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compare: ysimard:9b1fa9e11390d87c698915095b1a28c1171fc075
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No commits in common. "6521fbb40fbbe0101418750fd1967bc9569b5c00" and "9b1fa9e11390d87c698915095b1a28c1171fc075" have entirely different histories.
6521fbb40f ... 9b1fa9e113

7 changed files with 13 additions and 211 deletions
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40
MyDrivers/Timer.c
View file

@ -171,15 +171,15 @@ void Timer_conf(TIM_TypeDef * timer, int arr, int psc)
* PWM OUTPUT
***************************************************************************/
int getArrFromFreq(float freq)
int getArrFromFreq(float freq_khz)
{
return (72000000 / freq) - 1;
return (72000 / freq_khz) - 1;
}
void Timer_pwmo_conf(TIM_TypeDef * timer, int channel, float freq, float dutyCycle)
void Timer_pwmo_conf(TIM_TypeDef * timer, int channel, float freq_khz, float dutyCycle)
{
const int arr = getArrFromFreq(freq);
Timer_conf(timer, arr, 1000);
const int arr = getArrFromFreq(freq_khz);
Timer_conf(timer, arr, 0);
LL_TIM_OC_InitTypeDef init_struct;
LL_TIM_OC_StructInit(&init_struct);
@ -190,33 +190,15 @@ void Timer_pwmo_conf(TIM_TypeDef * timer, int channel, float freq, float dutyCyc
LL_TIM_OC_Init(timer, channel, &init_struct);
}
void Timer_pwmo_setFreq(TIM_TypeDef * timer, float freq)
void Timer_pwmo_setDutyCycle(TIM_TypeDef * timer, int channel, float freq_khz, float dutyCycle)
{
const int arr = getArrFromFreq(freq);
LL_TIM_SetAutoReload(timer, arr);
}
void Timer_pwmo_setDutyCycle(TIM_TypeDef * timer, int channel, float dutyCycle)
{
const int arr = LL_TIM_GetAutoReload(timer);
int compare = dutyCycle * arr;
int compare = dutyCycle * getArrFromFreq(freq_khz);
if (channel == LL_TIM_CHANNEL_CH1) LL_TIM_OC_SetCompareCH1(timer, compare);
else if (channel == LL_TIM_CHANNEL_CH2) LL_TIM_OC_SetCompareCH2(timer, compare);
else if (channel == LL_TIM_CHANNEL_CH3) LL_TIM_OC_SetCompareCH3(timer, compare);
else LL_TIM_OC_SetCompareCH4(timer, compare);
}
float Timer_pwmo_getDutyCycle(TIM_TypeDef * timer, int channel)
{
int compare = 0;
const int arr = LL_TIM_GetAutoReload(timer);
if (channel == LL_TIM_CHANNEL_CH1) compare = LL_TIM_OC_GetCompareCH1(timer);
else if (channel == LL_TIM_CHANNEL_CH2) compare = LL_TIM_OC_GetCompareCH2(timer);
else if (channel == LL_TIM_CHANNEL_CH3) compare = LL_TIM_OC_GetCompareCH3(timer);
else compare = LL_TIM_OC_GetCompareCH4(timer);
return ((float) compare) / ((float) arr);
}
/****************************************************************************
* ENCODER
***************************************************************************/
@ -237,11 +219,7 @@ int Timer_encoder_getAngle(TIM_TypeDef * timer)
return LL_TIM_GetCounter(timer);
}
enum CounterDirection Timer_encoder_getDirection(TIM_TypeDef * timer)
int Timer_encoder_getDirection(TIM_TypeDef * timer)
{
const int dir = LL_TIM_GetDirection(timer);
if (dir == LL_TIM_COUNTERDIRECTION_UP)
return CLOCKWISE;
else
return COUNTER_CLOCKWISE;
return LL_TIM_GetDirection(timer);
}

33
MyDrivers/Timer.h
View file

@ -2,13 +2,6 @@
#define TIMER_H
#include "stm32f103xb.h"
#include "stm32f1xx_ll_tim.h" // Pour les timers
enum CounterDirection {
CLOCKWISE = LL_TIM_COUNTERDIRECTION_UP,
COUNTER_CLOCKWISE = LL_TIM_COUNTERDIRECTION_DOWN,
};
/****************************************************************************
* INTERRUPTIONS
@ -72,20 +65,11 @@ int PWMi_getDutyCycle(TIM_TypeDef * timer, int channel);
* @note
* @param TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
* int channel : Le channel utilisé par la PWM
* float freq : Fréquence en Hz (entre 2Hz et pas trop grand svp)
* float freq_khz : Fréquence en KHz
* float dutyCycle : Valeur entre 0 et 1
* @retval None
*/
void Timer_pwmo_conf(TIM_TypeDef * timer, int channel, float freq, float dutyCycle);
/**
* @brief Modifie la fréquence des PWMs associées au timer donné
* @note
* @param TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
* float freq : Fréquence en Hz (entre 2Hz et pas trop grand svp)
* @retval None
*/
void Timer_pwmo_setFreq(TIM_TypeDef * timer, float freq);
void Timer_pwmo_conf(TIM_TypeDef * timer, int channel, float freq_khz, float dutyCycle);
/**
* @brief Modifie le duty cycle de la PWM
@ -95,16 +79,7 @@ void Timer_pwmo_setFreq(TIM_TypeDef * timer, float freq);
* float dutyCycle : Valeur entre 0 et 1
* @retval None
*/
void Timer_pwmo_setDutyCycle(TIM_TypeDef * timer, int channel, float dutyCycle);
/**
* @brief Récupère le duty cycle de la PWM
* @note
* @param TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
* int channel : Le channel utilisé par la PWM
* @retval float dutyCycle
*/
float Timer_pwmo_getDutyCycle(TIM_TypeDef * timer, int channel);
void Timer_pwmo_setDutyCycle(TIM_TypeDef * timer, int channel, float freq_khz, float dutyCycle);
/****************************************************************************
* ENCODER
@ -132,6 +107,6 @@ int Timer_encoder_getAngle(TIM_TypeDef * timer);
* @param TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
* @retval None
*/
enum CounterDirection Timer_encoder_getDirection(TIM_TypeDef * timer);
int Timer_encoder_getDirection(TIM_TypeDef * timer);
#endif

23
Services/IncrementalEncoder.c
View file

@ -1,24 +1 @@
#include "IncrementalEncoder.h"
#include "Timer.h"
void IncrementalEncoder_conf(TIM_TypeDef * timer)
{
Timer_encoder_conf(timer);
// TODO GPIO config
}
void IncrementalEncoder_start(TIM_TypeDef * timer)
{
Timer_start(timer);
}
int IncrementalEncoder_getAngle(TIM_TypeDef * timer)
{
return Timer_encoder_getAngle(timer);
}
enum CounterDirection IncrementalEncoder_getDirection(TIM_TypeDef * timer)
{
return Timer_encoder_getDirection(timer);
}

34
Services/IncrementalEncoder.h
View file

@ -1,38 +1,4 @@
#ifndef INC_ENCODER_H
#define INC_ENCODER_H
#include "stm32f103xb.h"
/**
* @brief Configure le codeur incrémental associé au timer donné
* @note
* @param TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
* @retval None
*/
void IncrementalEncoder_conf(TIM_TypeDef * timer);
/**
* @brief Démarre le codeur incrémental associé au timer donné
* @note
* @param TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
* @retval None
*/
void IncrementalEncoder_start(TIM_TypeDef * timer);
/**
* @brief Récupère l'angle du codeur incrémental associé au timer donné
* @note
* @param TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
* @retval int angle
*/
int IncrementalEncoder_getAngle(TIM_TypeDef * timer);
/**
* @brief Récupère la direction du codeur incrémental associé au timer donné
* @note
* @param TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
* @retval int dir
*/
enum CounterDirection IncrementalEncoder_getDirection(TIM_TypeDef * timer);
#endif

24
Services/ServoMotor.c
View file

@ -1,25 +1 @@
#include "ServoMotor.h"
#include "Timer.h"
#define SERVO_MOTO_FREQ 50
void ServoMotor_conf(TIM_TypeDef * timer, int channel)
{
Timer_pwmo_conf(timer, channel, SERVO_MOTO_FREQ, 0);
}
void ServoMotor_start(TIM_TypeDef * timer)
{
Timer_start(timer);
}
void ServoMotor_setAngle(TIM_TypeDef * timer, int channel, int angle)
{
Timer_pwmo_setDutyCycle(timer, channel, ((float) angle) / 359.0);
}
int ServoMotor_getAngle(TIM_TypeDef * timer, int channel)
{
const float dutyCycle = Timer_pwmo_getDutyCycle(timer, channel);
return 359 * dutyCycle;
}

38
Services/ServoMotor.h
View file

@ -1,42 +1,4 @@
#ifndef SERVO_MOTOR_H
#define SERVO_MOTOR_H
#include "stm32f103xb.h"
/**
* @brief Configure le servo moteur associé au timer donné
* @note
* @param TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
* int channel : Le channel utilisé par le servo moteur
* @retval None
*/
void ServoMotor_conf(TIM_TypeDef * timer, int channel);
/**
* @brief Démarre les servo moteurs associés au timer donné
* @note
* @param TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
* @retval None
*/
void ServoMotor_start(TIM_TypeDef * timer);
/**
* @brief Modifie l'angle du servo moteur
* @note
* @param TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
* int channel : Le channel utilisé par le servo moteur
* float angle : .En degrès (Valeur entre 0 et 359)
* @retval None
*/
void ServoMotor_setAngle(TIM_TypeDef * timer, int channel, int angle);
/**
* @brief Récupère l'angle du servo moteur
* @note
* @param TIM_TypeDef Timer : indique le timer à utiliser : TIM1, TIM2, TIM3 ou TIM4
* int channel : Le channel utilisé par le servo moteur
* @retval int angle
*/
int ServoMotor_getAngle(TIM_TypeDef * timer, int channel);
#endif

32
Src/Sail.h
View file

@ -1,36 +1,4 @@
#ifndef SAIL_H
#define SAIL_H
/**
* @brief Configure la voile
* @note
* @param None
* @retval None
*/
void Sail_conf();
/**
* @brief Execute la tache de fond des voiles en fonction des valeurs récupérées par les drivers
* @note
* @param None
* @retval None
*/
void Sail_background();
/**
* @brief Mets la voile à 90 degres
* @note
* @param None
* @retval None
*/
void Sail_reset();
/**
* @brief Réinitialise la voile à sa position initiale
* @note
* @param None
* @retval None
*/
void Sail_start();
#endif