diff --git a/MDK-ARM/Project.uvoptx b/MDK-ARM/Project.uvoptx index fad46b2..040c6c6 100644 --- a/MDK-ARM/Project.uvoptx +++ b/MDK-ARM/Project.uvoptx @@ -345,7 +345,7 @@ 0 DLGDARM - (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) + (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=129,555,687,1080,0)(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=150,46,938,969,0)(133=1148,116,1732,908,0)(160=1046,190,1640,699,1)(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=130,96,930,1019,0)(151=127,38,927,961,0) 0 @@ -382,9 +382,25 @@ 0 0 - 84 + 20 1 -
134226236
+
134226220
+ 0 + 0 + 0 + 0 + 0 + 1 + ..\Services\RFEmitter.c + + \\NUCLEO_F103RB\../Services/RFEmitter.c\20 + + + 1 + 0 + 43 + 1 +
134231406
0 0 0 @@ -393,14 +409,62 @@ 1 ../Src/main.c - \\NUCLEO_F103RB\../Src/main.c\84 + \\NUCLEO_F103RB\../Src/main.c\43 + + + 2 + 0 + 82 + 1 +
134231536
+ 0 + 0 + 0 + 0 + 0 + 1 + ../Src/main.c + + \\NUCLEO_F103RB\../Src/main.c\82 + + + 3 + 0 + 44 + 1 +
0
+ 0 + 0 + 0 + 0 + 0 + 0 + ../Src/main.c + + + + + 4 + 0 + 87 + 1 +
0
+ 0 + 0 + 0 + 0 + 0 + 0 + ../Src/main.c + + 0 1 - counter,0x10 + msCounter,0x0A 1 @@ -417,6 +481,31 @@ 1 angle,0x0A + + 4 + 1 + displayStr + + + 5 + 1 + adcStatus + + + 6 + 1 + val1 + + + 7 + 1 + val2 + + + 8 + 1 + message + 0 @@ -424,7 +513,7 @@ 0 1 - 1 + 0 0 0 0 @@ -438,7 +527,7 @@ 0 0 0 - 1 + 0 0 0 0 @@ -464,9 +553,19 @@ 0 ((PORTB & 0x00000100) >> 8 & 0x100) >> 8 - FF000000000000000000000000000000E0FFEF400100000000000000000000000000000028504F5254422026203078303030303031303029203E3E2038000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000100000001000000000000000000F03F1300000000000000000000000000000000000000AE110008 + FF000000000000000000000000000000E0FFEF400100000000000000000000000000000028504F5254422026203078303030303031303029203E3E2038000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000100000001000000000000000000F03F1700000000000000000000000000000000000000AE110008 + + + System Viewer\ADC1 + 35904 + + + System Viewer\ADC2 + 35905 + + 1 0 @@ -603,7 +702,7 @@ 2 10 1 - 0 + 1 0 0 ..\Services\RFEmitter.c diff --git a/MDK-ARM/Project.uvprojx b/MDK-ARM/Project.uvprojx index 04a36be..254be84 100644 --- a/MDK-ARM/Project.uvprojx +++ b/MDK-ARM/Project.uvprojx @@ -185,7 +185,6 @@ 0 0 0 - 0 0 0 8 @@ -352,7 +351,7 @@ 0 0 0 - 4 + 0 @@ -559,7 +558,7 @@ Simulateur 0x4 ARM-ADS - 5060750::V5.06 update 6 (build 750)::.\ARMCC + 5060750::V5.06 update 6 (build 750)::ARMCC 0 @@ -734,7 +733,6 @@ 0 0 0 - 0 0 0 8 @@ -901,7 +899,7 @@ 0 0 0 - 4 + 0 @@ -1120,19 +1118,4 @@ - - - - <Project Info> - - - - - - 0 - 1 - - - - diff --git a/MyDrivers/ADC.c b/MyDrivers/ADC.c index de5b8a5..d8c7ba0 100644 --- a/MyDrivers/ADC.c +++ b/MyDrivers/ADC.c @@ -18,8 +18,6 @@ void ADC_conf(ADC_TypeDef *adc) // Fixe le nombre de conversion à 1 adc->SQR1 &= ADC_SQR1_L; - - // Calibration adc->CR2 |= ADC_CR2_CAL_Msk; while ((adc->CR2 & ADC_CR2_CAL_Msk)); @@ -31,16 +29,15 @@ void ADC_start(ADC_TypeDef *adc) adc->CR2 |= ADC_CR2_ADON; } - 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)) {} + while(!(adc->SR & ADC_SR_EOC)) {} - return ADC1->DR & ADC_DR_DATA_Msk; + return adc->DR & ADC_DR_DATA_Msk; } diff --git a/Services/RFEmitter.c b/Services/RFEmitter.c index c20e91d..02c7c64 100644 --- a/Services/RFEmitter.c +++ b/Services/RFEmitter.c @@ -1,7 +1,11 @@ #include "RFEmitter.h" +#include "GPIO.h" -void RFEmitter_conf(USART_TypeDef * usart) +void RFEmitter_conf(USART_TypeDef * usart, GPIO_TypeDef *gpioTXEnable, int pinTXEnable) { + // Configuration du pin TXEnable + GPIO_conf(gpioTXEnable, pinTXEnable, LL_GPIO_MODE_OUTPUT, LL_GPIO_OUTPUT_PUSHPULL, 0); + // Configuration de l'USART Usart_conf(usart); } @@ -10,7 +14,15 @@ void RFEmitter_start(USART_TypeDef * usart) Usart_enable(usart); } -void RFEmitter_send(USART_TypeDef * usart, char * message, int longueur) +void RFEmitter_send(USART_TypeDef * usart, char * message, int longueur, GPIO_TypeDef *gpioTXEnable, int pinTXEnable) { + // set PA11 (TXEnable) + GPIO_setPin(gpioTXEnable, pinTXEnable, 1); + + // Envoi du message Usart_send(usart, message, longueur); + + // reset PA11 (TXEnable) + GPIO_setPin(gpioTXEnable, pinTXEnable, 0); + } diff --git a/Services/RFEmitter.h b/Services/RFEmitter.h index 29ac108..3a8ab43 100644 --- a/Services/RFEmitter.h +++ b/Services/RFEmitter.h @@ -3,11 +3,11 @@ #include "USART.h" -void RFEmitter_conf(USART_TypeDef * usart); +void RFEmitter_conf(USART_TypeDef * usart, GPIO_TypeDef *gpioTXEnable, int pinTXEnable); void RFEmitter_start(USART_TypeDef * usart); -void RFEmitter_send(USART_TypeDef * usart, char * message, int longueur); +void RFEmitter_send(USART_TypeDef * usart, char * message, int longueur, GPIO_TypeDef *gpioTXEnable, int pinTXEnable); #endif diff --git a/Services/Voltage.c b/Services/Voltage.c index abeb27d..8e11b63 100644 --- a/Services/Voltage.c +++ b/Services/Voltage.c @@ -17,5 +17,6 @@ void Voltage_start(ADC_TypeDef * adc) float Voltage_getVoltage(ADC_TypeDef * adc, int channel) { - return ADC_readVolt(adc, channel); + // 13 * la valeur de l'ADC, car pont diviseur de tension en amont de l'ADC + return 13.0f * ADC_readVolt(adc, channel); } diff --git a/Src/Display.c b/Src/Display.c index 9ae682f..f0ff35b 100644 --- a/Src/Display.c +++ b/Src/Display.c @@ -1,18 +1,23 @@ #include "Display.h" #include "Voltage.h" #include "RFEmitter.h" +#include "Sail.h" +#include "stdio.h" +#include "string.h" USART_TypeDef * EMITTER_USART = USART1; +GPIO_TypeDef * EMITTER_GPIO = GPIOA; +const int EMITTER_PIN = LL_GPIO_PIN_11; ADC_TypeDef * VOLTAGE_ADC = ADC2; -const int VOLTAGE_CHANNEL = LL_ADC_CHANNEL_12; +const int VOLTAGE_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); + RFEmitter_conf(EMITTER_USART, EMITTER_GPIO, EMITTER_PIN); } void Display_start() @@ -21,7 +26,30 @@ void Display_start() RFEmitter_start(EMITTER_USART); } -void Display_background() + +void Display_background(int secCounter) { - float voltage = Voltage_getVoltage(ADC2, LL_ADC_CHANNEL_12); + static int previousEmergencyState = 0; + static int prevSendSec = 0; + + const int emergency = Sail_getEmergencyState(); + + if (secCounter - prevSendSec == 3 || (emergency && !previousEmergencyState)) { + 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; + + 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); + + RFEmitter_send(EMITTER_USART, displayStr, strlen(displayStr), EMITTER_GPIO, EMITTER_PIN); + } + + previousEmergencyState = emergency; } diff --git a/Src/Display.h b/Src/Display.h index c11ac27..9d2dad2 100644 --- a/Src/Display.h +++ b/Src/Display.h @@ -5,6 +5,6 @@ void Display_conf(void); void Display_start(void); -void Display_background(void); +void Display_background(int msCounter); #endif diff --git a/Src/Roll.c b/Src/Roll.c index 05a39b9..d1154e8 100644 --- a/Src/Roll.c +++ b/Src/Roll.c @@ -3,9 +3,9 @@ #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; +ADC_TypeDef * ROLL_ADC = ADC2; +const int ROLL_X_CHANNEL = 11; +const int ROLL_Y_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; diff --git a/Src/Sail.c b/Src/Sail.c index ced4b71..97553f8 100644 --- a/Src/Sail.c +++ b/Src/Sail.c @@ -28,7 +28,7 @@ void Sail_start() IncrementalEncoder_start(ENCODER_TIMER); } -int getSailAngle(int windAngle) +int windToSailAngle(int windAngle) { if (windAngle > 180) return 90 * (windAngle - 45) / 135; @@ -36,6 +36,12 @@ int getSailAngle(int windAngle) return 360 - 90 * ((360 - windAngle) - 45) / 135; } +int Sail_getSailAngle(void) +{ + return ServoMotor_getAngle(MOTOR_TIMER, MOTOR_CHANNEL); +} + + void Sail_background() { if (Sail_isEmergencyState) @@ -46,7 +52,7 @@ void Sail_background() if (windAngle < 45 || windAngle > 315) ServoMotor_setAngle(MOTOR_TIMER, MOTOR_CHANNEL, 0); else - ServoMotor_setAngle(MOTOR_TIMER, MOTOR_CHANNEL, getSailAngle(windAngle)); + ServoMotor_setAngle(MOTOR_TIMER, MOTOR_CHANNEL, windToSailAngle(windAngle)); } void Sail_setEmergency(int state) @@ -55,3 +61,8 @@ void Sail_setEmergency(int state) if (Sail_isEmergencyState) ServoMotor_setAngle(MOTOR_TIMER, MOTOR_CHANNEL, RESET_ANGLE); } + +int Sail_getEmergencyState() +{ + return Sail_isEmergencyState; +} diff --git a/Src/Sail.h b/Src/Sail.h index 1973501..46c3851 100644 --- a/Src/Sail.h +++ b/Src/Sail.h @@ -25,6 +25,10 @@ void Sail_background(void); */ void Sail_setEmergency(int state); +int Sail_getEmergencyState(void); + +int Sail_getSailAngle(void); + /** * @brief Réinitialise la voile à sa position initiale * @note diff --git a/Src/main.c b/Src/main.c index 166fdcd..de97676 100644 --- a/Src/main.c +++ b/Src/main.c @@ -29,44 +29,34 @@ #include "ADC.h" #include "GPIO.h" #include "Accelerometer.h" +#include "RFEmitter.h" +#include "stdio.h" void SystemClock_Config(void); +int secCounter = 0; + /* Private functions ---------------------------------------------------------*/ -int counter = 1; -int adcRaw1 = 0; -int adcRaw2 = 0; -double adcVolt1 = 0.0; -double adcVolt2 = 0.0; - -int angle = 0; - void backgroundTask() { - counter++; + static int msCounter; + msCounter++; + if (msCounter == 1000) { + msCounter = 0; + secCounter++; + } Sail_background(); Roll_background(); Orientation_background(); - - - // 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); - adcVolt2 = ADC_convertToVolt(adcRaw2); } void configurePeripherals() { Sail_conf(); Roll_conf(); + Display_conf(); Orientation_conf(); - - // DEBUG - ADC_conf(ADC1); } void startPeripherals() @@ -74,9 +64,6 @@ void startPeripherals() Sail_start(); Roll_start(); Display_start(); - - // DEBUG - ADC_start(ADC1); } /** @@ -85,7 +72,7 @@ void startPeripherals() * @retval None */ int main(void) -{ +{ /* Configure the system clock to 72 MHz */ SystemClock_Config(); @@ -97,8 +84,24 @@ int main(void) Scheduler_start(); while (1) { - Display_background(); + Display_background(secCounter); } + + +//// ADC 2 marche niquel, ADC1 ne marche pas :( +// ADC_conf(ADC1); +// ADC_start(ADC1); +// +// ADC_conf(ADC2); +// ADC_start(ADC2); + +// +// while (1) { +// val1 = ADC_readRaw(ADC1, 10); +// val2 = ADC_readRaw(ADC2, 10); +// } + + } @@ -177,8 +180,8 @@ void SystemClock_Config(void) */ void assert_failed(uint8_t *file, uint32_t line) { - /* User can add his own implementation to report the file name and line number, - ex: printf("Wrong parameters value: file %s on line %d", file, line) */ + /* User can add his own implementation to report the file name and line number*/ + printf("Wrong parameters value: file %s on line %d", file, line); /* Infinite loop */ while (1)