diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index f23fafe..1856fbd 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/Core/Inc/encoder.h b/Core/Inc/encoder.h
index b3b9824..4ae2ea1 100644
--- a/Core/Inc/encoder.h
+++ b/Core/Inc/encoder.h
@@ -5,11 +5,12 @@
* Author: allan
*/
-#include "stm32l0xx_hal.h"
#ifndef INC_ENCODER_H_
#define INC_ENCODER_H_
+#include "stm32l0xx_hal.h"
+
typedef enum {
EncoderInputUndefined,
EncoderInputHigh,
@@ -36,9 +37,9 @@ private:
public:
Encoder(uint16_t wheelDiameter, uint16_t encoderResolution, volatile uint32_t* inputAgpioIDRaddr, volatile uint32_t* inputBgpioIDRaddr, uint32_t inputAgpioIDRMask, uint32_t inputBgpioIDRMask, void (*handler)(uint16_t, uint16_t, bool));
void trigger(bool pinTriggered);// pin = (0 : A, 1 : B)
- int32_t Encoder::getTotalDistance();
- int32_t Encoder::getDistanceSinceLastCall();
- void Encoder::resetToZero();
+ uint32_t getTotalDistance();
+ uint32_t getDistanceSinceLastCall();
+ void resetToZero();
virtual ~Encoder();
};
diff --git a/Core/Src/encoder.cpp b/Core/Src/encoder.cpp
index 1f1fb09..59ece3d 100644
--- a/Core/Src/encoder.cpp
+++ b/Core/Src/encoder.cpp
@@ -5,7 +5,7 @@
* Author: allan
*/
-#include
+#include "encoder.h"
Encoder::Encoder(uint16_t wheelDiameter, uint16_t encoderResolution, volatile uint32_t* inputAgpioIDRaddr, volatile uint32_t* inputBgpioIDRaddr, uint32_t inputAgpioIDRMask, uint32_t inputBgpioIDRMask, void(*handler)(uint16_t, uint16_t, bool)) : handler(handler), inputAgpioIDRaddr(inputAgpioIDRaddr), inputBgpioIDRaddr(inputBgpioIDRaddr), inputAgpioIDRMask(inputAgpioIDRMask), inputBgpioIDRMask(inputBgpioIDRMask), totalDistance(0), latestHandledDistance(0) {
this->tickDistance = (uint16_t)(wheelDiameter * 3.14 / encoderResolution);
@@ -62,11 +62,11 @@ void Encoder::trigger(bool pinTriggered){
if(direction == EncoderDirectionForward){
// On ajoute la distance parcourue et on appelle le handler
this->totalDistance += (int32_t)this->tickDistance;
- this->handler(this->totalDistance, this->tickDiameter, 1);
+ this->handler(this->totalDistance, this->tickDistance, 1);
} else if(direction == EncoderDirectionBackward){
// On retire la distance parcourue et on appelle le handler
this->totalDistance -= (int32_t)this->tickDistance;
- this->handler(this->totalDistance, this->tickDiameter, 0);
+ this->handler(this->totalDistance, this->tickDistance, 0);
} else {
return; //error
}
diff --git a/Core/Src/main.c b/Core/Src/main.c
deleted file mode 100644
index a2f719c..0000000
--- a/Core/Src/main.c
+++ /dev/null
@@ -1,361 +0,0 @@
-/* USER CODE BEGIN Header */
-/**
- ******************************************************************************
- * @file : main.c
- * @brief : Main program body
- ******************************************************************************
- * @attention
- *
- * Copyright (c) 2025 STMicroelectronics.
- * All rights reserved.
- *
- * This software is licensed under terms that can be found in the LICENSE file
- * in the root directory of this software component.
- * If no LICENSE file comes with this software, it is provided AS-IS.
- *
- ******************************************************************************
- */
-/* USER CODE END Header */
-/* Includes ------------------------------------------------------------------*/
-#include "main.h"
-
-/* Private includes ----------------------------------------------------------*/
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-/* Private typedef -----------------------------------------------------------*/
-/* USER CODE BEGIN PTD */
-
-/* USER CODE END PTD */
-
-/* Private define ------------------------------------------------------------*/
-/* USER CODE BEGIN PD */
-
-/* USER CODE END PD */
-
-/* Private macro -------------------------------------------------------------*/
-/* USER CODE BEGIN PM */
-
-/* USER CODE END PM */
-
-/* Private variables ---------------------------------------------------------*/
-TIM_HandleTypeDef htim3;
-
-UART_HandleTypeDef huart2;
-
-/* USER CODE BEGIN PV */
-
-/* USER CODE END PV */
-
-/* Private function prototypes -----------------------------------------------*/
-void SystemClock_Config(void);
-static void MX_GPIO_Init(void);
-static void MX_USART2_UART_Init(void);
-static void MX_TIM3_Init(void);
-/* USER CODE BEGIN PFP */
-
-/* USER CODE END PFP */
-
-/* Private user code ---------------------------------------------------------*/
-/* USER CODE BEGIN 0 */
-
-/* USER CODE END 0 */
-
-/**
- * @brief The application entry point.
- * @retval int
- */
-int main(void)
-{
-
- /* USER CODE BEGIN 1 */
-
- /* USER CODE END 1 */
-
- /* MCU Configuration--------------------------------------------------------*/
-
- /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
- HAL_Init();
-
- /* USER CODE BEGIN Init */
-
- /* USER CODE END Init */
-
- /* Configure the system clock */
- SystemClock_Config();
-
- /* USER CODE BEGIN SysInit */
-
- /* USER CODE END SysInit */
-
- /* Initialize all configured peripherals */
- MX_GPIO_Init();
- MX_USART2_UART_Init();
- MX_TIM3_Init();
- /* USER CODE BEGIN 2 */
-
- /* USER CODE END 2 */
-
- /* Infinite loop */
- /* USER CODE BEGIN WHILE */
- while (1)
- {
- /* USER CODE END WHILE */
-
- /* USER CODE BEGIN 3 */
- }
- /* USER CODE END 3 */
-}
-
-/**
- * @brief System Clock Configuration
- * @retval None
- */
-void SystemClock_Config(void)
-{
- RCC_OscInitTypeDef RCC_OscInitStruct = {0};
- RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
- RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
-
- /** Configure the main internal regulator output voltage
- */
- __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
-
- /** Initializes the RCC Oscillators according to the specified parameters
- * in the RCC_OscInitTypeDef structure.
- */
- RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
- RCC_OscInitStruct.HSIState = RCC_HSI_ON;
- RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
- RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
- if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
- {
- Error_Handler();
- }
-
- /** Initializes the CPU, AHB and APB buses clocks
- */
- RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
- |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
- RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
- RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
- RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
- RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
-
- if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
- {
- Error_Handler();
- }
- PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART2;
- PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
- if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
- {
- Error_Handler();
- }
-}
-
-/**
- * @brief TIM3 Initialization Function
- * @param None
- * @retval None
- */
-static void MX_TIM3_Init(void)
-{
-
- /* USER CODE BEGIN TIM3_Init 0 */
-
- /* USER CODE END TIM3_Init 0 */
-
- TIM_ClockConfigTypeDef sClockSourceConfig = {0};
- TIM_MasterConfigTypeDef sMasterConfig = {0};
- TIM_OC_InitTypeDef sConfigOC = {0};
-
- /* USER CODE BEGIN TIM3_Init 1 */
-
- /* USER CODE END TIM3_Init 1 */
- htim3.Instance = TIM3;
- htim3.Init.Prescaler = 0;
- htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
- htim3.Init.Period = 639;
- htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
- htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
- if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
- {
- Error_Handler();
- }
- sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
- if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
- {
- Error_Handler();
- }
- if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
- {
- Error_Handler();
- }
- sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
- sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
- if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
- {
- Error_Handler();
- }
- sConfigOC.OCMode = TIM_OCMODE_PWM1;
- sConfigOC.Pulse = 0;
- sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
- sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
- if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
- {
- Error_Handler();
- }
- if (HAL_TIMEx_RemapConfig(&htim3, TIM3_TI1_GPIO|TIM3_TI4_GPIOC9_AF2) != HAL_OK)
- {
- Error_Handler();
- }
- if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
- {
- Error_Handler();
- }
- if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
- {
- Error_Handler();
- }
- if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
- {
- Error_Handler();
- }
- /* USER CODE BEGIN TIM3_Init 2 */
-
- /* USER CODE END TIM3_Init 2 */
- HAL_TIM_MspPostInit(&htim3);
-
-}
-
-/**
- * @brief USART2 Initialization Function
- * @param None
- * @retval None
- */
-static void MX_USART2_UART_Init(void)
-{
-
- /* USER CODE BEGIN USART2_Init 0 */
-
- /* USER CODE END USART2_Init 0 */
-
- /* USER CODE BEGIN USART2_Init 1 */
-
- /* USER CODE END USART2_Init 1 */
- huart2.Instance = USART2;
- huart2.Init.BaudRate = 115200;
- huart2.Init.WordLength = UART_WORDLENGTH_8B;
- huart2.Init.StopBits = UART_STOPBITS_1;
- huart2.Init.Parity = UART_PARITY_NONE;
- huart2.Init.Mode = UART_MODE_TX_RX;
- huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
- huart2.Init.OverSampling = UART_OVERSAMPLING_16;
- huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
- huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
- if (HAL_UART_Init(&huart2) != HAL_OK)
- {
- Error_Handler();
- }
- /* USER CODE BEGIN USART2_Init 2 */
-
- /* USER CODE END USART2_Init 2 */
-
-}
-
-/**
- * @brief GPIO Initialization Function
- * @param None
- * @retval None
- */
-static void MX_GPIO_Init(void)
-{
- GPIO_InitTypeDef GPIO_InitStruct = {0};
-/* USER CODE BEGIN MX_GPIO_Init_1 */
-/* USER CODE END MX_GPIO_Init_1 */
-
- /* GPIO Ports Clock Enable */
- __HAL_RCC_GPIOC_CLK_ENABLE();
- __HAL_RCC_GPIOH_CLK_ENABLE();
- __HAL_RCC_GPIOA_CLK_ENABLE();
-
- /*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(LD2_GPIO_Port, LD2_Pin, GPIO_PIN_RESET);
-
- /*Configure GPIO pin Output Level */
- HAL_GPIO_WritePin(GPIOC, GPIO_PIN_10, GPIO_PIN_RESET);
-
- /*Configure GPIO pin : B1_Pin */
- GPIO_InitStruct.Pin = B1_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_IT_FALLING;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- HAL_GPIO_Init(B1_GPIO_Port, &GPIO_InitStruct);
-
- /*Configure GPIO pins : PC0 PC1 PC2 PC3 */
- GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3;
- GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
- /*Configure GPIO pin : LD2_Pin */
- GPIO_InitStruct.Pin = LD2_Pin;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- HAL_GPIO_Init(LD2_GPIO_Port, &GPIO_InitStruct);
-
- /*Configure GPIO pin : PC10 */
- GPIO_InitStruct.Pin = GPIO_PIN_10;
- GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
- GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
- HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
-
- /* EXTI interrupt init*/
- HAL_NVIC_SetPriority(EXTI0_1_IRQn, 0, 0);
- HAL_NVIC_EnableIRQ(EXTI0_1_IRQn);
-
- HAL_NVIC_SetPriority(EXTI2_3_IRQn, 0, 0);
- HAL_NVIC_EnableIRQ(EXTI2_3_IRQn);
-
-/* USER CODE BEGIN MX_GPIO_Init_2 */
-/* USER CODE END MX_GPIO_Init_2 */
-}
-
-/* USER CODE BEGIN 4 */
-
-/* USER CODE END 4 */
-
-/**
- * @brief This function is executed in case of error occurrence.
- * @retval None
- */
-void Error_Handler(void)
-{
- /* USER CODE BEGIN Error_Handler_Debug */
- /* User can add his own implementation to report the HAL error return state */
- __disable_irq();
- while (1)
- {
- }
- /* USER CODE END Error_Handler_Debug */
-}
-
-#ifdef USE_FULL_ASSERT
-/**
- * @brief Reports the name of the source file and the source line number
- * where the assert_param error has occurred.
- * @param file: pointer to the source file name
- * @param line: assert_param error line source number
- * @retval None
- */
-void assert_failed(uint8_t *file, uint32_t line)
-{
- /* USER CODE BEGIN 6 */
- /* User can add his own implementation to report the file name and line number,
- ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
- /* USER CODE END 6 */
-}
-#endif /* USE_FULL_ASSERT */
diff --git a/Core/Src/main.cpp b/Core/Src/main.cpp
index b770956..c40f39d 100644
--- a/Core/Src/main.cpp
+++ b/Core/Src/main.cpp
@@ -19,6 +19,7 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "functions.h"
+#include "encoder.h"
#include
#include
@@ -71,6 +72,8 @@ void handleEncoderProgression(uint16_t totalDistance, uint16_t newDistance, bool
}
HAL_UART_Transmit(&huart2, (uint8_t *)msg, strlen(msg), HAL_MAX_DELAY);
}
+Encoder encoder1(60000, 600, &GPIOC->IDR, &GPIOC->IDR, (1<<0), (1<<2), &handleEncoderProgression);
+
/* USER CODE END 0 */
/**
@@ -110,7 +113,6 @@ int main(void) {
// Initialisation encodeur1 avec roue 60cm, resolution 600 pts par tour, entree A sur PC0, entree B sur PC2
- Encoder encoder1(60000, 600, &GPIOC->IDR, &GPIOC->IDR, (1<<0), (1<<2), &handleEncoderProgression);
Motor motor(TIM3);
//On fait accélérer les moteurs
diff --git a/Core/Src/stm32l0xx_it.c b/Core/Src/stm32l0xx_it.cpp
similarity index 99%
rename from Core/Src/stm32l0xx_it.c
rename to Core/Src/stm32l0xx_it.cpp
index 1dbfd2e..56b6811 100644
--- a/Core/Src/stm32l0xx_it.c
+++ b/Core/Src/stm32l0xx_it.cpp
@@ -20,6 +20,7 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32l0xx_it.h"
+#include "encoder.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
@@ -57,7 +58,7 @@
/* External variables --------------------------------------------------------*/
/* USER CODE BEGIN EV */
-
+extern Encoder encoder1;
/* USER CODE END EV */
/******************************************************************************/