From 89867cd01e172eb1a7e00f7d6d300fa7cc44e0e3 Mon Sep 17 00:00:00 2001
From: Arnaud Vergnet <arnaud.vergnet@mailo.com>
Date: Fri, 13 Nov 2020 08:49:00 +0100
Subject: [PATCH] make code more consistent

---
 MyDrivers/ADC.c          |  5 ++++-
 MyDrivers/GPIO.c         | 20 +++++++++++---------
 MyDrivers/USART.c        | 12 ++++++++----
 Services/Accelerometer.c |  2 --
 Services/DCMotor.c       | 36 ++++++++++++++++--------------------
 Services/DCMotor.h       |  6 +++---
 Services/RFEmitter.c     | 24 +++++++++++-------------
 Services/RFEmitter.h     |  6 ++++--
 Services/RFReceiver.c    | 20 +++++++++-----------
 Services/RFReceiver.h    |  4 ++--
 Services/Voltage.c       | 24 ++++++++++++------------
 Services/Voltage.h       |  6 ++++--
 Src/Display.c            | 26 ++++++++++++++++++++++++++
 Src/Display.h            |  6 ++++++
 Src/Orientation.c        | 36 ++++++++++++++++++++++++------------
 Src/Sail.c               | 15 +++++++--------
 Src/main.c               | 13 +++++++++----
 17 files changed, 156 insertions(+), 105 deletions(-)

diff --git a/MyDrivers/ADC.c b/MyDrivers/ADC.c
index e1c6b13..de5b8a5 100644
--- a/MyDrivers/ADC.c
+++ b/MyDrivers/ADC.c
@@ -1,6 +1,9 @@
 #include "ADC.h"
 #include "stm32f1xx_ll_bus.h" 	// Pour horloge
 
+const float MAX_VOLTS = 3.3;
+const float MAX_CONVERTED_VALUE = 4095.0;
+
 void ADC_conf(ADC_TypeDef *adc) 
 {
 	if (adc == ADC1) {
@@ -43,7 +46,7 @@ uint16_t ADC_readRaw(ADC_TypeDef *adc, int channel)
 
 float ADC_convertToVolt(uint16_t value)
 {
-	return ((double) value) / 4095.0 * 3.3;
+	return ((double) value) / MAX_CONVERTED_VALUE * MAX_VOLTS;
 }
 
 
diff --git a/MyDrivers/GPIO.c b/MyDrivers/GPIO.c
index b5fccc2..cfc20bd 100644
--- a/MyDrivers/GPIO.c
+++ b/MyDrivers/GPIO.c
@@ -1,8 +1,8 @@
 #include "GPIO.h"
 #include "stm32f1xx_ll_gpio.h"
 
-void GPIO_conf(GPIO_TypeDef * GPIOx, uint32_t PINx, uint32_t mode, uint32_t outputType, uint32_t pullMode){
-	
+void GPIO_conf(GPIO_TypeDef * GPIOx, uint32_t PINx, uint32_t mode, uint32_t outputType, uint32_t pullMode)
+{
 	LL_GPIO_InitTypeDef init;
 	
 	//Activation de l'horloge
@@ -21,15 +21,17 @@ void GPIO_conf(GPIO_TypeDef * GPIOx, uint32_t PINx, uint32_t mode, uint32_t outp
 	LL_GPIO_Init(GPIOx, &init);
 }
 
-void GPIO_setPin(GPIO_TypeDef * GPIOx, uint32_t PINx, int output){
-	
-	if (output) LL_GPIO_SetOutputPin(GPIOx, PINx);
-	else LL_GPIO_ResetOutputPin(GPIOx,PINx);
-	
+void GPIO_setPin(GPIO_TypeDef * GPIOx, uint32_t PINx, int output)
+{
+	if (output) {
+		LL_GPIO_SetOutputPin(GPIOx, PINx);
+	} else {
+		LL_GPIO_ResetOutputPin(GPIOx,PINx);
+	}
 };
 
-int GPIO_readPin(GPIO_TypeDef * GPIOx, uint32_t PINx){
-	
+int GPIO_readPin(GPIO_TypeDef * GPIOx, uint32_t PINx)
+{
 	return LL_GPIO_IsOutputPinSet(GPIOx, PINx);
 	
 }
diff --git a/MyDrivers/USART.c b/MyDrivers/USART.c
index 54706c1..b32464d 100644
--- a/MyDrivers/USART.c
+++ b/MyDrivers/USART.c
@@ -3,7 +3,8 @@
 #include "stm32f1xx_ll_bus.h" 	// Pour horloge
 
 
-void Usart_conf(USART_TypeDef *USARTx) {
+void Usart_conf(USART_TypeDef *USARTx)
+{
 	int txPin;
 	GPIO_TypeDef *usartGpio;
 	
@@ -36,18 +37,21 @@ void Usart_conf(USART_TypeDef *USARTx) {
 
 
 
-void Usart_enable(USART_TypeDef *USARTx) {
+void Usart_enable(USART_TypeDef *USARTx)
+{
 		LL_USART_Enable(USARTx);
 }
 
 
-void sendChar(USART_TypeDef *USARTx, char c) {
+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) {
+void Usart_send(USART_TypeDef *USARTx, char *msg, int length)
+{
 	for (int i = 0; i < length; i++) {
 		sendChar(USARTx, msg[i]);
 	}
diff --git a/Services/Accelerometer.c b/Services/Accelerometer.c
index 99005e1..7c1e148 100644
--- a/Services/Accelerometer.c
+++ b/Services/Accelerometer.c
@@ -9,8 +9,6 @@
 
 
 const float ZERO_G = 1.65; 	// 0 g
-//const float MAX_G = 2.13; 	// 1 g
-//const float MIN_G = 1.17; 	// -1 g
 const float SENSITIVITY = 0.48;
 
 void Accelerometer_conf(ADC_TypeDef *adc, GPIO_TypeDef * gpio, int pinx, int piny)
diff --git a/Services/DCMotor.c b/Services/DCMotor.c
index f65bcc8..0d05b01 100644
--- a/Services/DCMotor.c
+++ b/Services/DCMotor.c
@@ -1,32 +1,28 @@
 #include "DCMotor.h"
+#include "math.h"
 
-void DCMotor_conf() {
-	
+void DCMotor_conf(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin)
+{
 	//On règle la vitesse en valeur absolue, ici à 0
-	Timer_pwmo_conf(TIM2, LL_TIM_CHANNEL_CH2, 50, 0);
+	Timer_pwmo_conf(timer, channel, 50, 0);
 	
 	//On règle le sens du moteur, ici sens direct (?)
-	GPIO_conf(GPIOA, LL_GPIO_PIN_2, LL_GPIO_MODE_OUTPUT, LL_GPIO_OUTPUT_OPENDRAIN, LL_GPIO_PULL_DOWN);
-	GPIO_setPin(GPIOA, LL_GPIO_PIN_2, 0);
+	GPIO_conf(gpio, pin, LL_GPIO_MODE_OUTPUT, LL_GPIO_OUTPUT_OPENDRAIN, LL_GPIO_PULL_DOWN);
+	GPIO_setPin(gpio, pin, 0);
 }
 
-void DCMotor_setSpeed(double speed) {
-	
-	double speedAbs = (speed > 0.) ? speed : -speed;
-	int sens = (speed > 0.) ? 1 : 0;
-	
-	Timer_pwmo_setDutyCycle(TIM2, LL_TIM_CHANNEL_CH2, speedAbs);
-	GPIO_setPin(GPIOA, LL_GPIO_PIN_2, sens);
+void DCMotor_setSpeed(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin, float speed)
+{
+	const int dir = (speed > 0.) ? 1 : 0;
 	
+	Timer_pwmo_setDutyCycle(timer, channel, fabs(speed));
+	GPIO_setPin(gpio, pin, dir);
 }
 
-double DCMotor_getSpeed(){
-	
-	double speedAbs = Timer_pwmo_getDutyCycle(TIM2, LL_TIM_CHANNEL_CH2);
-	int sens = GPIO_readPin(GPIOA, LL_GPIO_PIN_2);
-	
-	double speed = (sens) ? speedAbs : -speedAbs;
-	
-	return speed;
+float DCMotor_getSpeed(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin)
+{
+	const float speedAbs = Timer_pwmo_getDutyCycle(timer, channel);
+	const int dir = GPIO_readPin(gpio, pin);
 	
+	return dir ? speedAbs : -speedAbs;
 }
diff --git a/Services/DCMotor.h b/Services/DCMotor.h
index 1305ee9..3180e34 100644
--- a/Services/DCMotor.h
+++ b/Services/DCMotor.h
@@ -4,10 +4,10 @@
 #include "GPIO.h"
 #include "Timer.h"
 
-void DCMotor_conf(void);
+void DCMotor_conf(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin);
 
-void DCMotor_setSpeed(double speed);
+void DCMotor_setSpeed(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin, float speed);
 
-double DCMotor_getSpeed(void);
+float DCMotor_getSpeed(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin);
 
 #endif
diff --git a/Services/RFEmitter.c b/Services/RFEmitter.c
index 5c3f56d..c20e91d 100644
--- a/Services/RFEmitter.c
+++ b/Services/RFEmitter.c
@@ -1,18 +1,16 @@
 #include "RFEmitter.h"
 
-
-void RFEmitter_conf() {
-	
-	//On configure l'USART
-	Usart_conf(USART1);
-	
-	//On active l'USART
-	Usart_enable(USART1);
-	
+void RFEmitter_conf(USART_TypeDef * usart)
+{
+	Usart_conf(usart);
 }
 
-void RFEmitter_send(char * message, int longueur) {
-	
-	Usart_send(USART1, message, longueur);
-	
+void RFEmitter_start(USART_TypeDef * usart)
+{
+	Usart_enable(usart);
+}
+
+void RFEmitter_send(USART_TypeDef * usart, char * message, int longueur)
+{
+	Usart_send(usart, message, longueur);
 }
diff --git a/Services/RFEmitter.h b/Services/RFEmitter.h
index 3f092d7..29ac108 100644
--- a/Services/RFEmitter.h
+++ b/Services/RFEmitter.h
@@ -3,9 +3,11 @@
 
 #include "USART.h"
 
-void RFEmitter_conf(void);
+void RFEmitter_conf(USART_TypeDef * usart);
 	
-void RFEmitter_send(char * message, int longueur);
+void RFEmitter_start(USART_TypeDef * usart);
+
+void RFEmitter_send(USART_TypeDef * usart, char * message, int longueur);
 
 #endif
 
diff --git a/Services/RFReceiver.c b/Services/RFReceiver.c
index 784dba2..c0714de 100644
--- a/Services/RFReceiver.c
+++ b/Services/RFReceiver.c
@@ -1,17 +1,15 @@
 #include "RFReceiver.h"
 
-void RFReceiver_conf() {
-	
-	PWMi_conf(TIM4, 1);		
-	
-	}
+void RFReceiver_conf(TIM_TypeDef * timer, int channel)
+{
+	PWMi_conf(timer, channel);
+}
 
-double RFReceiver_getData(){
-	
-	int duty_cycle = PWMi_getDutyCycle(TIM4);
-	int period = PWMi_getPeriod(TIM4);
-	double duree_impulsion = duty_cycle * period;
+float RFReceiver_getData(TIM_TypeDef * timer)
+{
+	const int duty_cycle = PWMi_getDutyCycle(timer);
+	const int period = PWMi_getPeriod(timer);
+	const float duree_impulsion = duty_cycle * period;
 	
 	return (duree_impulsion -1) * 200 - 100;
-	
 }
diff --git a/Services/RFReceiver.h b/Services/RFReceiver.h
index d275b20..ff53725 100644
--- a/Services/RFReceiver.h
+++ b/Services/RFReceiver.h
@@ -3,8 +3,8 @@
 
 #include "Timer.h"
 
-void RFReceiver_conf(void);
+void RFReceiver_conf(TIM_TypeDef * timer, int channel);
 
-double RFReceiver_getData(void);
+float RFReceiver_getData(TIM_TypeDef * timer);
 	
 #endif
diff --git a/Services/Voltage.c b/Services/Voltage.c
index b982d45..abeb27d 100644
--- a/Services/Voltage.c
+++ b/Services/Voltage.c
@@ -1,21 +1,21 @@
 #include "Voltage.h"
 
 
-void Voltage_conf() {
-	
+void Voltage_conf(ADC_TypeDef * adc, GPIO_TypeDef * gpio, int pin)
+{
 	//On configure le pin qui recevra le signal, ici PC2
-	GPIO_conf(GPIOC, LL_GPIO_PIN_2, LL_GPIO_MODE_ANALOG, 0, 0);
+	GPIO_conf(gpio, pin, LL_GPIO_MODE_ANALOG, 0, 0);
 	
 	//On configure l'ADC 
-	ADC_conf(ADC2, 12);
-	
-	//On démarre l'ADC
-	ADC_start(ADC2);
-	
+	ADC_conf(adc);
 }
 
-double Voltage_getVoltage() {
-	
-	return ADC_readVolt(ADC2);
-	
+void Voltage_start(ADC_TypeDef * adc)
+{
+	ADC_start(adc);
+}
+
+float Voltage_getVoltage(ADC_TypeDef * adc, int channel) 
+{
+	return ADC_readVolt(adc, channel);
 }
diff --git a/Services/Voltage.h b/Services/Voltage.h
index bbb164f..ac724ea 100644
--- a/Services/Voltage.h
+++ b/Services/Voltage.h
@@ -4,8 +4,10 @@
 #include "ADC.h"
 #include "GPIO.h"
 
-void Voltage_conf(void);
+void Voltage_conf(ADC_TypeDef * adc, GPIO_TypeDef * gpio, int pin);
 
-double Voltage_getVoltage(void);
+void Voltage_start(ADC_TypeDef * adc);
+
+float Voltage_getVoltage(ADC_TypeDef * adc, int channel);
 
 #endif
diff --git a/Src/Display.c b/Src/Display.c
index 773e01b..9ae682f 100644
--- a/Src/Display.c
+++ b/Src/Display.c
@@ -1 +1,27 @@
 #include "Display.h"
+#include "Voltage.h"
+#include "RFEmitter.h"
+
+USART_TypeDef * EMITTER_USART = USART1;
+
+ADC_TypeDef * VOLTAGE_ADC = ADC2;
+const int VOLTAGE_CHANNEL = LL_ADC_CHANNEL_12;
+GPIO_TypeDef * VOLTAGE_GPIO = GPIOC;
+const int VOLTAGE_PIN = LL_GPIO_PIN_2;
+
+void Display_conf()
+{
+	Voltage_conf(VOLTAGE_ADC, VOLTAGE_GPIO, VOLTAGE_PIN);
+	RFEmitter_conf(EMITTER_USART);
+}
+
+void Display_start()
+{
+	Voltage_start(VOLTAGE_ADC);
+	RFEmitter_start(EMITTER_USART);
+}
+
+void Display_background()
+{
+	float voltage = Voltage_getVoltage(ADC2, LL_ADC_CHANNEL_12);
+}
diff --git a/Src/Display.h b/Src/Display.h
index d8b1037..c11ac27 100644
--- a/Src/Display.h
+++ b/Src/Display.h
@@ -1,4 +1,10 @@
 #ifndef DISPLAY_H
 #define DISPLAY_H
 
+void Display_conf(void);
+
+void Display_start(void);
+
+void Display_background(void);
+
 #endif
diff --git a/Src/Orientation.c b/Src/Orientation.c
index ea05c7c..96fb4c5 100644
--- a/Src/Orientation.c
+++ b/Src/Orientation.c
@@ -1,19 +1,31 @@
 #include "Orientation.h"
-#define SEUIL 30
+#include "math.h"
 
-void Orientation_conf() {
-	
-	DCMotor_conf();
-	RFReceiver_conf();
-	
+#define THRESHOLD 30
+
+TIM_TypeDef * RECEIVER_TIMER = TIM4;
+const int RECEIVER_CHANNEL = LL_TIM_CHANNEL_CH1;
+
+TIM_TypeDef * DCMOTOR_TIMER = TIM2;
+const int DCMOTOR_CHANNEL = LL_TIM_CHANNEL_CH2;
+GPIO_TypeDef * DCMOTOR_GPIO = GPIOA;
+const int DCMOTOR_PIN = LL_GPIO_PIN_2;
+
+void Orientation_conf() 
+{
+	DCMotor_conf(DCMOTOR_TIMER, DCMOTOR_CHANNEL, DCMOTOR_GPIO, DCMOTOR_PIN);
+	RFReceiver_conf(RECEIVER_TIMER, LL_TIM_CHANNEL_CH1);
 }
 
-void Orientation_background(){
-	
-	double speed = RFReceiver_getData();
+void Orientation_background()
+{
+	const float speed = RFReceiver_getData(RECEIVER_TIMER);
 	
 	//Si la vitesse (en valeur absolue) ne dépasse pas un certain seuil, on ne démarre pas le moteur
-	if (-SEUIL<speed && SEUIL>speed) DCMotor_setSpeed(0);
-	else DCMotor_setSpeed(speed);
-	
+	if (THRESHOLD < fabs(speed)) {
+		DCMotor_setSpeed(DCMOTOR_TIMER, DCMOTOR_CHANNEL, DCMOTOR_GPIO, DCMOTOR_PIN, 0);
+	}
+	else { 
+		DCMotor_setSpeed(DCMOTOR_TIMER, DCMOTOR_CHANNEL, DCMOTOR_GPIO, DCMOTOR_PIN, speed);
+	}
 }
diff --git a/Src/Sail.c b/Src/Sail.c
index f6b6bc2..ced4b71 100644
--- a/Src/Sail.c
+++ b/Src/Sail.c
@@ -21,6 +21,13 @@ void Sail_conf()
 	IncrementalEncoder_conf(ENCODER_TIMER, ENCODER_GPIO, ENCODER_PIN);
 }
 
+void Sail_start()
+{
+	Sail_isEmergencyState = 0;
+	ServoMotor_start(MOTOR_TIMER);
+	IncrementalEncoder_start(ENCODER_TIMER);
+}
+
 int getSailAngle(int windAngle)
 {
 	if (windAngle > 180)
@@ -48,11 +55,3 @@ void Sail_setEmergency(int state)
 	if (Sail_isEmergencyState)
 		ServoMotor_setAngle(MOTOR_TIMER, MOTOR_CHANNEL, RESET_ANGLE);
 }
-
-
-void Sail_start()
-{
-	Sail_isEmergencyState = 0;
-	ServoMotor_start(MOTOR_TIMER);
-	IncrementalEncoder_start(ENCODER_TIMER);
-}
diff --git a/Src/main.c b/Src/main.c
index d55b4a8..166fdcd 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -22,6 +22,8 @@
 
 #include "Sail.h"
 #include "Roll.h"
+#include "Display.h"
+#include "Orientation.h"
 
 #include "Scheduler.h"
 #include "ADC.h"
@@ -45,10 +47,12 @@ void backgroundTask()
 	counter++;
 	Sail_background();
 	Roll_background();
+	Orientation_background();
 	
-	angle = Accelerometer_getAngle(ADC1, LL_ADC_CHANNEL_11);
 	
 	// DEBUG
+	angle = Accelerometer_getAngle(ADC1, LL_ADC_CHANNEL_11);
+	
 	adcRaw1 = ADC_readRaw(ADC1, LL_ADC_CHANNEL_11);
 	adcRaw2 = ADC_readRaw(ADC1, LL_ADC_CHANNEL_10);
 	adcVolt1 = ADC_convertToVolt(adcRaw1);
@@ -59,6 +63,7 @@ void configurePeripherals()
 {
 	Sail_conf();
 	Roll_conf();
+	Orientation_conf();
 	
 	// DEBUG
 	ADC_conf(ADC1);
@@ -68,6 +73,7 @@ void startPeripherals()
 {
 	Sail_start();
 	Roll_start();
+	Display_start();
 	
 	// DEBUG
 	ADC_start(ADC1);
@@ -90,9 +96,8 @@ int main(void)
 	Scheduler_conf(backgroundTask);
 	Scheduler_start();
 
-  while (1)
-  {
-		// Send to display here
+  while (1) {
+		Display_background();
   }
 }