accelerometer and display fix

MDK-ARM/Project.uvoptx

       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>0</IsCurrentTarget>
+        <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>
       <CpuCode>18</CpuCode>
       <DebugOpt>
         <SetRegEntry>
           <Number>0</Number>
           <Key>DLGTARM</Key>
-          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=204,363,702,652,0)(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=1045,583,1603,1080,0)(121=971,583,1529,1080,0)(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=200,173,988,1026,0)(131=405,227,1193,1080,0)(132=161,47,949,900,0)(133=1013,172,1801,1025,0)(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=320,247,1120,1026,0)(151=1120,301,1920,1080,0)</Name>
+          <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=204,363,702,652,0)(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=293,271,851,768,0)(121=854,376,1412,873,0)(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=200,173,988,1026,0)(131=410,141,1198,994,0)(132=161,47,949,900,0)(133=966,188,1754,1041,0)(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=320,247,1120,1026,0)(151=1120,301,1920,1080,0)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
         <Bp>
           <Number>0</Number>
           <Type>0</Type>
-          <LineNumber>41</LineNumber>
-          <EnabledFlag>0</EnabledFlag>
-          <Address>134220664</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\Services\Accelerometer.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\NUCLEO_F103RB\../Services/Accelerometer.c\41</Expression>
-        </Bp>
-        <Bp>
-          <Number>1</Number>
-          <Type>0</Type>
           <LineNumber>33</LineNumber>
           <EnabledFlag>0</EnabledFlag>
-          <Address>134231164</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\Services\Accelerometer.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression>\\NUCLEO_F103RB\../Services/Accelerometer.c\33</Expression>
-        </Bp>
-        <Bp>
-          <Number>2</Number>
-          <Type>0</Type>
-          <LineNumber>33</LineNumber>
-          <EnabledFlag>0</EnabledFlag>
-          <Address>134231194</Address>
+          <Address>134231986</Address>
           <ByteObject>0</ByteObject>
           <HtxType>0</HtxType>
           <ManyObjects>0</ManyObjects>
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>windAngle,0x0A</ItemText>
+          <ItemText>sailAngle,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
           <WinNumber>1</WinNumber>
-          <ItemText>angleDeg,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>2</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>volts</ItemText>
-        </Ww>
-        <Ww>
-          <count>3</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>angleRad</ItemText>
-        </Ww>
-        <Ww>
-          <count>4</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>value,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>5</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>speed,0x0A</ItemText>
-        </Ww>
-        <Ww>
-          <count>6</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>TIMx-&gt;CCR2</ItemText>
+          <ItemText>dutyCycle</ItemText>
         </Ww>
       </WatchWindow1>
       <Tracepoint>
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>1</IsCurrentTarget>
+        <IsCurrentTarget>0</IsCurrentTarget>
       </OPTFL>
       <CpuCode>18</CpuCode>
       <DebugOpt>

MyDrivers/Timer.c

 {
 	int compare = 0;
 	const int arr = LL_TIM_GetAutoReload(timer);
-	if (channel == LL_TIM_CHANNEL_CH1) compare = LL_TIM_OC_GetCompareCH1(timer);
-	else if (channel == LL_TIM_CHANNEL_CH2) compare = LL_TIM_OC_GetCompareCH2(timer);
-	else if (channel == LL_TIM_CHANNEL_CH3) compare = LL_TIM_OC_GetCompareCH3(timer);
-	else  compare = LL_TIM_OC_GetCompareCH4(timer);
+	if (channel == LL_TIM_CHANNEL_CH1) 
+		compare = LL_TIM_OC_GetCompareCH1(timer);
+	else if (channel == LL_TIM_CHANNEL_CH2) 
+		compare = LL_TIM_OC_GetCompareCH2(timer);
+	else if (channel == LL_TIM_CHANNEL_CH3) 
+		compare = LL_TIM_OC_GetCompareCH3(timer);
+	else  
+		compare = LL_TIM_OC_GetCompareCH4(timer);
 	return ((float) compare) / ((float) arr);
 }
 

MyDrivers/Timer.h

 	* @brief  Configure le timer en mode PWM input
   * @note
 	* @param  TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
-	*					int channel 			: Le channel utilisé par la PWM
+	*					int channel 			: Le channel utilisé par la PWM (pas LL)
   * @retval None
   */
 void Timer_pwmi_conf(TIM_TypeDef * timer, int channel);

Services/Accelerometer.c

 #include "Accelerometer.h"
 #include "ADC.h"
 #include "math.h"
+#include "stdio.h"
 
 #define M_PI 3.14159265358979323846
 
 // Donc sensibilité de +- 480 mv/g
 
 
-const float ZERO_G = 1.65; 	// 0 g
-const float SENSITIVITY = 0.48;
+const float ZERO_G = 1.27; 	// 0 g
+const float SENSITIVITY = 1.35-0.9;
+// max: 1.75
+// min: 0.935
 
 void Accelerometer_conf(ADC_TypeDef *adc, GPIO_TypeDef * gpio, int pinx, int piny)
 {
 
 int Accelerometer_getAngle(ADC_TypeDef *adc, int channel)
 {
-	const float readG = voltsToG(ADC_readVolt(adc, channel));
+	const float readV = ADC_readVolt(adc, channel);
+	const float readG = voltsToG(readV);
 	
 	float angleRad = asin(readG);
 	int angleDeg = angleRad * (180/M_PI);
-	
+		
 	return angleDeg;
 }

Services/ServoMotor.c

 	return (float)angle / 1800.0 + 0.05;
 }
 
+int convertDutyCycleToAngle(float dutyCycle) {
+	// fonction lineaire [0.049 - 0.1] -> [0 - 90]
+	return (dutyCycle - 0.049) * 1800;
+}
+
 void ServoMotor_setAngle(TIM_TypeDef * timer, int channel, int angle)
 {
 	Timer_pwmo_setDutyCycle(timer, channel, convertAngleToDutyCycle(angle));
 int ServoMotor_getAngle(TIM_TypeDef * timer, int channel)
 {
 	const float dutyCycle = Timer_pwmo_getDutyCycle(timer, channel);
-	return 359 * dutyCycle;
+	return convertDutyCycleToAngle(dutyCycle);
 }

Src/Display.c

 	RFEmitter_start(EMITTER_USART);
 }
 
-
 void Display_background(int secCounter)
 {
 	static int previousEmergencyState = 0;
 	
 	const int emergency = Sail_getEmergencyState();
 	
-	if (secCounter - prevSendSec == 3 || (emergency && !previousEmergencyState)) {
+	if (secCounter - prevSendSec == 1 || (emergency && !previousEmergencyState)) {
+		previousEmergencyState = emergency;
 		prevSendSec = secCounter;
 		
 		const float voltage = Voltage_getVoltage(VOLTAGE_ADC, VOLTAGE_CHANNEL);
 		const int sailAngle = Sail_getSailAngle();
-		const int relativeAngle = sailAngle >= 180 ? 360 - sailAngle : sailAngle;
-		const int sailPercent = (90 - relativeAngle) * 100 / 90;
+		const int sailPercent = sailAngle * 100 / 90.0;
+//		const int relativeAngle = sailAngle >= 180 ? 360 - sailAngle : sailAngle;
+//		const int sailPercent = (90 - relativeAngle) * 100 / 90;
+		
 		
-		char displayStr[100];
 		
-		sprintf(displayStr, "Bordage actuel = %d%%\nTension de la batterie = %fV\n", sailPercent, voltage);
-		if (emergency)
-			sprintf(displayStr, "Limite de roulis atteinte !\n%s", displayStr);
+		char displayStr[100] = "";
+		char emergStr[30] = "";
 		
+		if (emergency) {
+			sprintf(emergStr, "Limite de roulis atteinte !\n\r");
+			RFEmitter_send(EMITTER_USART, emergStr, strlen(emergStr), EMITTER_GPIO, EMITTER_PIN);
+		}
+
+		sprintf(displayStr, "Angle de la voile : %ddeg\n\rBordage actuel = %d%% \n\rTension de la batterie = %fV \n\r\n\r", sailAngle, sailPercent, voltage);
 		RFEmitter_send(EMITTER_USART, displayStr, strlen(displayStr), EMITTER_GPIO, EMITTER_PIN);
 	}
 	

Src/Orientation.c

 TIM_TypeDef * DCMOTOR_TIMER = TIM2;
 const int DCMOTOR_CHANNEL = LL_TIM_CHANNEL_CH2;
 GPIO_TypeDef * DCMOTOR_GPIO = GPIOA;
-const int DCMOTOR_PIN_PWM = LL_GPIO_PIN_2;
+const int DCMOTOR_PIN_PWM = LL_GPIO_PIN_1;
 const int DCMOTOR_PIN_DIRECTION = LL_GPIO_PIN_2;
 
 

Src/Roll.c

 	return Roll_isEmergencyState;
 }
 
+int current = 0;
+int angle= 0;
+
 void Roll_background(void)
 {
-	const int xAngle = Accelerometer_getAngle(ROLL_ADC, ROLL_X_CHANNEL);
+//	const int xAngle = Accelerometer_getAngle(ROLL_ADC, ROLL_X_CHANNEL);
 	const int yAngle = Accelerometer_getAngle(ROLL_ADC, ROLL_Y_CHANNEL);
-
-	const int currentState = abs(yAngle) >= 40;
+	angle = yAngle;
+	
+	const int currentState = Roll_isEmergencyState ? abs(yAngle) >= 10 : abs(yAngle) >= 40;
+	current = currentState;
 	if (Roll_isEmergencyState != currentState) {
 		Sail_setEmergency(currentState);
 		Roll_isEmergencyState = currentState;

Src/Sail.c

 GPIO_TypeDef * ENCODER_GPIO = GPIOA;
 const int ENCODER_PIN = LL_GPIO_PIN_5;
 
-const int RESET_ANGLE = 90;
+const int RESET_ANGLE = 0;
 
 int Sail_isEmergencyState = 0;
 

Src/main.c

 	Scheduler_start();
 
   while (1) {
-		// Display_background(secCounter);
+		Display_background(secCounter);
   }