modelec/MarcelMoteurSTM32
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fonctions setup et loop fonctionnelles

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This commit is contained in:
Allan Cueff
2025-03-17 20:34:10 +01:00
parent aa12f81493
commit 91382131b5
5 changed files with 44 additions and 63 deletions
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7
Core/Inc/functions.h
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@@ -4,13 +4,14 @@
* Created on: Feb 17, 2025
* Author: CHAUVEAU Maxime
*/
#include "main.h"
#include "motors.h"
#ifndef FUNCTIONS_H_
#define FUNCTIONS_H_
void Cpploop(Motor *motor);
#include "main.h"
#include "motors.h"
bool isDelayPassed(uint32_t delay);
void handleEncoderProgression(uint16_t totalDistance, uint16_t newDistance, bool direction);

20
Core/Inc/modelec.h
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@@ -1,20 +0,0 @@
/*
* modelec.h
*
* Created on: Mar 14, 2025
* Author: allan
*/
#ifndef INC_MODELEC_H_
#define INC_MODELEC_H_
#include "stm32l0xx_hal.h"
// Fonction de setup appelee au debut du main.c
void ModelecOdometrySetup();
// Fonction de loop appelee en boucle dans le main.c
void ModelecOdometryLoop();
#endif /* INC_MODELEC_H_ */

15
Core/Src/functions.cpp
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@@ -22,21 +22,6 @@ bool isDelayPassed(uint32_t delay) {
return false;
}
void Cpploop(Motor *motor){
GPIOC->ODR ^= (1<<10);
//On actualise toute les 10ms et on effectue tous les controles périodiques
if(isDelayPassed(10)) {
if(encoder1.getTotalDistance() > 10) {
motor->stop();
}
//On met à jour le statut des moteurs
motor->update();
}
}
void handleEncoderProgression(uint16_t totalDistance, uint16_t newDistance, bool direction){
char msg[128];
if(direction == 0){

7
Core/Src/main.c
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@@ -21,7 +21,6 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "modelec.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -31,6 +30,9 @@
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
void ModelecOdometrySetup();
void ModelecOdometryLoop();
/* USER CODE END PD */
@@ -106,7 +108,8 @@ int main(void)
while (1)
{
ModelecOdometryLoop();
/* USER CODE END WHILE */
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}

58
Core/Src/modelec.cpp
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@@ -6,40 +6,52 @@
*/
#include "modelec.h"
#include "encoder.h"
#include "motors.h"
#include "functions.h"
#include "main.h"
#include "stm32l0xx_hal.h"
#include <cstdio>
#include <cstring>
extern "C" {
// Variables globales
Motor motor(TIM3);
Encoder encoder1(60000, 600, &GPIOC->IDR, &GPIOC->IDR, (1<<0), (1<<1), &handleEncoderProgression);
Encoder encoder2(60000, 600, &GPIOC->IDR, &GPIOC->IDR, (1<<2), (1<<3), &handleEncoderProgression);
// Variables globales
Motor motor(TIM3);
Encoder encoder1(60000, 600, &GPIOC->IDR, &GPIOC->IDR, (1<<0), (1<<1), &handleEncoderProgression);
Encoder encoder2(60000, 600, &GPIOC->IDR, &GPIOC->IDR, (1<<2), (1<<3), &handleEncoderProgression);
extern TIM_HandleTypeDef htim3;
extern UART_HandleTypeDef huart2;
extern TIM_HandleTypeDef htim3;
extern UART_HandleTypeDef huart2;
// Fonction de setup appelee au debut du main.c
void ModelecOdometrySetup(){
HAL_UART_Transmit(&huart2, (uint8_t *)"SETUP COMPLETE\n", 15, HAL_MAX_DELAY);
}
// Fonction de setup appelee au debut du main.c
void ModelecOdometrySetup(){
HAL_UART_Transmit(&huart2, (uint8_t *)"SETUP COMPLETE\n", 15, HAL_MAX_DELAY);
}
// Fonction de loop appelee en boucle dans le main.c
void ModelecOdometryLoop(){
GPIOC->ODR ^= (1<<10);
// Fonction de loop appelee en boucle dans le main.c
void ModelecOdometryLoop(){
//On actualise toute les 10ms et on effectue tous les controles périodiques
if(isDelayPassed(10)) {
if(encoder1.getTotalDistance() > 10) {
motor.stop();
}
//On met à jour le statut des moteurs
motor.update();
}
}
Cpploop(&motor);
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if(GPIO_Pin == GPIO_PIN_0 || GPIO_Pin == GPIO_PIN_1) {
encoder1.trigger(); // trigger de l'encodeur 1
} else if (GPIO_Pin == GPIO_PIN_2 || GPIO_Pin == GPIO_PIN_3) {
encoder2.trigger(); // trigger de l'encodeur 2
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if(GPIO_Pin == GPIO_PIN_0 || GPIO_Pin == GPIO_PIN_1) {
encoder1.trigger(); // trigger de l'encodeur 1
} else if (GPIO_Pin == GPIO_PIN_2 || GPIO_Pin == GPIO_PIN_3) {
encoder2.trigger(); // trigger de l'encodeur 2
}
}
}