From a065fd5c605cf37400d642490826186df578b1d8 Mon Sep 17 00:00:00 2001
From: sfaguet <sfaguet@centumadetel.com>
Date: Sun, 6 Dec 2020 21:12:21 -0500
Subject: [PATCH] Adaptation pour le robot DJI
---
.mxproject | 6 +-
Inc/main.h | 2 +
Inc/motors.h | 13 +-
Inc/stm32f4xx_hal_conf.h | 2 +-
Inc/tim.h | 60 +
MDK-ARM/RobotMaster_allRobots.uvoptx | 102 +-
MDK-ARM/RobotMaster_allRobots.uvprojx | 17 +-
MDK-ARM/bin/RobotMaster_allRobots.hex | 2317 +++++++++++++------------
MDK-ARM/bin/startup_stm32f427xx._ia | 6 +
RobotMaster_allRobots.ioc | 66 +-
Src/BoardA_handle.c | 27 +-
Src/main.c | 7 +-
Src/motors.c | 52 +-
Src/robot_configuration.c | 30 +-
Src/tim.c | 147 ++
Src/traitement.c | 35 +-
16 files changed, 1705 insertions(+), 1184 deletions(-)
create mode 100644 Inc/tim.h
create mode 100644 MDK-ARM/bin/startup_stm32f427xx._ia
create mode 100644 Src/tim.c
diff --git a/.mxproject b/.mxproject
index 8a5436a..4c07ff9 100644
--- a/.mxproject
+++ b/.mxproject
@@ -2,13 +2,13 @@
LibFiles=Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h;Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h;Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f427xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h;Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/tz_context.h;
[PreviousUsedKeilFiles]
-SourceFiles=..\Src\main.c;..\Src\gpio.c;..\Src\adc.c;..\Src\can.c;..\Src\dma.c;..\Src\spi.c;..\Src\usart.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\\Src/system_stm32f4xx.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\\Src/system_stm32f4xx.c;..\Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;;
+SourceFiles=..\Src\main.c;..\Src\gpio.c;..\Src\adc.c;..\Src\can.c;..\Src\dma.c;..\Src\spi.c;..\Src\tim.c;..\Src\usart.c;..\Src\stm32f4xx_it.c;..\Src\stm32f4xx_hal_msp.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\\Src/system_stm32f4xx.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c;..\Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c;..\\Src/system_stm32f4xx.c;..\Drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c;;
HeaderPath=..\Drivers\STM32F4xx_HAL_Driver\Inc;..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;..\Drivers\CMSIS\Device\ST\STM32F4xx\Include;..\Drivers\CMSIS\Include;..\Inc;
CDefines=USE_HAL_DRIVER;STM32F427xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
[PreviousGenFiles]
HeaderPath=C:/Users/sfaguet/Documents/RobotMaster_allRobots/Inc
-HeaderFiles=gpio.h;adc.h;can.h;dma.h;spi.h;usart.h;stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;
+HeaderFiles=gpio.h;adc.h;can.h;dma.h;spi.h;tim.h;usart.h;stm32f4xx_it.h;stm32f4xx_hal_conf.h;main.h;
SourcePath=C:/Users/sfaguet/Documents/RobotMaster_allRobots/Src
-SourceFiles=gpio.c;adc.c;can.c;dma.c;spi.c;usart.c;stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;
+SourceFiles=gpio.c;adc.c;can.c;dma.c;spi.c;tim.c;usart.c;stm32f4xx_it.c;stm32f4xx_hal_msp.c;main.c;
diff --git a/Inc/main.h b/Inc/main.h
index fb8260b..9ba91db 100644
--- a/Inc/main.h
+++ b/Inc/main.h
@@ -33,6 +33,8 @@ extern "C" {
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "BoardA_handle.h"
+#include "traitement.h"
+#include "robot_configuration.h"
/* USER CODE END Includes */
diff --git a/Inc/motors.h b/Inc/motors.h
index fa3d690..d9e3a64 100644
--- a/Inc/motors.h
+++ b/Inc/motors.h
@@ -10,6 +10,7 @@
#include "PID.h"
#include "can.h"
#include "leds.h"
+#include "tim.h"
#include "robot_configuration.h"
#include <stdlib.h>
#include <stdio.h>
@@ -43,7 +44,6 @@ typedef struct
uint16_t can_tx_id;
motor_info_t info; // Specific info about the motor
int type; // Type du moteur, ex:GM6020
- //pid_struct_t pid_pos; // Controler
struct pid_controller pid; // Controler
float consigne;
float command;
@@ -62,9 +62,18 @@ void can_send_command(void);
void can_motors_callback_handler(int16_t rx_id, uint8_t* rx_buff);
/* Modifie la consigne tout en vérifiant les limites de postion */
-void add_consigne_position(motor_t* motor, float value);
+void add_consigne_position(motor_t* motor, float value, float coeff);
/* Initialise le CAN 1 */
void can1_init(void);
+/* Initialise le TIMER 1 pour les PWM */
+void PWM_init(void);
+
+/* Set le duty cycle de tous les channels PWM */
+void PWM_SetAllDuty(TIM_HandleTypeDef *tim, float duty_ch1, float duty_ch2);
+
+/* scales all PWM duty cycles between 0 and 1 */
+void PWM_ScaleAll(TIM_HandleTypeDef *tim);
+
#endif
diff --git a/Inc/stm32f4xx_hal_conf.h b/Inc/stm32f4xx_hal_conf.h
index 73c9af6..f384e69 100644
--- a/Inc/stm32f4xx_hal_conf.h
+++ b/Inc/stm32f4xx_hal_conf.h
@@ -62,7 +62,7 @@
/* #define HAL_SD_MODULE_ENABLED */
/* #define HAL_MMC_MODULE_ENABLED */
#define HAL_SPI_MODULE_ENABLED
-/* #define HAL_TIM_MODULE_ENABLED */
+#define HAL_TIM_MODULE_ENABLED
#define HAL_UART_MODULE_ENABLED
/* #define HAL_USART_MODULE_ENABLED */
/* #define HAL_IRDA_MODULE_ENABLED */
diff --git a/Inc/tim.h b/Inc/tim.h
new file mode 100644
index 0000000..d9b335e
--- /dev/null
+++ b/Inc/tim.h
@@ -0,0 +1,60 @@
+/**
+ ******************************************************************************
+ * File Name : TIM.h
+ * Description : This file provides code for the configuration
+ * of the TIM instances.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * All rights reserved.</center></h2>
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ * opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __tim_H
+#define __tim_H
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern TIM_HandleTypeDef htim1;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_TIM1_Init(void);
+
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+#endif /*__ tim_H */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/MDK-ARM/RobotMaster_allRobots.uvoptx b/MDK-ARM/RobotMaster_allRobots.uvoptx
index 75a57c3..bf268d5 100644
--- a/MDK-ARM/RobotMaster_allRobots.uvoptx
+++ b/MDK-ARM/RobotMaster_allRobots.uvoptx
@@ -160,6 +160,16 @@
<WinNumber>1</WinNumber>
<ItemText>motors[TOURELLE_YAW].info.angle</ItemText>
</Ww>
+ <Ww>
+ <count>2</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>motors</ItemText>
+ </Ww>
+ <Ww>
+ <count>3</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>\\RobotMaster_allRobots\../Src/robot_configuration.c\motors[5].MAX_POSITION</ItemText>
+ </Ww>
</WatchWindow1>
<WatchWindow2>
<Ww>
@@ -310,8 +320,8 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
- <PathWithFileName>..\Src\stm32f4xx_hal_msp.c</PathWithFileName>
- <FilenameWithoutPath>stm32f4xx_hal_msp.c</FilenameWithoutPath>
+ <PathWithFileName>..\Src\tim.c</PathWithFileName>
+ <FilenameWithoutPath>tim.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
@@ -322,8 +332,8 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
- <PathWithFileName>..\Src\stm32f4xx_it.c</PathWithFileName>
- <FilenameWithoutPath>stm32f4xx_it.c</FilenameWithoutPath>
+ <PathWithFileName>..\Src\usart.c</PathWithFileName>
+ <FilenameWithoutPath>usart.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
@@ -334,8 +344,8 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
- <PathWithFileName>..\Src\system_stm32f4xx.c</PathWithFileName>
- <FilenameWithoutPath>system_stm32f4xx.c</FilenameWithoutPath>
+ <PathWithFileName>..\Src\stm32f4xx_hal_msp.c</PathWithFileName>
+ <FilenameWithoutPath>stm32f4xx_hal_msp.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
@@ -346,8 +356,20 @@
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
- <PathWithFileName>..\Src\usart.c</PathWithFileName>
- <FilenameWithoutPath>usart.c</FilenameWithoutPath>
+ <PathWithFileName>..\Src\stm32f4xx_it.c</PathWithFileName>
+ <FilenameWithoutPath>stm32f4xx_it.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
+ <bShared>0</bShared>
+ </File>
+ <File>
+ <GroupNumber>1</GroupNumber>
+ <FileNumber>11</FileNumber>
+ <FileType>1</FileType>
+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
+ <PathWithFileName>..\Src\system_stm32f4xx.c</PathWithFileName>
+ <FilenameWithoutPath>system_stm32f4xx.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
@@ -355,13 +377,13 @@
<Group>
<GroupName>Startup</GroupName>
- <tvExp>0</tvExp>
+ <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
<File>
<GroupNumber>2</GroupNumber>
- <FileNumber>11</FileNumber>
+ <FileNumber>12</FileNumber>
<FileType>2</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -381,7 +403,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>12</FileNumber>
+ <FileNumber>13</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -393,7 +415,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>13</FileNumber>
+ <FileNumber>14</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -405,7 +427,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>14</FileNumber>
+ <FileNumber>15</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -417,7 +439,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>15</FileNumber>
+ <FileNumber>16</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -429,7 +451,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>16</FileNumber>
+ <FileNumber>17</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -441,7 +463,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>17</FileNumber>
+ <FileNumber>18</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -453,7 +475,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>18</FileNumber>
+ <FileNumber>19</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -465,7 +487,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>19</FileNumber>
+ <FileNumber>20</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -477,7 +499,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>20</FileNumber>
+ <FileNumber>21</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -489,7 +511,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>21</FileNumber>
+ <FileNumber>22</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -501,7 +523,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>22</FileNumber>
+ <FileNumber>23</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -513,7 +535,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>23</FileNumber>
+ <FileNumber>24</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -525,7 +547,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>24</FileNumber>
+ <FileNumber>25</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -537,7 +559,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>25</FileNumber>
+ <FileNumber>26</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -549,7 +571,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>26</FileNumber>
+ <FileNumber>27</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -561,7 +583,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>27</FileNumber>
+ <FileNumber>28</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -573,7 +595,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>28</FileNumber>
+ <FileNumber>29</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -585,7 +607,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>29</FileNumber>
+ <FileNumber>30</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -597,7 +619,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>30</FileNumber>
+ <FileNumber>31</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -609,7 +631,7 @@
</File>
<File>
<GroupNumber>3</GroupNumber>
- <FileNumber>31</FileNumber>
+ <FileNumber>32</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -629,7 +651,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>4</GroupNumber>
- <FileNumber>32</FileNumber>
+ <FileNumber>33</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -643,13 +665,13 @@
<Group>
<GroupName>BoardA</GroupName>
- <tvExp>0</tvExp>
+ <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel>
<RteFlg>0</RteFlg>
<File>
<GroupNumber>5</GroupNumber>
- <FileNumber>33</FileNumber>
+ <FileNumber>34</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -669,7 +691,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>34</FileNumber>
+ <FileNumber>35</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -681,7 +703,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>35</FileNumber>
+ <FileNumber>36</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -693,7 +715,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>36</FileNumber>
+ <FileNumber>37</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -705,7 +727,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>37</FileNumber>
+ <FileNumber>38</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -717,7 +739,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>38</FileNumber>
+ <FileNumber>39</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -729,7 +751,7 @@
</File>
<File>
<GroupNumber>6</GroupNumber>
- <FileNumber>39</FileNumber>
+ <FileNumber>40</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
@@ -749,7 +771,7 @@
<RteFlg>0</RteFlg>
<File>
<GroupNumber>7</GroupNumber>
- <FileNumber>40</FileNumber>
+ <FileNumber>41</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
diff --git a/MDK-ARM/RobotMaster_allRobots.uvprojx b/MDK-ARM/RobotMaster_allRobots.uvprojx
index 894e7e4..415dbc7 100644
--- a/MDK-ARM/RobotMaster_allRobots.uvprojx
+++ b/MDK-ARM/RobotMaster_allRobots.uvprojx
@@ -339,7 +339,7 @@
<MiscControls></MiscControls>
<Define>USE_HAL_DRIVER,STM32F427xx,USE_HAL_DRIVER,STM32F427xx</Define>
<Undefine></Undefine>
- <IncludePath>../Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc; ../Drivers/CMSIS/Device/ST/STM32F4xx/Include; ../Drivers/CMSIS/Include</IncludePath>
+ <IncludePath>../Inc; ../Drivers/STM32F4xx_HAL_Driver/Inc; ../Drivers/CMSIS/Device/ST/STM32F4xx/Include; ../Drivers/CMSIS/Include</IncludePath>
</VariousControls>
</Cads>
<Aads>
@@ -482,6 +482,16 @@
<FileType>1</FileType>
<FilePath>..\Src\spi.c</FilePath>
</File>
+ <File>
+ <FileName>tim.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>..\Src\tim.c</FilePath>
+ </File>
+ <File>
+ <FileName>usart.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>..\Src\usart.c</FilePath>
+ </File>
<File>
<FileName>stm32f4xx_hal_msp.c</FileName>
<FileType>1</FileType>
@@ -497,11 +507,6 @@
<FileType>1</FileType>
<FilePath>..\Src\system_stm32f4xx.c</FilePath>
</File>
- <File>
- <FileName>usart.c</FileName>
- <FileType>1</FileType>
- <FilePath>..\Src\usart.c</FilePath>
- </File>
</Files>
</Group>
<Group>
diff --git a/MDK-ARM/bin/RobotMaster_allRobots.hex b/MDK-ARM/bin/RobotMaster_allRobots.hex
index bea800c..bee464b 100644
--- a/MDK-ARM/bin/RobotMaster_allRobots.hex
+++ b/MDK-ARM/bin/RobotMaster_allRobots.hex
@@ -1,1109 +1,1264 @@
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diff --git a/MDK-ARM/bin/startup_stm32f427xx._ia b/MDK-ARM/bin/startup_stm32f427xx._ia
new file mode 100644
index 0000000..7bf361f
--- /dev/null
+++ b/MDK-ARM/bin/startup_stm32f427xx._ia
@@ -0,0 +1,6 @@
+--cpu Cortex-M4.fp.sp --pd "__EVAL SETA 1" -g --apcs=interwork --pd "__MICROLIB SETA 1"
+-I.\RTE\_RobotMaster_allRobots
+-IC:\Users\sfaguet\AppData\Local\Arm\Packs\ARM\CMSIS\5.7.0\CMSIS\Core\Include
+-IC:\Users\sfaguet\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
+--pd "__UVISION_VERSION SETA 532" --pd "_RTE_ SETA 1" --pd "STM32F427xx SETA 1" --pd "_RTE_ SETA 1"
+--list ..\..\startup_stm32f427xx.lst --xref -o .\bin\startup_stm32f427xx.o --depend .\bin\startup_stm32f427xx.d "startup_stm32f427xx.s"
\ No newline at end of file
diff --git a/RobotMaster_allRobots.ioc b/RobotMaster_allRobots.ioc
index bd8c7de..6331b3f 100644
--- a/RobotMaster_allRobots.ioc
+++ b/RobotMaster_allRobots.ioc
@@ -13,6 +13,7 @@ SPI1.VirtualType=VM_MASTER
Dma.USART1_TX.1.MemInc=DMA_MINC_ENABLE
UART8.IPParameters=VirtualMode
PG2.Signal=GPIO_Output
+TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2
PE11.GPIO_Label=BOARD_LED_RED
USART1.BaudRate=100000
PG8.Signal=GPIO_Output
@@ -32,8 +33,10 @@ RCC.RTCFreq_Value=32000
PA6.GPIO_Label=OLED_Analog
PB6.GPIO_Label=ReceiverRC_TX
PD0.Locked=true
+TIM1.Pulse-PWM\ Generation1\ CH1=1000
PH5.GPIO_Label=BOARD_POWER4_CTRL
PG14.GPIOParameters=GPIO_Label
+SH.S_TIM1_CH1.ConfNb=1
USART1.IPParameters=VirtualMode,BaudRate,Parity,Mode
PG5.GPIO_Label=BOARD_LED_D
PG2.GPIOParameters=GPIO_Label
@@ -54,6 +57,7 @@ Mcu.IP0=ADC1
Mcu.IP1=CAN1
PH4.GPIOParameters=GPIO_Label
PH5.Signal=GPIO_Output
+TIM1.Prescaler=167
Mcu.UserConstants=
PH3.Locked=true
Dma.USART6_TX.3.Priority=DMA_PRIORITY_LOW
@@ -62,7 +66,7 @@ Mcu.ThirdPartyNb=0
SPI1.Direction=SPI_DIRECTION_1LINE
PH0/OSC_IN.Mode=HSE-External-Oscillator
RCC.HCLKFreq_Value=168000000
-Mcu.IPNb=10
+Mcu.IPNb=11
RCC.I2SClocksFreq_Value=192000000
ProjectManager.PreviousToolchain=
RCC.APB2TimFreq_Value=168000000
@@ -95,6 +99,7 @@ RCC.HSE_VALUE=12000000
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
PB3.Mode=Simplex_Bidirectional_Master
+Mcu.IP10=USART6
PD1.GPIOParameters=GPIO_Label
NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:true\:false\:true
PD1.GPIO_Label=CAN1_TX
@@ -106,12 +111,14 @@ MxDb.Version=DB.6.0.0
PE0.GPIOParameters=GPIO_Label
ProjectManager.BackupPrevious=false
RCC.VCOInputFreq_Value=2000000
+TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
PA14.Mode=Serial_Wire
File.Version=6
PG4.GPIO_Label=BOARD_LED_E
PB3.GPIOParameters=GPIO_Label
PH3.GPIOParameters=GPIO_Label
PB7.Signal=USART1_RX
+PA8.Signal=S_TIM1_CH1
PE1.Locked=true
NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false
SH.ADCx_IN6.ConfNb=1
@@ -132,6 +139,7 @@ PA6.Signal=ADCx_IN6
NVIC.DMA2_Stream7_IRQn=true\:0\:0\:false\:false\:true\:false\:true
PA7.Locked=true
PG5.GPIOParameters=GPIO_Label
+TIM1.Pulse-PWM\ Generation2\ CH2=1000
USART6.VirtualMode=VM_ASYNC
ProjectManager.ToolChainLocation=
RCC.LSI_VALUE=32000
@@ -152,6 +160,7 @@ Dma.Request3=USART6_TX
NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
Dma.USART1_RX.0.Mode=DMA_CIRCULAR
Dma.USART1_TX.1.Priority=DMA_PRIORITY_LOW
+TIM1.Period=9999
PB10.GPIOParameters=GPIO_Label
NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:true\:true
Dma.Request0=USART1_RX
@@ -174,7 +183,7 @@ PG7.Signal=GPIO_Output
PA7.Mode=Simplex_Bidirectional_Master
Dma.USART1_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
PB9.GPIO_Label=OLED_DC
-Mcu.PinsNb=32
+Mcu.PinsNb=34
ProjectManager.NoMain=false
SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler
PG3.Signal=GPIO_Output
@@ -207,6 +216,7 @@ NVIC.USART6_IRQn=true\:0\:0\:false\:false\:true\:true\:true
PB9.GPIOParameters=GPIO_Label
PG8.GPIO_Label=BOARD_LED_A
PA13.Signal=SYS_JTMS-SWDIO
+SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
PH4.Signal=GPIO_Output
CAN1.BS2=CAN_BS2_4TQ
Dma.USART6_RX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
@@ -217,7 +227,9 @@ PB10.GPIO_Label=OLED_RST
Dma.USART6_RX.2.MemInc=DMA_MINC_ENABLE
PB7.GPIOParameters=GPIO_Label
Dma.USART1_RX.0.Direction=DMA_PERIPH_TO_MEMORY
+PA9.Signal=S_TIM1_CH2
USART1.Parity=PARITY_EVEN
+TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
RCC.VcooutputI2SQ=192000000
PB9.Locked=true
Dma.USART6_RX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
@@ -229,6 +241,7 @@ NVIC.DMA2_Stream6_IRQn=true\:0\:0\:false\:false\:true\:false\:true
PE11.Signal=GPIO_Output
RCC.LSE_VALUE=32768
Dma.USART1_RX.0.PeriphInc=DMA_PINC_DISABLE
+SH.S_TIM1_CH2.ConfNb=1
CAN1.ABOM=ENABLE
PB10.Signal=GPIO_Output
RCC.VCOI2SOutputFreq_Value=384000000
@@ -253,13 +266,16 @@ RCC.APB2Freq_Value=84000000
MxCube.Version=6.0.1
USART1.Mode=MODE_TX_RX
PG4.GPIOParameters=GPIO_Label
+SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
SPI1.Mode=SPI_MODE_MASTER
PG7.GPIO_Label=BOARD_LED_B
-Mcu.Pin30=PB10
+Mcu.Pin30=PA7
VP_SYS_VS_Systick.Mode=SysTick
RCC.EthernetFreq_Value=168000000
+Mcu.Pin33=VP_SYS_VS_Systick
Dma.USART1_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Mcu.Pin31=VP_SYS_VS_Systick
+Mcu.Pin31=PF14
+Mcu.Pin32=PB10
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false
PF14.Locked=true
PA13.Mode=Serial_Wire
@@ -271,28 +287,28 @@ ProjectManager.AskForMigrate=true
Mcu.Name=STM32F427I(G-I)Hx
PE0.Signal=UART8_RX
PD0.Mode=Master
-Mcu.Pin26=PA6
-Mcu.Pin27=PE11
+Mcu.Pin26=PG2
+Mcu.Pin27=PG1
RCC.RTCHSEDivFreq_Value=6000000
-Mcu.Pin24=PG2
+Mcu.Pin24=PG4
ProjectManager.UnderRoot=false
-Mcu.Pin25=PG1
-Mcu.IP8=USART1
-Mcu.IP9=USART6
-Mcu.Pin28=PA7
+Mcu.Pin25=PG3
+Mcu.IP8=UART8
+Mcu.IP9=USART1
+Mcu.Pin28=PA6
Mcu.IP6=SYS
-Mcu.Pin29=PF14
-Mcu.IP7=UART8
+Mcu.Pin29=PE11
+Mcu.IP7=TIM1
ProjectManager.CoupleFile=true
RCC.48MHZClocksFreq_Value=84000000
PB3.Signal=SPI1_SCK
RCC.SYSCLKFreq_VALUE=168000000
-Mcu.Pin22=PG4
-Mcu.Pin23=PG3
-Mcu.Pin20=PG6
+Mcu.Pin22=PG6
+Mcu.Pin23=PG5
+Mcu.Pin20=PH5
PA7.GPIO_Label=OLED_MOSI
ADC1.master=1
-Mcu.Pin21=PG5
+Mcu.Pin21=PG7
NVIC.ForceEnableDMAVector=true
KeepUserPlacement=false
Dma.USART1_TX.1.Mode=DMA_NORMAL
@@ -302,27 +318,27 @@ ProjectManager.CompilerOptimize=6
PB7.Mode=Asynchronous
PA14.Signal=SYS_JTCK-SWCLK
ProjectManager.HeapSize=0x200
-Mcu.Pin15=PH1/OSC_OUT
+Mcu.Pin15=PH0/OSC_IN
Dma.USART1_TX.1.PeriphInc=DMA_PINC_DISABLE
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-Mcu.Pin16=PH4
+Mcu.Pin16=PH3
PH5.Locked=true
-Mcu.Pin13=PH0/OSC_IN
-Mcu.Pin14=PH3
+Mcu.Pin13=PH2
+Mcu.Pin14=PA8
Dma.USART6_TX.3.FIFOMode=DMA_FIFOMODE_DISABLE
-Mcu.Pin19=PG7
+Mcu.Pin19=PG8
Dma.USART6_TX.3.Instance=DMA2_Stream6
ProjectManager.ComputerToolchain=false
-Mcu.Pin17=PG8
+Mcu.Pin17=PH1/OSC_OUT
RCC.HSI_VALUE=16000000
-Mcu.Pin18=PH5
+Mcu.Pin18=PH4
PH2.Locked=true
NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
ADC1.NbrOfConversionFlag=1
Mcu.Pin11=PD1
PH3.Signal=GPIO_Output
PD0.GPIOParameters=GPIO_Label
-Mcu.Pin12=PH2
+Mcu.Pin12=PA9
RCC.PLLM=6
RCC.PLLN=168
Mcu.Pin10=PG9
diff --git a/Src/BoardA_handle.c b/Src/BoardA_handle.c
index cdbec47..e478e9b 100644
--- a/Src/BoardA_handle.c
+++ b/Src/BoardA_handle.c
@@ -58,11 +58,36 @@ void signOfLife_refereeSystem(){
/* Gère le signe de vie, LED C: Si on recoit des données sur le bus CAN1 */
void signOfLife_can1(){
- if ((HAL_GetTick() - signOfLife_CAN1_tick) < 100){
+ if ((HAL_GetTick() - motors[TOURELLE_YAW].signOfLife_tick) < 100){
BOARD_LED_C_ON();
}else{
BOARD_LED_C_OFF();
}
+ if ((HAL_GetTick() - motors[TOURELLE_PITCH].signOfLife_tick) < 100){
+ BOARD_LED_D_ON();
+ }else{
+ BOARD_LED_D_OFF();
+ }
+ if ((HAL_GetTick() - motors[FRONT_RIGHT].signOfLife_tick) < 100){
+ BOARD_LED_E_ON();
+ }else{
+ BOARD_LED_E_OFF();
+ }
+ if ((HAL_GetTick() - motors[FRONT_LEFT].signOfLife_tick) < 100){
+ BOARD_LED_F_ON();
+ }else{
+ BOARD_LED_F_OFF();
+ }
+ if ((HAL_GetTick() - motors[BACK_RIGHT].signOfLife_tick) < 100){
+ BOARD_LED_G_ON();
+ }else{
+ BOARD_LED_G_OFF();
+ }
+ if ((HAL_GetTick() - motors[BACK_LEFT].signOfLife_tick) < 100){
+ BOARD_LED_H_ON();
+ }else{
+ BOARD_LED_H_OFF();
+ }
}
/* Permet d'afficher ce que l'on souhaite debuger sur l'uart
diff --git a/Src/main.c b/Src/main.c
index 31d211d..97d7549 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -23,13 +23,13 @@
#include "can.h"
#include "dma.h"
#include "spi.h"
+#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "main.h"
-#include "traitement.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -97,7 +97,10 @@ int main(void)
MX_USART6_UART_Init();
MX_CAN1_Init();
MX_UART8_Init();
+ MX_TIM1_Init();
/* USER CODE BEGIN 2 */
+ PWM_init();
+ //PWM_ScaleAll(&htim1); //etalonnage du PWM entre 0 et 1 (a faire uniquement lors de l'installation des moteurs la 1ere fois) info: motors.c
HAL_GPIO_WritePin(GPIOH, BOARD_POWER1_CTRL_Pin|BOARD_POWER2_CTRL_Pin|BOARD_POWER3_CTRL_Pin|BOARD_POWER4_CTRL_Pin, GPIO_PIN_SET); // switch on 24v power
BOARD_LED_ALL_OFF
oled_init();
@@ -105,6 +108,7 @@ int main(void)
uart6_init();
can1_init();
robotInit(3); //Initialise le robot comme un standard, l'objectif c'est que l'initialisation de fasse par le referee system
+ extern motor_t motors[MAX_MOTORS];
/* USER CODE END 2 */
@@ -118,6 +122,7 @@ int main(void)
traitement_1(); //Calcul les consignes des moteurs
traitement_pids_compute(); //Calcul les commandes des moteurs
can_send_command(); //Envoie des commandes des moteurs
+
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
diff --git a/Src/motors.c b/Src/motors.c
index 196c6e0..1cbee49 100644
--- a/Src/motors.c
+++ b/Src/motors.c
@@ -17,6 +17,7 @@ void can_send_command(){
if((HAL_GetTick() - tickstart) < 10){
return;
}
+ tickstart = HAL_GetTick();
int32_t trams[3] = {0x200, 0x1FF, 0x2FF};
for(int i = 0 ; i < 3 ; i++){
@@ -74,9 +75,8 @@ void can_motors_callback_handler(int16_t rx_id, uint8_t* rx_buff){
}
/* Modifie la consigne tout en vérifiant les limites de postion */
-void add_consigne_position(motor_t* motor, float value){
- float consigne_position = motor->consigne;
- consigne_position += value;
+void add_consigne_position(motor_t* motor, float value, float coeff){
+ float consigne_position = motor->consigne + (value * coeff);
if(consigne_position > 360) consigne_position -= (float) 360.0;
if(consigne_position < 0) consigne_position += (float) 360.0;
if(motor->MAX_POSITION > 0 && consigne_position > motor->MAX_POSITION) consigne_position = motor->MAX_POSITION;
@@ -103,3 +103,49 @@ void can1_init(){
HAL_CAN_Start(&hcan1); // start can
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING); // enable can rx interrupt
}
+
+
+
+
+
+/* Initialise le TIMER 1 pour les PWM */
+void PWM_init(void)
+{
+ HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); // start pwm output
+ HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
+}
+
+/* Set le duty cycle de tous les channels PWM */
+void PWM_SetAllDuty(TIM_HandleTypeDef *tim, float duty_ch1, float duty_ch2){
+ duty_ch1 = duty_ch1/10 + 0.10f; //rescale before send
+ duty_ch2 = duty_ch2/10 + 0.10f;
+ tim->Instance->CCR1 = (10000*duty_ch1) - 1;
+ tim->Instance->CCR2 = (10000*duty_ch2) - 1;
+}
+
+/* scales all PWM duty cycles between 0 and 1
+Cette fonction permet d'étalonner le snail pour que ca commande 0 = min, et 1 = max
+
+Pour utiliser cette fonction, il faut le faire moteur PWM par moteur PWM
+ 1- Débrancher l'alimentation de tous les moteurs PWM
+ 2- Brancher l'alimentation du moteur PWM a étalonner sur la sortie XT30 de la BOARD A - POWER 1
+ 2- Envoyer sur la board A grâce au ST LINK un programe avec cette fonction appelé dans le main.c, avant la boucle infinie
+ 3- Brancher l'alimentation 24V de la board A, le programme va se lancer :
+ a) va couper l'alimentation 24V du snail
+ b) Met l'impulsion PWM au max
+ c) Attends, allume le snail, attends
+ d) Coupe tous le signal PWM
+
+*/
+void PWM_ScaleAll(TIM_HandleTypeDef *tim){ //il faudrait jouer sur l'allumage des ports d'alimentation des snails (voir Nathan pour plus de détails)
+ HAL_GPIO_WritePin(GPIOH, BOARD_POWER1_CTRL_Pin, GPIO_PIN_RESET); // switch off 24v power
+ PWM_SetAllDuty(&htim1,1,1);
+ HAL_Delay(10);
+
+ HAL_GPIO_WritePin(GPIOH, BOARD_POWER1_CTRL_Pin, GPIO_PIN_SET); // switch on 24v power
+ HAL_Delay(3500);
+
+ PWM_SetAllDuty(&htim1,0,0);
+ HAL_Delay(500);
+ while(1);
+}
diff --git a/Src/robot_configuration.c b/Src/robot_configuration.c
index 5944e8c..1f8b2f7 100644
--- a/Src/robot_configuration.c
+++ b/Src/robot_configuration.c
@@ -53,6 +53,9 @@ void robotInit(uint8_t robot_id){
109: Blue Radar Station.
*/
if(robot_id > 100) robot_id -= 100;
+ float pid_chassis_p = 2;
+ float pid_chassis_i = 0.5;
+ float pid_chassis_d = 0.01;
switch(robot_id){
/* Standard */
case 3:
@@ -67,8 +70,9 @@ void robotInit(uint8_t robot_id){
&motors[FRONT_LEFT].info.speed, //input : le retour sur la quelle ont veut atteintre la consigne
&motors[FRONT_LEFT].command, //output: la commande que l'on envoie au moteur
&motors[FRONT_LEFT].consigne, //consigne: On veut que le moteur soit à cette position ou tourne a cette vitesse
- 1, 0.5, 0); //k, i, d : les coefficient de régulation : http://www.ferdinandpiette.com/blog/2011/08/implementer-un-pid-sans-faire-de-calculs/
+ pid_chassis_p, pid_chassis_i, pid_chassis_d); //k, i, d : les coefficient de régulation : http://www.ferdinandpiette.com/blog/2011/08/implementer-un-pid-sans-faire-de-calculs/
pid_limits(&motors[FRONT_LEFT].pid, -16384, 16384); //Minimum et maximum de la commande envoyable au moteur
+
strcpy(motors[FRONT_RIGHT].debug_name, "FRONT RIGHT");
motors[FRONT_RIGHT].type = M3508;
@@ -79,9 +83,9 @@ void robotInit(uint8_t robot_id){
&motors[FRONT_RIGHT].info.speed, //input : le retour sur la quelle ont veut atteintre la consigne
&motors[FRONT_RIGHT].command, //output: la commande que l'on envoie au moteur
&motors[FRONT_RIGHT].consigne, //consigne: On veut que le moteur soit à cette position ou tourne a cette vitesse
- 1, 0.5, 0); //k, i, d : les coefficient de régulation : http://www.ferdinandpiette.com/blog/2011/08/implementer-un-pid-sans-faire-de-calculs/
+ pid_chassis_p, pid_chassis_i, pid_chassis_d); //k, i, d : les coefficient de régulation : http://www.ferdinandpiette.com/blog/2011/08/implementer-un-pid-sans-faire-de-calculs/
pid_limits(&motors[FRONT_RIGHT].pid, -16384, 16384); //Minimum et maximum de la commande envoyable au moteur
-
+
strcpy(motors[BACK_RIGHT].debug_name, "BACK RIGHT");
motors[BACK_RIGHT].type = M3508;
motors[BACK_RIGHT].can_rx_id = 0x200+3; // ID = 3
@@ -91,9 +95,9 @@ void robotInit(uint8_t robot_id){
&motors[BACK_RIGHT].info.speed, //input : le retour sur la quelle ont veut atteintre la consigne
&motors[BACK_RIGHT].command, //output: la commande que l'on envoie au moteur
&motors[BACK_RIGHT].consigne, //consigne: On veut que le moteur soit à cette position ou tourne a cette vitesse
- 1, 0.5, 0); //k, i, d : les coefficient de régulation : http://www.ferdinandpiette.com/blog/2011/08/implementer-un-pid-sans-faire-de-calculs/
+ pid_chassis_p, pid_chassis_i, pid_chassis_d); //k, i, d : les coefficient de régulation : http://www.ferdinandpiette.com/blog/2011/08/implementer-un-pid-sans-faire-de-calculs/
pid_limits(&motors[BACK_RIGHT].pid, -16384, 16384); //Minimum et maximum de la commande envoyable au moteur
-
+
strcpy(motors[BACK_LEFT].debug_name, "BACK LEFT");
motors[BACK_LEFT].type = M3508;
motors[BACK_LEFT].can_rx_id = 0x200+4; // ID = 4
@@ -103,7 +107,7 @@ void robotInit(uint8_t robot_id){
&motors[BACK_LEFT].info.speed, //input : le retour sur la quelle ont veut atteintre la consigne
&motors[BACK_LEFT].command, //output: la commande que l'on envoie au moteur
&motors[BACK_LEFT].consigne, //consigne: On veut que le moteur soit à cette position ou tourne a cette vitesse
- 1, 0.5, 0); //k, i, d : les coefficient de régulation : http://www.ferdinandpiette.com/blog/2011/08/implementer-un-pid-sans-faire-de-calculs/
+ pid_chassis_p, pid_chassis_i, pid_chassis_d); //k, i, d : les coefficient de régulation : http://www.ferdinandpiette.com/blog/2011/08/implementer-un-pid-sans-faire-de-calculs/
pid_limits(&motors[BACK_LEFT].pid, -16384, 16384); //Minimum et maximum de la commande envoyable au moteur
strcpy(motors[TOURELLE_PITCH].debug_name, "TOURELLE PITCH");
@@ -111,17 +115,17 @@ void robotInit(uint8_t robot_id){
motors[TOURELLE_PITCH].can_rx_id = 0x204+1; // ID = 1
motors[TOURELLE_PITCH].can_tx_frame = 0x1FF;
motors[TOURELLE_PITCH].can_tx_id = 1;
- motors[TOURELLE_PITCH].MIN_POSITION = 244.58; //en deg
- motors[TOURELLE_PITCH].MAX_POSITION = 292.37; //en deg
- motors[TOURELLE_PITCH].consigne = 272.49; //en deg //Valeur initiale
+ motors[TOURELLE_PITCH].MIN_POSITION = 245; //en deg
+ motors[TOURELLE_PITCH].MAX_POSITION = 293; //en deg
+ motors[TOURELLE_PITCH].consigne = 250; //en deg //Valeur initiale
pid_create(&motors[TOURELLE_PITCH].pid,
&motors[TOURELLE_PITCH].info.angle_360, //input : le retour sur la quelle ont veut atteintre la consigne
&motors[TOURELLE_PITCH].command, //output: la commande que l'on envoie au moteur
&motors[TOURELLE_PITCH].consigne, //consigne: On veut que le moteur soit à cette position ou tourne a cette vitesse
- 200, 100, 0); //k, i, d : les coefficient de régulation : http://www.ferdinandpiette.com/blog/2011/08/implementer-un-pid-sans-faire-de-calculs/
+ 400, 100, 0); //k, i, d : les coefficient de régulation : http://www.ferdinandpiette.com/blog/2011/08/implementer-un-pid-sans-faire-de-calculs/
pid_circulaire(&motors[TOURELLE_PITCH].pid, 360); //Asservissement circulaire, permet, comme on fait une régulation en position, quand on est a position = 350 degrée, que la consigne est à 10deg, de ne pas faire tout le tour
pid_limits(&motors[TOURELLE_PITCH].pid, -30000, 30000); //Minimum et maximum de la commande envoyable au moteur
-
+
strcpy(motors[TOURELLE_YAW].debug_name, "TOURELLE YAW");
motors[TOURELLE_YAW].type = GM6020;
motors[TOURELLE_YAW].can_rx_id = 0x204+2; // ID = 2
@@ -129,7 +133,7 @@ void robotInit(uint8_t robot_id){
motors[TOURELLE_YAW].can_tx_id = 2;
motors[TOURELLE_YAW].MIN_POSITION = 110.71; //en deg
motors[TOURELLE_YAW].MAX_POSITION = 308.44; //en deg
- motors[TOURELLE_YAW].consigne = 208.76; //en deg //Valeur initiale
+ motors[TOURELLE_YAW].consigne = 208; //en deg //Valeur initiale
pid_create(&motors[TOURELLE_YAW].pid,
&motors[TOURELLE_YAW].info.angle_360, //input : le retour sur la quelle ont veut atteintre la consigne
&motors[TOURELLE_YAW].command, //output: la commande que l'on envoie au moteur
@@ -137,7 +141,7 @@ void robotInit(uint8_t robot_id){
200, 100, 0); //k, i, d : les coefficient de régulation : http://www.ferdinandpiette.com/blog/2011/08/implementer-un-pid-sans-faire-de-calculs/
pid_circulaire(&motors[TOURELLE_YAW].pid, 360); //Asservissement circulaire, permet, comme on fait une régulation en position, quand on est a position = 350 degrée, que la consigne est à 10deg, de ne pas faire tout le tour
pid_limits(&motors[TOURELLE_YAW].pid, -30000, 30000); //Minimum et maximum de la commande envoyable au moteur
-
+
strcpy(motors[FEEDER].debug_name, "FEEDER");
motors[FEEDER].type = M2006;
motors[FEEDER].can_rx_id = 0x200+7; // ID = 7
diff --git a/Src/tim.c b/Src/tim.c
new file mode 100644
index 0000000..f3aa907
--- /dev/null
+++ b/Src/tim.c
@@ -0,0 +1,147 @@
+/**
+ ******************************************************************************
+ * File Name : TIM.c
+ * Description : This file provides code for the configuration
+ * of the TIM instances.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© Copyright (c) 2020 STMicroelectronics.
+ * All rights reserved.</center></h2>
+ *
+ * This software component is licensed by ST under BSD 3-Clause license,
+ * the "License"; You may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at:
+ * opensource.org/licenses/BSD-3-Clause
+ *
+ ******************************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "tim.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+TIM_HandleTypeDef htim1;
+
+/* TIM1 init function */
+void MX_TIM1_Init(void)
+{
+ TIM_MasterConfigTypeDef sMasterConfig = {0};
+ TIM_OC_InitTypeDef sConfigOC = {0};
+ TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
+
+ htim1.Instance = TIM1;
+ htim1.Init.Prescaler = 167;
+ htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
+ htim1.Init.Period = 9999;
+ htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+ htim1.Init.RepetitionCounter = 0;
+ htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+ if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+ sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+ if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sConfigOC.OCMode = TIM_OCMODE_PWM1;
+ sConfigOC.Pulse = 1000;
+ sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
+ sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
+ sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
+ sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
+ sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
+ if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_DISABLE;
+ sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_DISABLE;
+ sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF;
+ sBreakDeadTimeConfig.DeadTime = 0;
+ sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
+ sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_HIGH;
+ sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
+ if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
+ {
+ Error_Handler();
+ }
+ HAL_TIM_MspPostInit(&htim1);
+
+}
+
+void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef* tim_pwmHandle)
+{
+
+ if(tim_pwmHandle->Instance==TIM1)
+ {
+ /* USER CODE BEGIN TIM1_MspInit 0 */
+
+ /* USER CODE END TIM1_MspInit 0 */
+ /* TIM1 clock enable */
+ __HAL_RCC_TIM1_CLK_ENABLE();
+ /* USER CODE BEGIN TIM1_MspInit 1 */
+
+ /* USER CODE END TIM1_MspInit 1 */
+ }
+}
+void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
+{
+
+ GPIO_InitTypeDef GPIO_InitStruct = {0};
+ if(timHandle->Instance==TIM1)
+ {
+ /* USER CODE BEGIN TIM1_MspPostInit 0 */
+
+ /* USER CODE END TIM1_MspPostInit 0 */
+
+ __HAL_RCC_GPIOA_CLK_ENABLE();
+ /**TIM1 GPIO Configuration
+ PA9 ------> TIM1_CH2
+ PA8 ------> TIM1_CH1
+ */
+ GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_8;
+ GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+ GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+ GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
+ HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+
+ /* USER CODE BEGIN TIM1_MspPostInit 1 */
+
+ /* USER CODE END TIM1_MspPostInit 1 */
+ }
+
+}
+
+void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef* tim_pwmHandle)
+{
+
+ if(tim_pwmHandle->Instance==TIM1)
+ {
+ /* USER CODE BEGIN TIM1_MspDeInit 0 */
+
+ /* USER CODE END TIM1_MspDeInit 0 */
+ /* Peripheral clock disable */
+ __HAL_RCC_TIM1_CLK_DISABLE();
+ /* USER CODE BEGIN TIM1_MspDeInit 1 */
+
+ /* USER CODE END TIM1_MspDeInit 1 */
+ }
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/Src/traitement.c b/Src/traitement.c
index f4d0f09..7b218bc 100644
--- a/Src/traitement.c
+++ b/Src/traitement.c
@@ -6,7 +6,7 @@
#include "traitement.h"
-#define MAX_BASE_SPEED_COEFF 6
+#define MAX_BASE_SPEED_COEFF 10
/* On récupère les variables exterieurs */
extern receiver_RadioController_t receiver_RadioController;
@@ -24,9 +24,16 @@ void traitement_pids_compute(){
/* Fonctions qui fait les liens entre les entrées (capteurs, radio controller, CV, ...) et les sorties (consignes moteurs), on peut créer plusieurs traitements */
void traitement_1(){
- add_consigne_position(&motors[TOURELLE_PITCH], (float)receiver_RadioController.data.ch2_float/15);
- add_consigne_position(&motors[TOURELLE_YAW], (float)receiver_RadioController.data.ch1_float/15);
-
+ add_consigne_position(&motors[TOURELLE_PITCH], (float)receiver_RadioController.data.ch2_float, 0.00005);
+ add_consigne_position(&motors[TOURELLE_YAW], (float)receiver_RadioController.data.ch1_float, -0.00005);
+
+ if(motors[TOURELLE_PITCH].info.angle_360 > 293){
+ BOARD_LED_GREEN_ON();
+ }else{
+ BOARD_LED_GREEN_OFF();
+ }
+
+
switch(receiver_RadioController.data.sw1){
case 1:
motors[FEEDER].consigne = 0;
@@ -38,9 +45,21 @@ void traitement_1(){
motors[FEEDER].consigne = 10000;
break;
}
+ switch(receiver_RadioController.data.sw2){
+ case 1:
+ PWM_SetAllDuty(&htim1, 0.0, 0.0);
+ break;
+ case 3:
+ PWM_SetAllDuty(&htim1, 0.25, 0.25);
+ break;
+ case 2:
+ PWM_SetAllDuty(&htim1, 0.50, 0.50);
+ break;
+ }
+
- motors[FRONT_LEFT].consigne = MAX_BASE_SPEED_COEFF*(+ receiver_RadioController.data.ch3 + receiver_RadioController.data.ch4);
- motors[FRONT_RIGHT].consigne = MAX_BASE_SPEED_COEFF*(+ receiver_RadioController.data.ch3 - receiver_RadioController.data.ch4);
- motors[BACK_RIGHT].consigne = motors[FRONT_LEFT].consigne;
- motors[BACK_LEFT].consigne = motors[FRONT_RIGHT].consigne;
+ motors[FRONT_LEFT].consigne = MAX_BASE_SPEED_COEFF*(receiver_RadioController.data.ch4 - receiver_RadioController.data.ch3 - 0.3*receiver_RadioController.data.wheel);
+ motors[FRONT_RIGHT].consigne = -MAX_BASE_SPEED_COEFF*(receiver_RadioController.data.ch4 + receiver_RadioController.data.ch3 + 0.3*receiver_RadioController.data.wheel);
+ motors[BACK_RIGHT].consigne = -MAX_BASE_SPEED_COEFF*(receiver_RadioController.data.ch4 - receiver_RadioController.data.ch3 + 0.3*receiver_RadioController.data.wheel);
+ motors[BACK_LEFT].consigne = MAX_BASE_SPEED_COEFF*(receiver_RadioController.data.ch4 + receiver_RadioController.data.ch3 - 0.3*receiver_RadioController.data.wheel);
}
--
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