ysimard/projet_voilier
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Merge branch 'YA'

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This commit is contained in:
Arnaud Vergnet 2020-11-10 17:38:08 +01:00
commit c5d3c98bf7
12 changed files with 240 additions and 55 deletions
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71
MDK-ARM/Project.uvoptx
View file

@ -345,7 +345,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGDARM</Key>
<Name>(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)</Name>
<Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=1554,213,1920,450,0)(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=1509,217,1920,660,0)(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=1336,105,1920,897,0)(133=1148,116,1732,908,0)(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=915,87,1508,879,0)(151=-1,-1,-1,-1,0)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -382,9 +382,9 @@
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>65</LineNumber>
<LineNumber>84</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134223216</Address>
<Address>134226236</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
@ -393,23 +393,7 @@
<BreakIfRCount>1</BreakIfRCount>
<Filename>../Src/main.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\NUCLEO_F103RB\../Src/main.c\65</Expression>
</Bp>
<Bp>
<Number>1</Number>
<Type>0</Type>
<LineNumber>69</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134223230</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>../Src/main.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\NUCLEO_F103RB\../Src/main.c\69</Expression>
<Expression>\\NUCLEO_F103RB\../Src/main.c\84</Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
@ -418,6 +402,21 @@
<WinNumber>1</WinNumber>
<ItemText>counter,0x10</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
<ItemText>adcVolt1</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>1</WinNumber>
<ItemText>adcVolt2</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>1</WinNumber>
<ItemText>angle,0x0A</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>
@ -465,7 +464,7 @@
<Wi>
<IntNumber>0</IntNumber>
<FirstString>((PORTB &amp; 0x00000100) &gt;&gt; 8 &amp; 0x100) &gt;&gt; 8</FirstString>
<SecondString>FF000000000000000000000000000000E0FFEF400100000000000000000000000000000028504F5254422026203078303030303031303029203E3E2038000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000100000001000000000000000000F03F1400000000000000000000000000000000000000AE110008</SecondString>
<SecondString>FF000000000000000000000000000000E0FFEF400100000000000000000000000000000028504F5254422026203078303030303031303029203E3E2038000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000100000001000000000000000000F03F1300000000000000000000000000000000000000AE110008</SecondString>
</Wi>
</LogicAnalyzers>
<DebugDescription>
@ -772,6 +771,30 @@
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>4</GroupNumber>
<FileNumber>23</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\LLDrivers\src\stm32f1xx_ll_usart.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_ll_usart.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>4</GroupNumber>
<FileNumber>24</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\LLDrivers\src\stm32f1xx_ll_adc.c</PathWithFileName>
<FilenameWithoutPath>stm32f1xx_ll_adc.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group>
<Group>
@ -782,7 +805,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>5</GroupNumber>
<FileNumber>23</FileNumber>
<FileNumber>25</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -802,7 +825,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>6</GroupNumber>
<FileNumber>24</FileNumber>
<FileNumber>26</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@ -822,7 +845,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>25</FileNumber>
<FileNumber>27</FileNumber>
<FileType>2</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>

20
MDK-ARM/Project.uvprojx
View file

@ -508,6 +508,16 @@
<FileType>1</FileType>
<FilePath>..\LLDrivers\src\stm32f1xx_ll_gpio.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_ll_usart.c</FileName>
<FileType>1</FileType>
<FilePath>..\LLDrivers\src\stm32f1xx_ll_usart.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_ll_adc.c</FileName>
<FileType>1</FileType>
<FilePath>..\LLDrivers\src\stm32f1xx_ll_adc.c</FilePath>
</File>
</Files>
</Group>
<Group>
@ -1047,6 +1057,16 @@
<FileType>1</FileType>
<FilePath>..\LLDrivers\src\stm32f1xx_ll_gpio.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_ll_usart.c</FileName>
<FileType>1</FileType>
<FilePath>..\LLDrivers\src\stm32f1xx_ll_usart.c</FilePath>
</File>
<File>
<FileName>stm32f1xx_ll_adc.c</FileName>
<FileType>1</FileType>
<FilePath>..\LLDrivers\src\stm32f1xx_ll_adc.c</FilePath>
</File>
</Files>
</Group>
<Group>

19
MyDrivers/ADC.c
View file

@ -1,7 +1,7 @@
#include "ADC.h"
#include "stm32f1xx_ll_bus.h" // Pour horloge
void ADC_conf(ADC_TypeDef *adc, uint32_t voie)
void ADC_conf(ADC_TypeDef *adc)
{
if (adc == ADC1) {
LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_ADC1);
@ -13,10 +13,9 @@ void ADC_conf(ADC_TypeDef *adc, uint32_t voie)
RCC->CFGR |= RCC_CFGR_ADCPRE_DIV6;
// Fixe le nombre de conversion à 1
adc->SQR1&= ADC_SQR1_L;
adc->SQR1 &= ADC_SQR1_L;
// Indique la voie a convertir
adc->SQR3|= voie;
// Calibration
adc->CR2 |= ADC_CR2_CAL_Msk;
@ -30,23 +29,25 @@ void ADC_start(ADC_TypeDef *adc)
}
uint16_t ADC_readRaw(ADC_TypeDef *adc)
uint16_t ADC_readRaw(ADC_TypeDef *adc, int channel)
{
// Indique la voie a convertir
adc->SQR3 = channel;
// 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)
float ADC_convertToVolt(uint16_t value)
{
return ((double) value) / 4095.0 * 3.3;
}
double ADC_readVolt(ADC_TypeDef *adc)
float ADC_readVolt(ADC_TypeDef *adc, int channel)
{
return ADC_convertToVolt(ADC_readRaw(adc));
return ADC_convertToVolt(ADC_readRaw(adc, channel));
}

8
MyDrivers/ADC.h
View file

@ -3,13 +3,13 @@
#include "stm32f1xx_ll_adc.h"
void ADC_conf(ADC_TypeDef *adc, uint32_t voie);
void ADC_conf(ADC_TypeDef *adc);
void ADC_start(ADC_TypeDef *adc);
uint16_t ADC_readRaw(ADC_TypeDef *adc);
double ADC_readVolt(ADC_TypeDef *adc);
uint16_t ADC_readRaw(ADC_TypeDef *adc, int channel);
float ADC_readVolt(ADC_TypeDef *adc, int channel);
double ADC_convertToVolt(uint16_t value);
float ADC_convertToVolt(uint16_t value);
#endif

45
Services/Accelerometer.c
View file

@ -1 +1,46 @@
#include "Accelerometer.h"
#include "ADC.h"
#include "math.h"
#define M_PI 3.14159265358979323846
// g-sel1 et g-sel1 à 0 => range de 2.5g
// Donc sensibilité de +- 480 mv/g
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)
{
ADC_conf(adc);
GPIO_conf(gpio, pinx, LL_GPIO_MODE_ANALOG, LL_GPIO_OUTPUT_PUSHPULL, LL_GPIO_PULL_UP);
GPIO_conf(gpio, piny, LL_GPIO_MODE_ANALOG, LL_GPIO_OUTPUT_PUSHPULL, LL_GPIO_PULL_UP);
}
void Accelerometer_start(ADC_TypeDef *adc)
{
ADC_start(adc);
}
float voltsToG(float volts)
{
float readG = (volts - ZERO_G) / SENSITIVITY;
if (readG > 1.0)
readG = 1.0;
else if (readG < -1.0)
readG = -1.0;
return readG;
}
int Accelerometer_getAngle(ADC_TypeDef *adc, int channel)
{
const float readG = voltsToG(ADC_readVolt(adc, channel));
float angleRad = asin(readG);
int angleDeg = angleRad * (180/M_PI);
return angleDeg;
}

9
Services/Accelerometer.h
View file

@ -1,4 +1,13 @@
#ifndef ACCELEROMETER_H
#define ACCELEROMETER_H
#include "GPIO.h"
#include "stm32f1xx_ll_adc.h"
void Accelerometer_conf(ADC_TypeDef *adc, GPIO_TypeDef * gpio, int pinx, int piny);
void Accelerometer_start(ADC_TypeDef *adc);
int Accelerometer_getAngle(ADC_TypeDef *adc, int channel);
#endif

2
Services/ServoMotor.c
View file

@ -4,7 +4,7 @@
void ServoMotor_conf(TIM_TypeDef * timer, int channel, GPIO_TypeDef * gpio, int pin)
{
Timer_pwmo_conf(timer, channel, SERVO_MOTO_FREQ, 0.5);
Timer_pwmo_conf(timer, channel, SERVO_MOTO_FREQ, 0);
GPIO_conf(gpio, pin, LL_GPIO_MODE_ALTERNATE, LL_GPIO_OUTPUT_PUSHPULL, LL_GPIO_PULL_UP);
}

41
Src/Roll.c
View file

@ -1 +1,42 @@
#include "Roll.h"
#include "Sail.h"
#include "Accelerometer.h"
#include "stdlib.h"
ADC_TypeDef * ROLL_ADC = ADC1;
const int ROLL_X_CHANNEL = LL_ADC_CHANNEL_11;
const int ROLL_Y_CHANNEL = LL_ADC_CHANNEL_10;
GPIO_TypeDef * ROLL_GPIO = GPIOC;
const int ROLL_X_PIN = LL_GPIO_PIN_0;
const int ROLL_Y_PIN = LL_GPIO_PIN_1;
const int TRIGGER_ANGLE = 40;
int Roll_isEmergencyState = 0;
void Roll_conf(void)
{
Accelerometer_conf(ROLL_ADC, ROLL_GPIO, ROLL_X_PIN, ROLL_Y_PIN);
}
void Roll_start(void)
{
Accelerometer_start(ROLL_ADC);
}
int Roll_getEmergencyState(void)
{
return Roll_isEmergencyState;
}
void Roll_background(void)
{
const int xAngle = Accelerometer_getAngle(ROLL_ADC, ROLL_X_CHANNEL);
//const int yAngle = Accelerometer_getAngle(ROLL_ADC, ROLL_Y_CHANNEL);
const int currentState = abs(xAngle) >= 40;
if (Roll_isEmergencyState && !currentState)
Sail_setEmergency(1);
else if (!Roll_isEmergencyState && currentState)
Sail_setEmergency(0);
}

8
Src/Roll.h
View file

@ -1,4 +1,12 @@
#ifndef ROLL_H
#define ROLL_H
void Roll_conf(void);
void Roll_start(void);
int Roll_getEmergencyState(void);
void Roll_background(void);
#endif

33
Src/Sail.c
View file

@ -11,25 +11,48 @@ TIM_TypeDef * ENCODER_TIMER = TIM3;
GPIO_TypeDef * ENCODER_GPIO = GPIOA;
const int ENCODER_PIN = LL_GPIO_PIN_5;
const int RESET_ANGLE = 90;
int Sail_isEmergencyState = 0;
void Sail_conf()
{
ServoMotor_conf(MOTOR_TIMER, MOTOR_CHANNEL, MOTOR_GPIO, MOTOR_PIN);
IncrementalEncoder_conf(ENCODER_TIMER, ENCODER_GPIO, ENCODER_PIN);
}
void Sail_background()
int getSailAngle(int windAngle)
{
if (windAngle > 180)
return 90 * (windAngle - 45) / 135;
else
return 360 - 90 * ((360 - windAngle) - 45) / 135;
}
void Sail_reset()
void Sail_background()
{
if (Sail_isEmergencyState)
return;
const int windAngle = IncrementalEncoder_getAngle(ENCODER_TIMER);
if (windAngle < 45 || windAngle > 315)
ServoMotor_setAngle(MOTOR_TIMER, MOTOR_CHANNEL, 0);
else
ServoMotor_setAngle(MOTOR_TIMER, MOTOR_CHANNEL, getSailAngle(windAngle));
}
void Sail_setEmergency(int state)
{
Sail_isEmergencyState = state;
if (Sail_isEmergencyState)
ServoMotor_setAngle(MOTOR_TIMER, MOTOR_CHANNEL, RESET_ANGLE);
}
void Sail_start()
{
Timer_start(MOTOR_TIMER);
Timer_start(ENCODER_TIMER);
Sail_isEmergencyState = 0;
ServoMotor_start(MOTOR_TIMER);
IncrementalEncoder_start(ENCODER_TIMER);
}

2
Src/Sail.h
View file

@ -23,7 +23,7 @@ void Sail_background(void);
* @param None
* @retval None
*/
void Sail_reset(void);
void Sail_setEmergency(int state);
/**
* @brief Réinitialise la voile à sa position initiale

37
Src/main.c
View file

@ -21,36 +21,55 @@
#include "stm32f1xx_ll_system.h" // utile dans la fonction SystemClock_Config
#include "Sail.h"
#include "Roll.h"
#include "Scheduler.h"
#include "ADC.h"
#include "GPIO.h"
#include "Accelerometer.h"
void SystemClock_Config(void);
/* Private functions ---------------------------------------------------------*/
int counter = 1;
int adcRaw = 0;
double adcVolt = 0.0;
int adcRaw1 = 0;
int adcRaw2 = 0;
double adcVolt1 = 0.0;
double adcVolt2 = 0.0;
int angle = 0;
void backgroundTask()
{
counter++;
Sail_background();
adcRaw = ADC_readRaw(ADC1);
adcVolt = ADC_convertToVolt(adcRaw);
Roll_background();
angle = Accelerometer_getAngle(ADC1, LL_ADC_CHANNEL_11);
// DEBUG
adcRaw1 = ADC_readRaw(ADC1, LL_ADC_CHANNEL_11);
adcRaw2 = ADC_readRaw(ADC1, LL_ADC_CHANNEL_10);
adcVolt1 = ADC_convertToVolt(adcRaw1);
adcVolt2 = ADC_convertToVolt(adcRaw2);
}
void configurePeripherals()
{
Sail_conf();
ADC_conf(ADC1, 12);
Roll_conf();
// DEBUG
ADC_conf(ADC1);
}
void startPeripherals()
{
Sail_start();
Roll_start();
// DEBUG
ADC_start(ADC1);
}
@ -65,11 +84,6 @@ int main(void)
SystemClock_Config();
/* Add your application code here */
// Configuration chronomètre
// Chrono_Conf(TIM3);
// Lancement chronomètre
// Chrono_Start();
// time = Chrono_Read();
configurePeripherals();
startPeripherals();
@ -78,6 +92,7 @@ int main(void)
while (1)
{
// Send to display here
}
}