add accelerometer functions

MyDrivers/ADC.c

@@ -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);
@@ -15,8 +15,7 @@ void ADC_conf(ADC_TypeDef *adc, uint32_t voie)
 	// Fixe le nombre de conversion à 1
 	adc->SQR1 &= ADC_SQR1_L; 
 	
-	// Indique la voie a convertir
-	adc->SQR3|= voie; 
+
 	
 	 // Calibration
 	adc->CR2 |= ADC_CR2_CAL_Msk;
@@ -30,8 +29,10 @@ 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)) {}
@@ -40,13 +41,13 @@ uint16_t ADC_readRaw(ADC_TypeDef *adc)
 }
 
 
-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));
 }

MyDrivers/ADC.h

@@ -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

Services/Accelerometer.c

@@ -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;
+}

Services/Accelerometer.h

@@ -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

Services/ServoMotor.c

@@ -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);
 }
 

Src/Roll.c

@@ -1 +1,25 @@
 #include "Roll.h"
+#include "Accelerometer.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;
+
+void Roll_conf(void)
+{
+	Accelerometer_conf(ROLL_ADC, ROLL_GPIO, ROLL_X_PIN, ROLL_Y_PIN);
+}
+
+void Roll_start(void)
+{
+	Accelerometer_start(ROLL_ADC);
+}
+
+void Roll_background(void)
+{
+	const int xAngle = Accelerometer_getAngle(ROLL_ADC, ROLL_X_CHANNEL);
+	const int yAngle = Accelerometer_getAngle(ROLL_ADC, ROLL_Y_CHANNEL);
+}

Src/Roll.h

@@ -1,4 +1,10 @@
 #ifndef ROLL_H
 #define ROLL_H
 
+void Roll_conf(void);
+
+void Roll_start(void);
+
+void Roll_background(void);
+
 #endif

Src/main.c

@@ -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
   }
 }