCMR1_OC1M_0;
+		Timer->CCMR1 |= TIM_CCMR1_OC1M_1| TIM_CCMR1_OC1M_2;
+		Timer->CCER |= TIM_CCER_CC1E;
+			
+	}
+	if(Channel==2)
+	{	
+		Timer->CCMR1&=~0xFF00;
+		Timer->CCMR1 &= ~TIM_CCMR1_OC2M_0;
+		Timer->CCMR1 |= TIM_CCMR1_OC2M_1| TIM_CCMR1_OC2M_2;
+		Timer->CCER |= TIM_CCER_CC2E;
+			
+	}
+	if(Channel==3)
+	{	
+		Timer->CCMR2&=~0x00FF;
+		Timer->CCMR2 &= ~TIM_CCMR2_OC3M_0;
+		Timer->CCMR2 |= TIM_CCMR2_OC3M_1| TIM_CCMR2_OC3M_2;
+		Timer->CCER |= TIM_CCER_CC3E;
+			
+	}
+	if(Channel==4)
+	{	
+		Timer->CCMR2&=~0xFF00;
+		Timer->CCMR2 &= ~TIM_CCMR2_OC4M_0;
+		Timer->CCMR2 |= TIM_CCMR2_OC4M_1| TIM_CCMR2_OC4M_2;
+		Timer->CCER |= TIM_CCER_CC4E;
+			
+	}
+}
+void MyPWM_Duty (TIM_TypeDef * Timer,char Channel, unsigned short CRR )
+{
+	
+	
+	if(Channel==1)
+	{	
+		Timer->CCR1=CRR;	
+	}
+	if(Channel==2)
+	{	
+		Timer->CCR2=CRR;
+	}
+	if(Channel==3)
+	{	
+		Timer->CCR3=CRR;
+			
+	}
+	if(Channel==4)
+	{	
+		Timer->CCR4=CRR;
+	}
+	
+}
 void MyTimer_ActiveIT (TIM_TypeDef * Timer, char Prio, void (*IT_function)(void))
 {
 	int num_tim;
-	ptr_func=IT_function;
-	Timer->DIER |= 0x01;
+	Timer->DIER |= 0x01;		// On autorise les interruptions sur timer
 	if(Timer==TIM1)
 	{
-		num_tim=TIM1_UP_IRQn; 
+		num_tim=TIM1_UP_IRQn;
+		tim_ptr1_func=IT_function;		
 	}
 	else if(Timer==TIM2)
 	{
 		num_tim=TIM2_IRQn;
+		tim_ptr2_func=IT_function;
 	}
 	else if(Timer==TIM3)
 	{
 		num_tim=TIM3_IRQn;
+		tim_ptr3_func=IT_function;
 	}
 	else if(Timer==TIM4)
 	{
 		num_tim=TIM4_IRQn;
+		tim_ptr4_func=IT_function;
 	}
-	NVIC->ISER[0] |= 0x01<<num_tim;  
-	NVIC->IP[num_tim] |= Prio << 4;
+	NVIC->ISER[0] |= 0x01<<num_tim;  	// On précise quelle interruption on souhaite activé
+	NVIC->IP[num_tim] |= Prio << 4;	// On précise la priorité qu'on souhaite lui donner
+	
+}
+
+void init_encoder_timer(TIM_TypeDef * Timer)  //voir page 391
+{
+	Timer->SMCR = 0x1;
 	
 }
 
 void TIM2_IRQHandler (void)
 {
-	if(ptr_func!=0)
+	if(tim_ptr2_func!=0)
 	{
-		(*ptr_func)();
+		(*tim_ptr2_func)();
 	}
-	TIM2->SR  &= ~(1<<0) ;
+	TIM2->SR  &= ~(1<<0) ;		// Remet à 0 le flag de l'interruption
 }
 
 void TIM3_IRQHandler (void)
 {
-	if(ptr_func!=0)
+	if(tim_ptr3_func!=0)
 	{
-		(*ptr_func)();
+		(*tim_ptr3_func)();
 	}
 	TIM3->SR  &= ~(1<<0) ;
 }
 
 void TIM4_IRQHandler (void)
 {
-	if(ptr_func!=0)
+	if(tim_ptr4_func!=0)
 	{
-		(*ptr_func)();
+		(*tim_ptr4_func)();
 	}
 	TIM4->SR  &= ~(1<<0) ;
 }
 
-void TIM1_UP_IRQHandler (void)  // à vérifier
+void TIM1_UP_IRQHandler (void)
 {
-	if(ptr_func!=0)
+	if(tim_ptr1_func!=0)
 	{
-		(*ptr_func)();
+		(*tim_ptr1_func)();
 	}
 	TIM1->SR  &= ~(1<<0) ;
-}
+}
\ No newline at end of file
diff --git a/Projet_DevDrivers/Sources/Principal.c b/Projet_DevDrivers/Sources/Principal.c
index 94d2c2f..32998c1 100644
--- a/Projet_DevDrivers/Sources/Principal.c
+++ b/Projet_DevDrivers/Sources/Principal.c
@@ -10,29 +10,39 @@
 void Mafonction_IT (void);
 MyGPIO_Struct_TypeDef PA5;
 MyGPIO_Struct_TypeDef PC13;
-MyTimer_Struct_TypeDef timer2;
+MyTimer_Struct_TypeDef timer2,timer3;
 //PA5 LED
 //PC13 Bouton
 char X0,X1,Y0,Y1,Z0,Z1;
 char read_DATA,read_BWR,read_PWRC;
 int16_t gX,gY,gZ;
-
+int test =0;
 XYZ mesures;
 
 int main ( void )
 {
 	
+	
 	PA5.GPIO=GPIOA;
 	PA5.GPIO_Conf=Out_Ppull;
 	PA5.GPIO_Pin=5;
 	MyGPIO_Init(&PA5);
 	timer2.Timer=TIM2;
-	timer2.ARR=35999;  //pour avoir 500ms 
+	timer2.ARR=18000;  //pour avoir 250ms 
 	timer2.PSC=1000;
 	MyTimer_Base_Init(&timer2);
 	MyTimer_ActiveIT(timer2.Timer,1, &Mafonction_IT);
 	MyTimer_Base_Start(timer2.Timer);
 	
+	timer3.Timer=TIM3;
+	timer3.ARR=7200;  //pour avoir 100ms 
+	timer3.PSC=1000;
+	MyTimer_Base_Init(&timer3);
+	//MyTimer_ActiveIT(timer3.Timer,2, &Mafonction_IT);
+	MyTimer_Base_Start(timer3.Timer);
+	MyPWM_init(timer3.Timer,3);
+	
+	
 	MySPI_Init(SPI1);
 	rouli_InitAccel();
 	MySPI_Send(READ|DATA_FORMAT);
@@ -44,8 +54,19 @@ int main ( void )
 	
 	while(1)
 	{
-	  rouli_GetAccel(&mesures);
-		//printf("%f, %f, %f\n",mesures.gX,mesures.gY,mesures.gZ);
+		rouli_GetAccel(&mesures);
+		if(timer2.Timer->SR&=0x04)
+		{
+			
+			if((mesures.gY <= (-0.7)) || (mesures.gY >= 0.7))
+			{
+				MyPWM_Duty(timer3.Timer,3,71);//0.985ms
+				test = test+1;
+			}
+		}
+		
+	  
+		
 	}
 	return 0;
 }
diff --git a/Projet_DevDrivers/Rouli.c b/Projet_DevDrivers/Sources/Rouli.c
similarity index 97%
rename from Projet_DevDrivers/Rouli.c
rename to Projet_DevDrivers/Sources/Rouli.c
index 37a0371..6942c6a 100644
--- a/Projet_DevDrivers/Rouli.c
+++ b/Projet_DevDrivers/Sources/Rouli.c
@@ -43,4 +43,6 @@ void rouli_GetAccel (XYZ * axe)
 	axe->gZ = ((short int)((Z1<<8)|Z0))*0.004;
 }
 
-// axe y entre -0.5 et 1
\ No newline at end of file
+// axe y entre -0.7 et 0.7
+
+	
diff --git a/Projet_DevDrivers/TP1.uvoptx b/Projet_DevDrivers/TP1.uvoptx
index 02bf644..4d8876f 100644
--- a/Projet_DevDrivers/TP1.uvoptx
+++ b/Projet_DevDrivers/TP1.uvoptx
@@ -312,7 +312,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGTARM</Key>
-          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=1190,328,1611,733,1)(121=1101,403,1522,808,0)(122=1281,393,1702,798,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=-1,-1,-1,-1,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=-1,-1,-1,-1,0)(151=-1,-1,-1,-1,0)</Name>
+          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=900,708,1321,1113,0)(121=1464,713,1885,1118,1)(122=1281,393,1702,798,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=783,105,1377,799,1)(132=1326,11,1920,705,1)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=-1,-1,-1,-1,0)(151=-1,-1,-1,-1,0)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -342,6 +342,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>mesures</ItemText>
         </Ww>
+        <Ww>
+          <count>1</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>test</ItemText>
+        </Ww>
       </WatchWindow1>
       <MemoryWindow1>
         <Mm>
@@ -473,10 +478,10 @@
       <GroupNumber>1</GroupNumber>
       <FileNumber>6</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>.\Rouli.c</PathWithFileName>
+      <PathWithFileName>.\Sources\Rouli.c</PathWithFileName>
       <FilenameWithoutPath>Rouli.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
diff --git a/Projet_DevDrivers/TP1.uvprojx b/Projet_DevDrivers/TP1.uvprojx
index 8e3b0d6..27ae51e 100644
--- a/Projet_DevDrivers/TP1.uvprojx
+++ b/Projet_DevDrivers/TP1.uvprojx
@@ -411,7 +411,7 @@
             <File>
               <FileName>Rouli.c</FileName>
               <FileType>1</FileType>
-              <FilePath>.\Rouli.c</FilePath>
+              <FilePath>.\Sources\Rouli.c</FilePath>
             </File>
           </Files>
         </Group>
@@ -828,7 +828,7 @@
             <File>
               <FileName>Rouli.c</FileName>
               <FileType>1</FileType>
-              <FilePath>.\Rouli.c</FilePath>
+              <FilePath>.\Sources\Rouli.c</FilePath>
             </File>
           </Files>
         </Group>