diff --git a/MDK-ARM/Project.uvoptx b/MDK-ARM/Project.uvoptx index 542aa50..2a464ad 100644 --- a/MDK-ARM/Project.uvoptx +++ b/MDK-ARM/Project.uvoptx @@ -345,7 +345,7 @@ 0 DLGDARM - (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=-1,-1,-1,-1,0)(121=-1,-1,-1,-1,0)(122=-1,-1,-1,-1,0)(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)(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) + (1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=2156,213,2522,450,0)(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=-1,-1,-1,-1,0)(121=2124,217,2535,660,0)(122=-1,-1,-1,-1,0)(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=2076,105,2660,897,0)(133=2592,151,3176,943,0)(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)(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) 0 @@ -382,9 +382,9 @@ 0 0 - 46 + 65 1 -
134219406
+
134223216
0 0 0 @@ -393,9 +393,32 @@ 1 ../Src/main.c - \\NUCLEO_F103RB\../Src/main.c\46 + \\NUCLEO_F103RB\../Src/main.c\65 + + + 1 + 0 + 69 + 1 +
134223230
+ 0 + 0 + 0 + 0 + 0 + 1 + ../Src/main.c + + \\NUCLEO_F103RB\../Src/main.c\69 + + + 0 + 1 + counter,0x10 + + 0 @@ -416,7 +439,7 @@ 0 0 0 - 0 + 1 0 0 0 @@ -438,6 +461,13 @@ + + + 0 + ((PORTB & 0x00000100) >> 8 & 0x100) >> 8 + FF000000000000000000000000000000E0FFEF400100000000000000000000000000000028504F5254422026203078303030303031303029203E3E2038000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000100000001000000000000000000F03F1400000000000000000000000000000000000000AE110008 + + 1 0 @@ -618,6 +648,18 @@ 0 0 + + 2 + 14 + 1 + 0 + 0 + 0 + ..\Services\Scheduler.c + Scheduler.c + 0 + 0 + @@ -628,7 +670,7 @@ 0 3 - 14 + 15 1 0 0 @@ -640,7 +682,7 @@ 3 - 15 + 16 1 0 0 @@ -652,7 +694,7 @@ 3 - 16 + 17 1 0 0 @@ -664,7 +706,7 @@ 3 - 17 + 18 1 0 0 @@ -684,7 +726,7 @@ 0 4 - 18 + 19 1 0 0 @@ -696,7 +738,7 @@ 4 - 19 + 20 1 0 0 @@ -708,7 +750,7 @@ 4 - 20 + 21 1 0 0 @@ -718,17 +760,29 @@ 0 0 + + 4 + 22 + 1 + 0 + 0 + 0 + ..\LLDrivers\src\stm32f1xx_ll_gpio.c + stm32f1xx_ll_gpio.c + 0 + 0 + Doc - 1 + 0 0 0 0 5 - 21 + 23 5 0 0 @@ -742,13 +796,13 @@ Drivers/CMSIS - 0 + 1 0 0 0 6 - 22 + 24 1 0 0 @@ -768,7 +822,7 @@ 0 7 - 23 + 25 2 0 0 diff --git a/MDK-ARM/Project.uvprojx b/MDK-ARM/Project.uvprojx index 881272c..01a437b 100644 --- a/MDK-ARM/Project.uvprojx +++ b/MDK-ARM/Project.uvprojx @@ -453,6 +453,11 @@ 1 ..\Services\Voltage.c + + Scheduler.c + 1 + ..\Services\Scheduler.c + @@ -498,6 +503,11 @@ 1 ..\LLDrivers\src\stm32f1xx_ll_tim.c + + stm32f1xx_ll_gpio.c + 1 + ..\LLDrivers\src\stm32f1xx_ll_gpio.c + @@ -982,6 +992,11 @@ 1 ..\Services\Voltage.c + + Scheduler.c + 1 + ..\Services\Scheduler.c + @@ -1027,6 +1042,11 @@ 1 ..\LLDrivers\src\stm32f1xx_ll_tim.c + + stm32f1xx_ll_gpio.c + 1 + ..\LLDrivers\src\stm32f1xx_ll_gpio.c + diff --git a/MyDrivers/ADC.c b/MyDrivers/ADC.c index e305f04..7fbd2d0 100644 --- a/MyDrivers/ADC.c +++ b/MyDrivers/ADC.c @@ -1 +1,52 @@ #include "ADC.h" +#include "stm32f1xx_ll_bus.h" // Pour horloge + +void ADC_conf(ADC_TypeDef *adc, uint32_t voie) +{ + if (adc == ADC1) { + LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC1); + } else if (adc == ADC2) { + LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC2); + } + + // Division de la frequence + RCC->CFGR |= RCC_CFGR_ADCPRE_DIV6; + + // Fixe le nombre de conversion à 1 + adc->SQR1&= ADC_SQR1_L; + + // Indique la voie a convertir + adc->SQR3|= voie; + + // Calibration + adc->CR2 |= ADC_CR2_CAL_Msk; + while ((adc->CR2 & ADC_CR2_CAL_Msk)); +} + + +void ADC_start(ADC_TypeDef *adc) +{ + adc->CR2 |= ADC_CR2_ADON; +} + + +uint16_t ADC_readRaw(ADC_TypeDef *adc) +{ + // Lancement de la conversion + adc->CR2 |= ADC_CR2_ADON; + while(!(ADC1->SR & ADC_SR_EOC)) {} + + return ADC1->DR & ADC_DR_DATA_Msk; +} + + +double ADC_convertToVolt(uint16_t value) +{ + return ((double) value) / 4095.0 * 3.3; +} + + +double ADC_readVolt(ADC_TypeDef *adc) +{ + return ADC_convertToVolt(ADC_readRaw(adc)); +} diff --git a/MyDrivers/ADC.h b/MyDrivers/ADC.h index c4ee01e..b73929d 100644 --- a/MyDrivers/ADC.h +++ b/MyDrivers/ADC.h @@ -1,4 +1,15 @@ #ifndef ADC_H #define ADC_H +#include "stm32f1xx_ll_adc.h" + +void ADC_conf(ADC_TypeDef *adc, uint32_t voie); +void ADC_start(ADC_TypeDef *adc); + +uint16_t ADC_readRaw(ADC_TypeDef *adc); +double ADC_readVolt(ADC_TypeDef *adc); + +double ADC_convertToVolt(uint16_t value); + + #endif diff --git a/MyDrivers/Timer.c b/MyDrivers/Timer.c index 55bf6d8..b0b5cad 100644 --- a/MyDrivers/Timer.c +++ b/MyDrivers/Timer.c @@ -173,7 +173,7 @@ void Timer_conf(TIM_TypeDef * timer, int arr, int psc) int getArrFromFreq(float freq) { - return (72000000 / freq) - 1; + return (72000 / freq) - 1; } void Timer_pwmo_conf(TIM_TypeDef * timer, int channel, float freq, float dutyCycle) diff --git a/MyDrivers/USART.c b/MyDrivers/USART.c index 1273ce3..54706c1 100644 --- a/MyDrivers/USART.c +++ b/MyDrivers/USART.c @@ -1 +1,58 @@ #include "USART.h" +#include "GPIO.h" +#include "stm32f1xx_ll_bus.h" // Pour horloge + + +void Usart_conf(USART_TypeDef *USARTx) { + int txPin; + GPIO_TypeDef *usartGpio; + + if (USARTx == USART1) { + LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_USART1); + LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA); + txPin = LL_GPIO_PIN_9; + usartGpio = GPIOA; + } else if (USARTx == USART2) { + LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_USART2); + LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOA); + txPin = LL_GPIO_PIN_2; + usartGpio = GPIOA; + } else if (USARTx == USART3) { + LL_APB1_GRP1_EnableClock(LL_APB1_GRP1_PERIPH_USART3); + LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_GPIOB); + txPin = LL_GPIO_PIN_10; + usartGpio = GPIOB; + } + + LL_USART_InitTypeDef usartInit; + LL_USART_StructInit(&usartInit); + usartInit.DataWidth = LL_USART_DATAWIDTH_8B; + usartInit.BaudRate = 9600; + usartInit.TransferDirection = LL_USART_DIRECTION_TX_RX; + LL_USART_Init(USARTx, &usartInit); + + GPIO_conf(usartGpio, txPin, LL_GPIO_MODE_ALTERNATE, LL_GPIO_OUTPUT_PUSHPULL, LL_GPIO_PULL_UP); +} + + + +void Usart_enable(USART_TypeDef *USARTx) { + LL_USART_Enable(USARTx); +} + + +void sendChar(USART_TypeDef *USARTx, char c) { + LL_USART_TransmitData8(USARTx, c); + while (!LL_USART_IsActiveFlag_TXE(USARTx)) {} +} + + +void Usart_send(USART_TypeDef *USARTx, char *msg, int length) { + for (int i = 0; i < length; i++) { + sendChar(USARTx, msg[i]); + } +} + + + + diff --git a/MyDrivers/USART.h b/MyDrivers/USART.h index b72fa38..3c81502 100644 --- a/MyDrivers/USART.h +++ b/MyDrivers/USART.h @@ -1,5 +1,10 @@ #ifndef USART_H #define USART_H +#include "stm32f1xx_ll_usart.h" + +void Usart_conf(USART_TypeDef *USARTx); +void Usart_enable(USART_TypeDef *USARTx); +void Usart_send(USART_TypeDef *USARTx, char *msg, int length); #endif diff --git a/Services/IncrementalEncoder.c b/Services/IncrementalEncoder.c index cefd96c..b963f52 100644 --- a/Services/IncrementalEncoder.c +++ b/Services/IncrementalEncoder.c @@ -1,11 +1,12 @@ #include "IncrementalEncoder.h" #include "Timer.h" +#include "GPIO.h" -void IncrementalEncoder_conf(TIM_TypeDef * timer) +void IncrementalEncoder_conf(TIM_TypeDef * timer, GPIO_TypeDef * gpio, int pin) { Timer_encoder_conf(timer); - // TODO GPIO config + GPIO_conf(gpio, pin, LL_GPIO_MODE_INPUT, LL_GPIO_OUTPUT_PUSHPULL, LL_GPIO_PULL_UP); } void IncrementalEncoder_start(TIM_TypeDef * timer) diff --git a/Services/IncrementalEncoder.h b/Services/IncrementalEncoder.h index 3137432..5882333 100644 --- a/Services/IncrementalEncoder.h +++ b/Services/IncrementalEncoder.h @@ -9,7 +9,7 @@ * @param TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4 * @retval None */ -void IncrementalEncoder_conf(TIM_TypeDef * timer); +void IncrementalEncoder_conf(TIM_TypeDef * timer, GPIO_TypeDef * gpio, int pin); /** * @brief Démarre le codeur incrémental associé au timer donné diff --git a/Services/Scheduler.c b/Services/Scheduler.c new file mode 100644 index 0000000..1d89dfc --- /dev/null +++ b/Services/Scheduler.c @@ -0,0 +1,23 @@ +#include "Scheduler.h" +#include "Timer.h" +#include "stm32f1xx_ll_utils.h" + +void (*it_callback_SysTick)(void); + +void SysTick_Handler(void) +{ + (*it_callback_SysTick)(); +} + +void Scheduler_conf(void (*it_callback) (void)) +{ + it_callback_SysTick = it_callback; + SysTick->CTRL &= ~(SysTick_CTRL_CLKSOURCE_Msk); + SysTick->CTRL |= SysTick_CTRL_TICKINT_Msk; + SysTick->LOAD = 9000; +} + +void Scheduler_start(void) +{ + SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk; +} diff --git a/Services/Scheduler.h b/Services/Scheduler.h new file mode 100644 index 0000000..06e7349 --- /dev/null +++ b/Services/Scheduler.h @@ -0,0 +1,22 @@ +#ifndef SCHEDULER_H +#define SCHEDULER_H + +#include "stm32f103xb.h" + +/** + * @brief Configure l'horloge interne comme ordonanceur toutes les 1ms + * @note + * @param (void)* it_callback : Tache de fond à executer + * @retval None + */ +void Scheduler_conf(void (*it_callback) (void)); + +/** + * @brief Démarre ordonanceur + * @note + * @param None + * @retval None + */ +void Scheduler_start(void); + +#endif diff --git a/Services/ServoMotor.c b/Services/ServoMotor.c index d006b26..70e636c 100644 --- a/Services/ServoMotor.c +++ b/Services/ServoMotor.c @@ -1,11 +1,11 @@ #include "ServoMotor.h" -#include "Timer.h" #define SERVO_MOTO_FREQ 50 -void ServoMotor_conf(TIM_TypeDef * timer, int channel) +void ServoMotor_conf(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin) { - Timer_pwmo_conf(timer, channel, SERVO_MOTO_FREQ, 0); + Timer_pwmo_conf(timer, channel, SERVO_MOTO_FREQ, 0.5); + GPIO_conf(gpio, pin, LL_GPIO_MODE_ALTERNATE, LL_GPIO_OUTPUT_PUSHPULL, LL_GPIO_PULL_UP); } void ServoMotor_start(TIM_TypeDef * timer) diff --git a/Services/ServoMotor.h b/Services/ServoMotor.h index 65561b8..794dbdf 100644 --- a/Services/ServoMotor.h +++ b/Services/ServoMotor.h @@ -2,15 +2,19 @@ #define SERVO_MOTOR_H #include "stm32f103xb.h" +#include "Timer.h" +#include "GPIO.h" /** * @brief Configure le servo moteur associé au timer donné * @note * @param TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4 * int channel : Le channel utilisé par le servo moteur + * GPIO_TypeDef gpio : Le GPIO à utiliser pour la sortie de la PWM + * int pin : Le PIN associé au GPIO * @retval None */ -void ServoMotor_conf(TIM_TypeDef * timer, int channel); +void ServoMotor_conf(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin); /** * @brief Démarre les servo moteurs associés au timer donné diff --git a/Src/Sail.c b/Src/Sail.c index 250165b..5b0ae95 100644 --- a/Src/Sail.c +++ b/Src/Sail.c @@ -1 +1,35 @@ #include "Sail.h" +#include "ServoMotor.h" +#include "IncrementalEncoder.h" + +TIM_TypeDef * MOTOR_TIMER = TIM4; +const int MOTOR_CHANNEL = LL_TIM_CHANNEL_CH3; +GPIO_TypeDef * MOTOR_GPIO = GPIOB; +const int MOTOR_PIN = LL_GPIO_PIN_8; + +TIM_TypeDef * ENCODER_TIMER = TIM3; +GPIO_TypeDef * ENCODER_GPIO = GPIOA; +const int ENCODER_PIN = LL_GPIO_PIN_5; + +void Sail_conf() +{ + ServoMotor_conf(MOTOR_TIMER, MOTOR_CHANNEL, MOTOR_GPIO, MOTOR_PIN); + IncrementalEncoder_conf(ENCODER_TIMER, ENCODER_GPIO, ENCODER_PIN); +} + +void Sail_background() +{ + +} + +void Sail_reset() +{ + +} + + +void Sail_start() +{ + Timer_start(MOTOR_TIMER); + Timer_start(ENCODER_TIMER); +} diff --git a/Src/Sail.h b/Src/Sail.h index a847a15..cc49ef0 100644 --- a/Src/Sail.h +++ b/Src/Sail.h @@ -7,7 +7,7 @@ * @param None * @retval None */ -void Sail_conf(); +void Sail_conf(void); /** * @brief Execute la tache de fond des voiles en fonction des valeurs récupérées par les drivers @@ -15,7 +15,7 @@ void Sail_conf(); * @param None * @retval None */ -void Sail_background(); +void Sail_background(void); /** * @brief Mets la voile à 90 degres @@ -23,7 +23,7 @@ void Sail_background(); * @param None * @retval None */ -void Sail_reset(); +void Sail_reset(void); /** * @brief Réinitialise la voile à sa position initiale @@ -31,6 +31,6 @@ void Sail_reset(); * @param None * @retval None */ -void Sail_start(); +void Sail_start(void); #endif diff --git a/Src/main.c b/Src/main.c index c78ee5f..77bdaaf 100644 --- a/Src/main.c +++ b/Src/main.c @@ -20,20 +20,45 @@ #include "stm32f1xx_ll_utils.h" // utile dans la fonction SystemClock_Config #include "stm32f1xx_ll_system.h" // utile dans la fonction SystemClock_Config -#include "Chrono.h" +#include "Sail.h" +#include "Scheduler.h" +#include "ADC.h" +#include "GPIO.h" void SystemClock_Config(void); /* Private functions ---------------------------------------------------------*/ +int counter = 1; +int adcRaw = 0; +double adcVolt = 0.0; + +void backgroundTask() +{ + counter++; + Sail_background(); + adcRaw = ADC_readRaw(ADC1); + adcVolt = ADC_convertToVolt(adcRaw); +} + + +void configurePeripherals() +{ + Sail_conf(); + ADC_conf(ADC1, 12); +} + +void startPeripherals() +{ + Sail_start(); + ADC_start(ADC1); +} + /** * @brief Main program * @param None * @retval None */ - -Time * time; - int main(void) { /* Configure the system clock to 72 MHz */ @@ -41,14 +66,16 @@ int main(void) /* Add your application code here */ // Configuration chronomètre - Chrono_Conf(TIM3); - + // Chrono_Conf(TIM3); // Lancement chronomètre - Chrono_Start(); + // Chrono_Start(); + // time = Chrono_Read(); + configurePeripherals(); + startPeripherals(); - time = Chrono_Read(); - - /* Infinite loop */ + Scheduler_conf(backgroundTask); + Scheduler_start(); + while (1) { }