modelec/MarcelMoteurSTM32
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dd060606
2025-03-25 15:38:58 +01:00
parent 4a5bef1347
commit a29fca5818
7 changed files with 19 additions and 37 deletions
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4
.settings/language.settings.xml
View File

@@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1547658766405034993" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1389054010610054269" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
@@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1547658766405034993" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1389054010610054269" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

13
ControleMoteur2.ioc
View File

@@ -49,13 +49,12 @@ NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.SVC_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
NVIC.SysTick_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:false
NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
PA0.GPIOParameters=GPIO_Speed,GPIO_PuPd
PA0.GPIO_PuPd=GPIO_PULLUP
PA0.GPIO_PuPd=GPIO_NOPULL
PA0.GPIO_Speed=GPIO_SPEED_FREQ_LOW
PA0.Signal=S_TIM2_CH1
PA1.GPIOParameters=GPIO_Speed,GPIO_PuPd
PA1.GPIO_PuPd=GPIO_PULLUP
PA1.GPIO_PuPd=GPIO_NOPULL
PA1.GPIO_Speed=GPIO_SPEED_FREQ_LOW
PA1.Signal=S_TIM2_CH2
PA13.GPIOParameters=GPIO_Label
@@ -83,10 +82,10 @@ PA5.GPIO_Label=LD2 [Green Led]
PA5.Locked=true
PA5.Signal=GPIO_Output
PB13.GPIOParameters=GPIO_PuPd
PB13.GPIO_PuPd=GPIO_PULLUP
PB13.GPIO_PuPd=GPIO_NOPULL
PB13.Signal=S_TIM21_CH1
PB14.GPIOParameters=GPIO_PuPd
PB14.GPIO_PuPd=GPIO_PULLUP
PB14.GPIO_PuPd=GPIO_NOPULL
PB14.Signal=S_TIM21_CH2
PC10.Locked=true
PC10.Signal=GPIO_Output
@@ -130,7 +129,7 @@ ProjectManager.FreePins=false
ProjectManager.HalAssertFull=false
ProjectManager.HeapSize=0x200
ProjectManager.KeepUserCode=true
ProjectManager.LastFirmware=true
ProjectManager.LastFirmware=false
ProjectManager.LibraryCopy=1
ProjectManager.MainLocation=Core/Src
ProjectManager.NoMain=false
@@ -146,7 +145,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_USART2_UART_Init-USART2-false-HAL-true,4-MX_TIM3_Init-TIM3-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_USART2_UART_Init-USART2-false-HAL-true,4-MX_TIM3_Init-TIM3-false-HAL-true,5-MX_TIM2_Init-TIM2-false-HAL-true,6-MX_TIM21_Init-TIM21-false-HAL-true
RCC.48CLKFreq_Value=24000000
RCC.AHBFreq_Value=16000000
RCC.APB1Freq_Value=16000000

1
Core/Inc/stm32l0xx_it.h
View File

@@ -51,7 +51,6 @@ void HardFault_Handler(void);
void SVC_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
void TIM2_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

7
Core/Src/main.c
View File

@@ -57,6 +57,7 @@ void SystemClock_Config(void);
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
int32_t counter = 0;
/* USER CODE END 0 */
@@ -109,11 +110,13 @@ int main(void)
while (1)
{
ModelecOdometryLoop();
counter = __HAL_TIM_GET_COUNTER(&htim2);
//__HAL_TIM_IS_TIM_COUNTING_DOWN
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE BEGIN 3 */
/* USER CODE END 3 */
}

6
Core/Src/modelec.cpp
View File

@@ -40,7 +40,7 @@ extern "C" {
// Fonction de setup appelee au debut du main.c
void ModelecOdometrySetup(){
HAL_UART_Transmit(&huart2, (uint8_t *)"SETUP COMPLETE\n", 15, HAL_MAX_DELAY);
motor.accelerer(500);
motor.accelerer(300);
}
// Fonction de loop appelee en boucle dans le main.c
@@ -63,8 +63,8 @@ extern "C" {
// Debug
char msg[128];
sprintf(msg, "Encodeur droit %d.\r\n", pos_right);
sprintf(msg, "Encodeur gauche %d.\r\n", pos_left);
sprintf(msg, "Encodeur droit %ld.\r\n", pos_right);
sprintf(msg, "Encodeur gauche %ld.\r\n", pos_left);
HAL_UART_Transmit(&huart2, (uint8_t *)msg, strlen(msg), HAL_MAX_DELAY);
// Calcul des variations d’impulsions

16
Core/Src/stm32l0xx_it.c
View File

@@ -55,7 +55,7 @@
/* USER CODE END 0 */
/* External variables --------------------------------------------------------*/
extern TIM_HandleTypeDef htim2;
/* USER CODE BEGIN EV */
/* USER CODE END EV */
@@ -140,20 +140,6 @@ void SysTick_Handler(void)
/* please refer to the startup file (startup_stm32l0xx.s). */
/******************************************************************************/
/**
* @brief This function handles TIM2 global interrupt.
*/
void TIM2_IRQHandler(void)
{
/* USER CODE BEGIN TIM2_IRQn 0 */
/* USER CODE END TIM2_IRQn 0 */
HAL_TIM_IRQHandler(&htim2);
/* USER CODE BEGIN TIM2_IRQn 1 */
/* USER CODE END TIM2_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

9
Core/Src/tim.c
View File

@@ -206,14 +206,11 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
*/
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* TIM2 interrupt Init */
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspInit 1 */
/* USER CODE END TIM2_MspInit 1 */
@@ -233,7 +230,7 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
*/
GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF6_TIM21;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
@@ -307,8 +304,6 @@ void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef* tim_encoderHandle)
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_0|GPIO_PIN_1);
/* TIM2 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspDeInit 1 */
/* USER CODE END TIM2_MspDeInit 1 */