pfaure/Projet_Voilier_4IR
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Version Fonctionnelle : Girouette + Voiles + Prog principal (reste coefs a mettre en place)

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This commit is contained in:
Paul Faure 2020-11-11 23:25:03 +01:00
parent 89eebec4e3
commit b0f9aa410b
7 changed files with 873 additions and 596 deletions
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131
MDK-ARM/Project.uvoptx
View file

@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn> <bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf> <bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf> <bTchkAxf>0</bTchkAxf>
<nTsel>0</nTsel> <nTsel>6</nTsel>
<sDll></sDll> <sDll></sDll>
<sDllPa></sDllPa> <sDllPa></sDllPa>
<sDlgDll></sDlgDll> <sDlgDll></sDlgDll>
@ -114,7 +114,7 @@
<tDlgDll></tDlgDll> <tDlgDll></tDlgDll>
<tDlgPa></tDlgPa> <tDlgPa></tDlgPa>
<tIfile></tIfile> <tIfile></tIfile>
<pMon>BIN\UL2CM3.DLL</pMon> <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
</DebugOpt> </DebugOpt>
<TargetDriverDllRegistry> <TargetDriverDllRegistry>
<SetRegEntry> <SetRegEntry>
@ -130,7 +130,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>DLGTARM</Key> <Key>DLGTARM</Key>
<Name>(1010=668,263,1044,820,0)(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=1027,281,1448,686,0)(121=-1,-1,-1,-1,0)(122=348,235,769,640,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=87,183,486,528,0)(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=784,58,1378,752,0)(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=668,263,1044,820,0)(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=1027,281,1448,686,0)(121=-1,-1,-1,-1,0)(122=348,235,769,640,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=87,183,486,528,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=621,97,1215,791,0)(131=-1,-1,-1,-1,0)(132=784,58,1378,752,0)(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>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@ -145,7 +145,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>UL2CM3</Key> <Key>UL2CM3</Key>
<Name>-UAny -O206 -S8 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103RB$Flash\STM32F10x_128.FLM)</Name> <Name>UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 -FP0($$Device:STM32F103RB$Flash\STM32F10x_128.FLM))</Name>
</SetRegEntry> </SetRegEntry>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@ -157,38 +157,6 @@
<Bp> <Bp>
<Number>0</Number> <Number>0</Number>
<Type>0</Type> <Type>0</Type>
<LineNumber>59</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134218250</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\Src\Allure.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\NUCLEO_F103RB\../Src/Allure.c\59</Expression>
</Bp>
<Bp>
<Number>1</Number>
<Type>0</Type>
<LineNumber>93</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134218278</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\Src\Allure.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\NUCLEO_F103RB\../Src/Allure.c\93</Expression>
</Bp>
<Bp>
<Number>2</Number>
<Type>0</Type>
<LineNumber>56</LineNumber> <LineNumber>56</LineNumber>
<EnabledFlag>1</EnabledFlag> <EnabledFlag>1</EnabledFlag>
<Address>0</Address> <Address>0</Address>
@ -198,11 +166,18 @@
<SizeOfObject>0</SizeOfObject> <SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess> <BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount> <BreakIfRCount>0</BreakIfRCount>
<Filename>..\Src\Allure.c</Filename> <Filename>startup_stm32f103xb.s</Filename>
<ExecCommand></ExecCommand> <ExecCommand></ExecCommand>
<Expression></Expression> <Expression></Expression>
</Bp> </Bp>
</Breakpoint> </Breakpoint>
<WatchWindow1>
<Ww>
<count>0</count>
<WinNumber>1</WinNumber>
<ItemText>allure</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>
</Tracepoint> </Tracepoint>
@ -223,7 +198,7 @@
<AscS3>0</AscS3> <AscS3>0</AscS3>
<aSer3>0</aSer3> <aSer3>0</aSer3>
<eProf>0</eProf> <eProf>0</eProf>
<aLa>1</aLa> <aLa>0</aLa>
<aPa1>0</aPa1> <aPa1>0</aPa1>
<AscS4>0</AscS4> <AscS4>0</AscS4>
<aSer4>0</aSer4> <aSer4>0</aSer4>
@ -400,7 +375,7 @@
<SizeOfObject>0</SizeOfObject> <SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess> <BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount> <BreakIfRCount>1</BreakIfRCount>
<Filename>C:\Users\Hp\Documents\ProjetVoilier\Projet_Voilier_4IR\MyDrivers\MyTimer.c</Filename> <Filename>..\MyDrivers\MyTimer.c</Filename>
<ExecCommand></ExecCommand> <ExecCommand></ExecCommand>
<Expression>\\NUCLEO_F103RB\../MyDrivers/MyTimer.c\99</Expression> <Expression>\\NUCLEO_F103RB\../MyDrivers/MyTimer.c\99</Expression>
</Bp> </Bp>
@ -485,7 +460,7 @@
<AscS3>0</AscS3> <AscS3>0</AscS3>
<aSer3>0</aSer3> <aSer3>0</aSer3>
<eProf>0</eProf> <eProf>0</eProf>
<aLa>1</aLa> <aLa>0</aLa>
<aPa1>0</aPa1> <aPa1>0</aPa1>
<AscS4>0</AscS4> <AscS4>0</AscS4>
<aSer4>0</aSer4> <aSer4>0</aSer4>
@ -510,8 +485,8 @@
<LogicAnalyzers> <LogicAnalyzers>
<Wi> <Wi>
<IntNumber>0</IntNumber> <IntNumber>0</IntNumber>
<FirstString>((PORTA &amp; 0x00000100) &gt;&gt; 8 &amp; 0x100) &gt;&gt; 8</FirstString> <FirstString>((TIM_TypeDef *)(0x40000000UL + 0x00000000UL))-&gt;CNT</FirstString>
<SecondString>FF0000000000000000000000000000000000F03F0100000000000000000000000000000028504F5254412026203078303030303031303029203E3E2038000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000500000001000000000000000000F03F1000000000000000000000000000000000000000AC030008</SecondString> <SecondString>FF0000000000000000000000000000000000594000000000000000000000000000000000282854494D5F54797065446566202A292830783430303030303030554C202B2030783030303030303030554C29292D3E434E5400000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000500000001000000000000000000F03F1000000000000000000000000000000000000000B6020008</SecondString>
</Wi> </Wi>
</LogicAnalyzers> </LogicAnalyzers>
<DebugDescription> <DebugDescription>
@ -557,6 +532,18 @@
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>..\MyDrivers\MyTimer.c</PathWithFileName>
<FilenameWithoutPath>MyTimer.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>3</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\Allure.c</PathWithFileName> <PathWithFileName>..\Src\Allure.c</PathWithFileName>
<FilenameWithoutPath>Allure.c</FilenameWithoutPath> <FilenameWithoutPath>Allure.c</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
@ -564,7 +551,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>3</FileNumber> <FileNumber>4</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -576,7 +563,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>4</FileNumber> <FileNumber>5</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -588,7 +575,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>5</FileNumber> <FileNumber>6</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -600,7 +587,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>6</FileNumber> <FileNumber>7</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -612,7 +599,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>7</FileNumber> <FileNumber>8</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -624,7 +611,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>8</FileNumber> <FileNumber>9</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -636,19 +623,43 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>9</FileNumber> <FileNumber>10</FileNumber>
<FileType>1</FileType> <FileType>5</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>..\Src\MyTimer.c</PathWithFileName> <PathWithFileName>..\Src\Allure.h</PathWithFileName>
<FilenameWithoutPath>MyTimer.c</FilenameWithoutPath> <FilenameWithoutPath>Allure.h</FilenameWithoutPath>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>10</FileNumber> <FileNumber>11</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\MyDrivers\MyTimer.h</PathWithFileName>
<FilenameWithoutPath>MyTimer.h</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>12</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\maths.h</PathWithFileName>
<FilenameWithoutPath>maths.h</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>2</GroupNumber>
<FileNumber>13</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -668,7 +679,7 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>11</FileNumber> <FileNumber>14</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -680,7 +691,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>12</FileNumber> <FileNumber>15</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -692,7 +703,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>13</FileNumber> <FileNumber>16</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -704,7 +715,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>14</FileNumber> <FileNumber>17</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -716,7 +727,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>15</FileNumber> <FileNumber>18</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -744,7 +755,7 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>5</GroupNumber> <GroupNumber>5</GroupNumber>
<FileNumber>16</FileNumber> <FileNumber>19</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -764,7 +775,7 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<File> <File>
<GroupNumber>6</GroupNumber> <GroupNumber>6</GroupNumber>
<FileNumber>17</FileNumber> <FileNumber>20</FileNumber>
<FileType>2</FileType> <FileType>2</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>

1010
MDK-ARM/Project.uvprojx
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File diff suppressed because it is too large Load diff

109
MyDrivers/MyTimer.c Normal file
View file

@ -0,0 +1,109 @@
// TOUT A FAIRE !! //
/*
indispensable pour pouvoir adresser les registres des périphériques.
Rem : OBLIGATION d'utiliser les définitions utiles contenues dans ce fichier (ex : TIM_CR1_CEN, RCC_APB1ENR_TIM2EN ...)
pour une meilleure lisibilité du code.
Pour les masques, utiliser également les définitions proposée
Rappel : pour mettre à 1 , reg = reg | Mask (ou Mask est le représente le ou les bits à positionner à 1)
pour mettre à 0 , reg = reg&~ Mask (ou Mask est le représente le ou les bits à positionner à 0)
*/
#include "stm32f103xb.h"
void (* pTIM1_Overflow) (void); //Pointeurs de fonctions que l'on appelle dans le handler et définis dans IT_Conf
void (* pTIM2_Overflow) (void);
void (* pTIM3_Overflow) (void);
void (* pTIM4_Overflow) (void);
void MyTimer_Conf(TIM_TypeDef * Timer,int Arr, int Psc){
//Activation horloge selon timer utilisé
if (Timer == TIM1){
RCC->APB2ENR = RCC->APB2ENR | RCC_APB2ENR_TIM1EN;
}
if (Timer == TIM2){
RCC->APB1ENR = RCC->APB1ENR | RCC_APB1ENR_TIM2EN;
}
else if (Timer == TIM3){
RCC->APB1ENR = RCC->APB1ENR | RCC_APB1ENR_TIM3EN;
}
else{
RCC->APB1ENR = RCC->APB1ENR | RCC_APB1ENR_TIM4EN;
}
Timer->ARR = Arr;
Timer->PSC = Psc;
}
void MyTimer_Start(TIM_TypeDef * Timer){
//Mise à 1 du bit CEN de CR1 = activation timer
Timer->CR1 |= 0x1;
}
void MyTimer_Stop(TIM_TypeDef * Timer){
//Mise à 0 du bit CEN de CR1 = stop timer
Timer->CR1 &= ~0x1;
}
void MyTimer_IT_Conf(TIM_TypeDef * Timer, void (*IT_function) (void),int Prio){
Timer->DIER |= 0x1; //Enable Update IT (débordement du timer)
if (Timer == TIM1){
NVIC->IP[TIM1_UP_IRQn] = Prio<<4;
NVIC->ISER[0] |= 0x1<<TIM1_UP_IRQn;
pTIM1_Overflow = IT_function;
}
if (Timer == TIM2){
NVIC->IP[TIM2_IRQn] = Prio<<4;
NVIC->ISER[0] |= 0x1<<TIM2_IRQn;
pTIM2_Overflow = IT_function;
}
if (Timer == TIM3){
NVIC->IP[TIM3_IRQn] = Prio<<4;
NVIC->ISER[0] |= 0x1<<TIM3_IRQn;
pTIM3_Overflow = IT_function;
}
if (Timer == TIM4){
NVIC->IP[TIM4_IRQn] = Prio<<4;
NVIC->ISER[0] |= 0x1<<TIM4_IRQn;
pTIM4_Overflow = IT_function;
}
}
void MyTimer_IT_Disable(TIM_TypeDef * Timer){
Timer->DIER |= 0x0; //Disable Update IT (débordement du timer)
if (Timer == TIM1){
NVIC->ISER[0] |= 0x0<<TIM1_UP_IRQn;
}
if (Timer == TIM2){
NVIC->ISER[0] |= 0x0<<TIM2_IRQn;
}
if (Timer == TIM3){
NVIC->ISER[0] |= 0x0<<TIM3_IRQn;
}
if (Timer == TIM4){
NVIC->ISER[0] |= 0x0<<TIM4_IRQn;
}
}
void TIM1_UP_IRQHandler(void){ //Fonctions qui sont les handler appelée par le NVIC lors des interruptions
(*pTIM1_Overflow)(); //Contien le faux "handler" qui lui contient des instructions
TIM1->SR = 0x0;
}
void TIM2_IRQHandler(void){
(*pTIM2_Overflow)();
TIM2->SR = 0x0;
}
void TIM3_IRQHandler(void){
(*pTIM3_Overflow)();
TIM3->SR = 0x0;
}
void TIM4_IRQHandler(void){
(*pTIM4_Overflow)();
TIM4->SR = 0x0;
}

70
MyDrivers/MyTimer.h Normal file
View file

@ -0,0 +1,70 @@
// RIEN A MODIFIER //
#ifndef MY_TIMER_H
#define MY_TIMER_H
/*
Driver pour Timer 1 à 4 du STM32F103RB
*/
#include "stm32f103xb.h"
/**
* @brief Active l'horloge et règle l'ARR et le PSC du timer visé
* @note Fonction à lancer avant toute autre. Le timer n'est pas encore lancé (voir MyTimerStart)
* @param TIM_TypeDef Timer : indique le timer à utiliser par le chronomètre, TIM1, TIM2, TIM3 ou TIM4
* int Arr : valeur à placer dans ARR
* int Psc : valeur à placer dans PSC
* @retval None
*/
void MyTimer_Conf(TIM_TypeDef * Timer,int Arr, int Psc);
/**
* @brief Démarre le timer considéré
* @note
* @param TIM_TypeDef Timer : indique le timer à utiliser par le chronomètre, TIM1, TIM2, TIM3 ou TIM4
* @retval None
*/
void MyTimer_Start(TIM_TypeDef * Timer);
/**
* @brief Arrêt le timer considéré
* @note
* @param TIM_TypeDef Timer : indique le timer à utiliser par le chronomètre, TIM1, TIM2, TIM3 ou TIM4
* @retval None
*/
void MyTimer_Stop(TIM_TypeDef * Timer);
/**
* @brief Configure le Timer considéré en interruption sur débordement.
* @note A ce stade, les interruptions ne sont pas validés (voir MyTimer_IT_Enable )
* @param TIM_TypeDef Timer : indique le timer à utiliser par le chronomètre, TIM1, TIM2, TIM3 ou TIM4
* void (*IT_function) (void) : nom (adresse) de la fonction à lancer sur interruption
* int Prio : priorité associée à l'interruption
* @retval None
*/
void MyTimer_IT_Conf(TIM_TypeDef * Timer, void (*IT_function) (void),int Prio);
/**
* @brief Autorise les interruptions
* @note
* @param TIM_TypeDef Timer : indique le timer à utiliser par le chronomètre, TIM1, TIM2, TIM3 ou TIM4
* @retval None
*/
void MyTimer_IT_Enable(TIM_TypeDef * Timer); //On fait tt dans IT_Conf
/**
* @brief Interdit les interruptions
* @note
* @param TIM_TypeDef Timer : indique le timer à utiliser par le chronomètre, TIM1, TIM2, TIM3 ou TIM4
* @retval None
*/
void MyTimer_IT_Disable(TIM_TypeDef * Timer);
#endif

5
Src/Allure.c
View file

@ -4,7 +4,6 @@
#include "stm32f1xx_ll_tim.h" // TIMER #include "stm32f1xx_ll_tim.h" // TIMER
#include "stm32f1xx_ll_exti.h" // External Interrup #include "stm32f1xx_ll_exti.h" // External Interrup
int allure;
int initialized = 0; int initialized = 0;
/** /**
@ -60,9 +59,9 @@ void ConfAllure(void) {
int RecupAllure(void) { int RecupAllure(void) {
if (!initialized) { if (!initialized) {
return -1000; return 10000;
} else { } else {
return ((int)LL_TIM_GetCounter(TIM3)) - 180; return ((int)LL_TIM_GetCounter(TIM3)) * 50;
} }
} }

5
Src/Voile.c
View file

@ -39,13 +39,14 @@ int RecupTension(void){
int CalculerTension(int alpha){ int CalculerTension(int alpha){
if (abs(alpha) > 45){ return alpha;
/*if (abs(alpha) > 45){
return 0; return 0;
} }
else { else {
int res = alpha * coefa + coefb; int res = alpha * coefa + coefb;
return res; return res;
} }*/
} }

139
Src/Voilier.c
View file

@ -11,46 +11,8 @@
#include "stm32f1xx_ll_system.h" // utile dans la fonction SystemClock_Config #include "stm32f1xx_ll_system.h" // utile dans la fonction SystemClock_Config
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 Nucléo*********************************
// 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);
}
void SystemClock_Config(void);
/** /**
* @brief configure tous les periphs qu'on va utiliser en appelant les * @brief configure tous les periphs qu'on va utiliser en appelant les
@ -60,7 +22,6 @@ void SystemClock_Config(void)
* @retval None * @retval None
*/ */
void Setup(){ void Setup(){
SystemClock_Config();
//ConfAntiChavirement(); //ConfAntiChavirement();
ConfAllure(); ConfAllure();
ConfVoile(); ConfVoile();
@ -95,7 +56,7 @@ void Background(){
//Voiles //Voiles
int allure = RecupAllure(); //on recupere l'allulre via la girouette int allure = RecupAllure(); //on recupere l'allulre via la girouette
int tensionVoile = CalculerTension(allure); //grace à l'allure on peut calculer la tension à appliquer sur la voile int tensionVoile = CalculerTension(allure); //grace à l'allure on peut calculer la tension à appliquer sur la voile
TendreVoile(tensionVoile); //on tend la voile grâce à la tension obtenue TendreVoile(CalculerTension(RecupAllure())); //on tend la voile grâce à la tension obtenue
//Gouvernail //Gouvernail
/*int valeurTelecommande = LireTelecommande(); //on lit la valeur renvoyée par la télécommande /*int valeurTelecommande = LireTelecommande(); //on lit la valeur renvoyée par la télécommande
@ -112,8 +73,104 @@ void Background(){
} }
int main(){ int main(){
SystemClock_Config();
Setup(); Setup();
while(1){ while(1){
Background(); Background();
} }
} }
/**
* @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 Nucléo*********************************
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); !! décommenter que si l'IT est récupérée
/* 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****/