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accelerometer and display fix

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This commit is contained in:
Yohan Simard 2020-12-03 12:16:07 +01:00
parent c8ea3f3a91
commit 64ea0cbd78
10 changed files with 54 additions and 87 deletions
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69
MDK-ARM/Project.uvoptx
View file

@ -75,7 +75,7 @@
<OPTFL> <OPTFL>
<tvExp>1</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>0</IsCurrentTarget> <IsCurrentTarget>1</IsCurrentTarget>
</OPTFL> </OPTFL>
<CpuCode>18</CpuCode> <CpuCode>18</CpuCode>
<DebugOpt> <DebugOpt>
@ -130,7 +130,7 @@
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
<Key>DLGTARM</Key> <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>
<SetRegEntry> <SetRegEntry>
<Number>0</Number> <Number>0</Number>
@ -157,41 +157,9 @@
<Bp> <Bp>
<Number>0</Number> <Number>0</Number>
<Type>0</Type> <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> <LineNumber>33</LineNumber>
<EnabledFlag>0</EnabledFlag> <EnabledFlag>0</EnabledFlag>
<Address>134231164</Address> <Address>134231986</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>
<ByteObject>0</ByteObject> <ByteObject>0</ByteObject>
<HtxType>0</HtxType> <HtxType>0</HtxType>
<ManyObjects>0</ManyObjects> <ManyObjects>0</ManyObjects>
@ -207,37 +175,12 @@
<Ww> <Ww>
<count>0</count> <count>0</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>windAngle,0x0A</ItemText> <ItemText>sailAngle,0x0A</ItemText>
</Ww> </Ww>
<Ww> <Ww>
<count>1</count> <count>1</count>
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>angleDeg,0x0A</ItemText> <ItemText>dutyCycle</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>
</Ww> </Ww>
</WatchWindow1> </WatchWindow1>
<Tracepoint> <Tracepoint>
@ -352,7 +295,7 @@
<OPTFL> <OPTFL>
<tvExp>1</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>1</IsCurrentTarget> <IsCurrentTarget>0</IsCurrentTarget>
</OPTFL> </OPTFL>
<CpuCode>18</CpuCode> <CpuCode>18</CpuCode>
<DebugOpt> <DebugOpt>

12
MyDrivers/Timer.c
View file

@ -229,10 +229,14 @@ float Timer_pwmo_getDutyCycle(TIM_TypeDef * timer, int channel)
{ {
int compare = 0; int compare = 0;
const int arr = LL_TIM_GetAutoReload(timer); const int arr = LL_TIM_GetAutoReload(timer);
if (channel == LL_TIM_CHANNEL_CH1) compare = LL_TIM_OC_GetCompareCH1(timer); if (channel == LL_TIM_CHANNEL_CH1)
else if (channel == LL_TIM_CHANNEL_CH2) compare = LL_TIM_OC_GetCompareCH2(timer); compare = LL_TIM_OC_GetCompareCH1(timer);
else if (channel == LL_TIM_CHANNEL_CH3) compare = LL_TIM_OC_GetCompareCH3(timer); else if (channel == LL_TIM_CHANNEL_CH2)
else compare = LL_TIM_OC_GetCompareCH4(timer); 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); return ((float) compare) / ((float) arr);
} }

2
MyDrivers/Timer.h
View file

@ -79,7 +79,7 @@ void Timer_conf(TIM_TypeDef * timer, int arr, int psc);
* @brief Configure le timer en mode PWM input * @brief Configure le timer en mode PWM input
* @note * @note
* @param TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4 * @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 * @retval None
*/ */
void Timer_pwmi_conf(TIM_TypeDef * timer, int channel); void Timer_pwmi_conf(TIM_TypeDef * timer, int channel);

10
Services/Accelerometer.c
View file

@ -1,6 +1,7 @@
#include "Accelerometer.h" #include "Accelerometer.h"
#include "ADC.h" #include "ADC.h"
#include "math.h" #include "math.h"
#include "stdio.h"
#define M_PI 3.14159265358979323846 #define M_PI 3.14159265358979323846
@ -8,8 +9,10 @@
// Donc sensibilité de +- 480 mv/g // Donc sensibilité de +- 480 mv/g
const float ZERO_G = 1.65; // 0 g const float ZERO_G = 1.27; // 0 g
const float SENSITIVITY = 0.48; 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) void Accelerometer_conf(ADC_TypeDef *adc, GPIO_TypeDef * gpio, int pinx, int piny)
{ {
@ -35,7 +38,8 @@ float voltsToG(float volts)
int Accelerometer_getAngle(ADC_TypeDef *adc, int channel) 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); float angleRad = asin(readG);
int angleDeg = angleRad * (180/M_PI); int angleDeg = angleRad * (180/M_PI);

7
Services/ServoMotor.c
View file

@ -18,6 +18,11 @@ float convertAngleToDutyCycle(int angle) {
return (float)angle / 1800.0 + 0.05; 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) void ServoMotor_setAngle(TIM_TypeDef * timer, int channel, int angle)
{ {
Timer_pwmo_setDutyCycle(timer, channel, convertAngleToDutyCycle(angle)); Timer_pwmo_setDutyCycle(timer, channel, convertAngleToDutyCycle(angle));
@ -26,5 +31,5 @@ void ServoMotor_setAngle(TIM_TypeDef * timer, int channel, int angle)
int ServoMotor_getAngle(TIM_TypeDef * timer, int channel) int ServoMotor_getAngle(TIM_TypeDef * timer, int channel)
{ {
const float dutyCycle = Timer_pwmo_getDutyCycle(timer, channel); const float dutyCycle = Timer_pwmo_getDutyCycle(timer, channel);
return 359 * dutyCycle; return convertDutyCycleToAngle(dutyCycle);
} }

22
Src/Display.c
View file

@ -28,7 +28,6 @@ void Display_start()
RFEmitter_start(EMITTER_USART); RFEmitter_start(EMITTER_USART);
} }
void Display_background(int secCounter) void Display_background(int secCounter)
{ {
static int previousEmergencyState = 0; static int previousEmergencyState = 0;
@ -36,20 +35,27 @@ void Display_background(int secCounter)
const int emergency = Sail_getEmergencyState(); const int emergency = Sail_getEmergencyState();
if (secCounter - prevSendSec == 3 || (emergency && !previousEmergencyState)) { if (secCounter - prevSendSec == 1 || (emergency && !previousEmergencyState)) {
previousEmergencyState = emergency;
prevSendSec = secCounter; prevSendSec = secCounter;
const float voltage = Voltage_getVoltage(VOLTAGE_ADC, VOLTAGE_CHANNEL); const float voltage = Voltage_getVoltage(VOLTAGE_ADC, VOLTAGE_CHANNEL);
const int sailAngle = Sail_getSailAngle(); const int sailAngle = Sail_getSailAngle();
const int relativeAngle = sailAngle >= 180 ? 360 - sailAngle : sailAngle; const int sailPercent = sailAngle * 100 / 90.0;
const int sailPercent = (90 - relativeAngle) * 100 / 90; // 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); RFEmitter_send(EMITTER_USART, displayStr, strlen(displayStr), EMITTER_GPIO, EMITTER_PIN);
} }

2
Src/Orientation.c
View file

@ -15,7 +15,7 @@ const int RECEIVER_CHANNEL = LL_TIM_CHANNEL_CH1;
TIM_TypeDef * DCMOTOR_TIMER = TIM2; TIM_TypeDef * DCMOTOR_TIMER = TIM2;
const int DCMOTOR_CHANNEL = LL_TIM_CHANNEL_CH2; const int DCMOTOR_CHANNEL = LL_TIM_CHANNEL_CH2;
GPIO_TypeDef * DCMOTOR_GPIO = GPIOA; 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; const int DCMOTOR_PIN_DIRECTION = LL_GPIO_PIN_2;

9
Src/Roll.c
View file

@ -29,12 +29,17 @@ int Roll_getEmergencyState(void)
return Roll_isEmergencyState; return Roll_isEmergencyState;
} }
int current = 0;
int angle= 0;
void Roll_background(void) 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 yAngle = Accelerometer_getAngle(ROLL_ADC, ROLL_Y_CHANNEL);
angle = yAngle;
const int currentState = abs(yAngle) >= 40; const int currentState = Roll_isEmergencyState ? abs(yAngle) >= 10 : abs(yAngle) >= 40;
current = currentState;
if (Roll_isEmergencyState != currentState) { if (Roll_isEmergencyState != currentState) {
Sail_setEmergency(currentState); Sail_setEmergency(currentState);
Roll_isEmergencyState = currentState; Roll_isEmergencyState = currentState;

2
Src/Sail.c
View file

@ -11,7 +11,7 @@ TIM_TypeDef * ENCODER_TIMER = TIM3;
GPIO_TypeDef * ENCODER_GPIO = GPIOA; GPIO_TypeDef * ENCODER_GPIO = GPIOA;
const int ENCODER_PIN = LL_GPIO_PIN_5; const int ENCODER_PIN = LL_GPIO_PIN_5;
const int RESET_ANGLE = 90; const int RESET_ANGLE = 0;
int Sail_isEmergencyState = 0; int Sail_isEmergencyState = 0;

2
Src/main.c
View file

@ -102,7 +102,7 @@ int main(void)
Scheduler_start(); Scheduler_start();
while (1) { while (1) {
// Display_background(secCounter); Display_background(secCounter);
} }