ysimard/projet_voilier
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make code more consistent

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This commit is contained in:
Arnaud Vergnet 2020-11-13 08:49:00 +01:00
parent 61b90609c2
commit 89867cd01e
17 changed files with 156 additions and 105 deletions
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5
MyDrivers/ADC.c
View file

@ -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;
}

20
MyDrivers/GPIO.c
View file

@ -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);
}

12
MyDrivers/USART.c
View file

@ -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]);
}

2
Services/Accelerometer.c
View file

@ -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)

36
Services/DCMotor.c
View file

@ -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;
}

6
Services/DCMotor.h
View file

@ -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

24
Services/RFEmitter.c
View file

@ -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);
}

6
Services/RFEmitter.h
View file

@ -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

20
Services/RFReceiver.c
View file

@ -1,17 +1,15 @@
#include "RFReceiver.h"
void RFReceiver_conf() {
void RFReceiver_conf(TIM_TypeDef * timer, int channel)
{
PWMi_conf(timer, channel);
}
PWMi_conf(TIM4, 1);
}
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;
}

4
Services/RFReceiver.h
View file

@ -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

24
Services/Voltage.c
View file

@ -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);
}

6
Services/Voltage.h
View file

@ -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

26
Src/Display.c
View file

@ -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);
}

6
Src/Display.h
View file

@ -1,4 +1,10 @@
#ifndef DISPLAY_H
#define DISPLAY_H
void Display_conf(void);
void Display_start(void);
void Display_background(void);
#endif

32
Src/Orientation.c
View file

@ -1,19 +1,31 @@
#include "Orientation.h"
#define SEUIL 30
#include "math.h"
void Orientation_conf() {
#define THRESHOLD 30
DCMotor_conf();
RFReceiver_conf();
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);
}
}

15
Src/Sail.c
View file

@ -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);
}

13
Src/main.c
View file

@ -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();
}
}