Version fonctionnelle : Gouvernail OK
This commit is contained in:
parent
1feb054b2b
commit
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4 changed files with 47 additions and 136 deletions
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@ -130,7 +130,7 @@
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<SetRegEntry>
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<Number>0</Number>
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<Key>DLGTARM</Key>
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<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=157,121,751,815,0)(132=147,87,741,781,0)(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>
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<Name>(1010=668,263,1044,820,0)(1007=-1,-1,-1,-1,0)(1008=179,560,555,796,0)(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=1037,48,1458,453,0)(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=157,121,751,815,0)(132=147,87,741,781,0)(133=524,166,1118,860,0)(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>
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</SetRegEntry>
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<SetRegEntry>
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<Number>0</Number>
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@ -157,71 +157,7 @@
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<Filename>..\Src\Gouvernail.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression>\\NUCLEO_F103RB\../Src/Gouvernail.c\35</Expression>
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<ExecCommand></ExecCommand>
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<Filename>..\Src\Voilier.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression>\\NUCLEO_F103RB\../Src/Voilier.c\68</Expression>
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</Bp>
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<Bp>
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<Number>4</Number>
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@ -239,7 +175,22 @@
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<Ww>
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<count>0</count>
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<WinNumber>1</WinNumber>
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<ItemText>allure</ItemText>
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<ItemText>commandouille,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>1</count>
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<WinNumber>1</WinNumber>
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<ItemText>lecture,0x0A</ItemText>
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</Ww>
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<Ww>
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<count>2</count>
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<WinNumber>1</WinNumber>
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<ItemText>lecture1</ItemText>
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</Ww>
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<Ww>
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<count>3</count>
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<WinNumber>1</WinNumber>
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<ItemText>lecture2</ItemText>
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</Ww>
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</WatchWindow1>
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<Tracepoint>
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@ -250,7 +201,7 @@
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<periodic>1</periodic>
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<aLwin>1</aLwin>
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<aCover>0</aCover>
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<aSer1>0</aSer1>
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<aSer1>1</aSer1>
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<aSer2>0</aSer2>
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<aPa>0</aPa>
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<viewmode>1</viewmode>
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@ -393,7 +344,7 @@
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<SetRegEntry>
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<Number>0</Number>
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<Key>DLGDARM</Key>
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<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=120,153,415,450,0)(120=204,207,625,634,0)(121=-1,-1,-1,-1,0)(122=896,89,1317,516,0)(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=248,17,842,768,0)(131=521,17,1115,768,0)(132=709,34,1303,785,0)(133=-1,-1,-1,-1,0)(160=251,288,699,702,0)(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)(234=-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>
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<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=120,153,415,450,0)(120=204,207,625,634,0)(121=-1,-1,-1,-1,0)(122=896,89,1317,516,0)(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=248,17,842,768,0)(131=521,17,1115,768,0)(132=709,34,1303,785,0)(133=-1,-1,-1,-1,0)(160=79,295,527,709,1)(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)(234=-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>
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</SetRegEntry>
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@ -432,7 +383,7 @@
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@ -443,54 +394,6 @@
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<ExecCommand></ExecCommand>
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<Expression>\\NUCLEO_F103RB\../MyDrivers/MyTimer.c\99</Expression>
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<Filename>..\Src\Voilier.c</Filename>
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<ExecCommand></ExecCommand>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>..\Src\Allure.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression>\\NUCLEO_F103RB\../Src/Allure.c\49</Expression>
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<Filename>..\Src\Voilier.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression>\\NUCLEO_F103RB\../Src/Voilier.c\17</Expression>
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</Bp>
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</Breakpoint>
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<WatchWindow1>
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<Ww>
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@ -512,7 +415,7 @@
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<periodic>1</periodic>
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<aLwin>1</aLwin>
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<aCover>0</aCover>
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<aSer1>0</aSer1>
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<aSer1>1</aSer1>
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<aSer2>0</aSer2>
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<aPa>0</aPa>
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<viewmode>1</viewmode>
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@ -4,6 +4,7 @@
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#include "maths.h"
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#define MAX_PWM (19999)
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#define MAX_PWM_OUTPUT (34999)
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/**
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* @brief Configure le récepteur de la télécommande ainsi que le plateau rotatif.
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@ -20,14 +21,12 @@ void ConfGouvernail(void) {
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LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA);
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LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOB);
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// Configuration des IO -> pin B6 et 7 en alternate input, pin A1 en alternate output, et, pin A2 en output push pull
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// Configuration des IO -> pin B6 en alternate input, pin A1 en alternate output, et, pin A2 en output push pull
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LL_GPIO_SetPinMode(GPIOB, LL_GPIO_PIN_6, LL_GPIO_MODE_FLOATING);
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LL_GPIO_SetPinMode(GPIOB, LL_GPIO_PIN_7, LL_GPIO_MODE_FLOATING);
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LL_GPIO_SetPinMode(GPIOA, LL_GPIO_PIN_1, LL_GPIO_MODE_ALTERNATE);
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LL_GPIO_SetPinOutputType(GPIOA, LL_GPIO_PIN_1, LL_GPIO_OUTPUT_PUSHPULL);
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LL_GPIO_SetPinMode(GPIOA, LL_GPIO_PIN_2, LL_GPIO_MODE_OUTPUT_2MHz);
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LL_GPIO_SetPinOutputType(GPIOA, LL_GPIO_PIN_2, LL_GPIO_OUTPUT_PUSHPULL);
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LL_GPIO_SetOutputPin(GPIOA, LL_GPIO_PIN_2);
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//Configuration des timers
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@ -45,6 +44,22 @@ void ConfGouvernail(void) {
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LL_TIM_OC_SetCompareCH2(TIM2, 0);
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LL_TIM_EnableCounter(TIM2);
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LL_TIM_CC_EnableChannel(TIM2, LL_TIM_CHANNEL_CH2);
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LL_TIM_IC_InitTypeDef Tim4Initializer;
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LL_TIM_IC_StructInit(&Tim4Initializer);
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Tim4Initializer.ICActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI;
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Tim4Initializer.ICPolarity = LL_TIM_IC_POLARITY_RISING;
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LL_TIM_IC_Init(TIM4, LL_TIM_CHANNEL_CH1, &Tim4Initializer);
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Tim4Initializer.ICActiveInput = LL_TIM_ACTIVEINPUT_INDIRECTTI;
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Tim4Initializer.ICPolarity = LL_TIM_IC_POLARITY_FALLING;
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LL_TIM_IC_Init(TIM4, LL_TIM_CHANNEL_CH2, &Tim4Initializer);
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LL_TIM_SetAutoReload(TIM4, MAX_PWM_OUTPUT);
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LL_TIM_SetPrescaler(TIM4, 71);
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LL_TIM_SetSlaveMode(TIM4, LL_TIM_SLAVEMODE_RESET);
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LL_TIM_SetTriggerInput(TIM4, LL_TIM_TS_TI1FP1);
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LL_TIM_EnableCounter(TIM4);
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LL_TIM_CC_EnableChannel(TIM4, LL_TIM_CHANNEL_CH1);
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LL_TIM_CC_EnableChannel(TIM4, LL_TIM_CHANNEL_CH2);
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}
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/**
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* @retval La commande de la télécommande, représenté en % bidirectionnel -> int entre -100 et 100 (sens codé par le signe, vitesse par la valeur absolue)
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*/
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int LireTelecommande(void) {
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return 0;
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int lecture = LL_TIM_IC_GetCaptureCH2(TIM4) + 1;
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return ((lecture - 1500) / 5);
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}
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/**
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/**
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* @brief Configure le récepteur de la télécommande ainsi que le plateau rotatif.
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* @note Configuration du port PB6 et 7 en alternate input pour récupérer les signaux
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* @note Configuration du port PB6 et 7 en alternate input pour récupérer les signaux de la télécommande
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Configuration des deux channels du TIM4 pour la lecture de la PWM
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Configuration du PA1 en alternate output (commande PWM vitesse) et PA2 en output push pull pour commander le sens
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Configuration du TIM2_CH2 pour la sortie PWM
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#include "stm32f1xx_ll_utils.h" // utile dans la fonction SystemClock_Config
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#include "stm32f1xx_ll_system.h" // utile dans la fonction SystemClock_Config
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void SystemClock_Config(void);
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/**
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TendreVoile(CalculerTension(RecupAllure())); //on tend la voile grâce à la tension obtenue
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//Gouvernail
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//int commande = LireTelecommande(); //on lit la valeur renvoyée par la télécommande
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CommanderMoteur(0); //On commande le moteur pour aller à la vitesse voulue
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CommanderMoteur(-0);
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CommanderMoteur(-1);
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CommanderMoteur(1);
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CommanderMoteur(-50);
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CommanderMoteur(50);
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CommanderMoteur(-100);
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CommanderMoteur(100);
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int commande = LireTelecommande(); //on lit la valeur renvoyée par la télécommande
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CommanderMoteur(commande); //On commande le moteur pour aller à la vitesse voulue
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//Anti-Chavirement
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/*int rouli = RecupRouli();
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int danger = CalculerDanger(rouli);//renvoi boolean : int à 0 si faux et 1 si vrai
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LL_RCC_SetAPB2Prescaler(LL_RCC_APB2_DIV_1);
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/* Set systick to 1ms in using frequency set to 72MHz */
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//LL_Init1msTick(72000000); !! décommenter que si l'IT est récupérée
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LL_Init1msTick(72000000); //!! décommenter que si l'IT est récupérée
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/* Update CMSIS variable (which can be updated also through SystemCoreClockUpdate function) */
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LL_SetSystemCoreClock(72000000);
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