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IT_Roulis

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This commit is contained in:
Cyril Vasseur 2023-04-07 15:19:56 +02:00
parent 06df73ad1a
commit c531decce4
7 changed files with 141 additions and 39 deletions
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3
Drivers/Inc/Rouli.h
View file

@ -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);

6
Drivers/Inc/TIMER.h
View file

@ -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

121
Drivers/Src/TIMER.c
View file

@ -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) ;
}
}

31
Projet_DevDrivers/Sources/Principal.c
View file

@ -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;
}

4
Projet_DevDrivers/Rouli.c → Projet_DevDrivers/Sources/Rouli.c
View file

@ -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
// axe y entre -0.7 et 0.7

11
Projet_DevDrivers/TP1.uvoptx
View file

@ -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>

4
Projet_DevDrivers/TP1.uvprojx
View file

@ -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>