modelec/MarcelMoteurSTM32
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utilisation du handler plutot que le callback + changement logique

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pin trigger determiné par la classe encodeurs car impossible depuis les
interrupts de déterminer quel GPIO a trigger : l'interrupt
This commit is contained in:
Allan Cueff
2025-03-11 00:57:28 +01:00
parent 25f255590b
commit b566b61966
5 changed files with 73 additions and 25 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="-539313789031368032" 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="371357938951052281" 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="-539313789031368032" 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="371357938951052281" 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>

4
Core/Inc/encoder.h
View File

@@ -32,11 +32,13 @@ private:
uint32_t inputAgpioIDRMask;
volatile uint32_t* inputBgpioIDRaddr;
uint32_t inputBgpioIDRMask;
EncoderInputState previousAstate;
EncoderInputState previousBstate;
void (*handler)(uint16_t totalDistance, uint16_t newDistance, bool direction); // direction = (1 : forward, 0 : backward)
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)
void trigger();
uint32_t getTotalDistance();
uint32_t getDistanceSinceLastCall();
void resetToZero();

64
Core/Src/encoder.cpp
View File

@@ -7,28 +7,56 @@
#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) {
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)) :
totalDistance(0),
latestHandledDistance(0),
inputAgpioIDRaddr(inputAgpioIDRaddr),
inputAgpioIDRMask(inputAgpioIDRMask),
inputBgpioIDRaddr(inputBgpioIDRaddr),
inputBgpioIDRMask(inputBgpioIDRMask),
previousAstate(EncoderInputUndefined),
previousBstate(EncoderInputUndefined),
handler(handler)
{
this->tickDistance = (uint16_t)(wheelDiameter * 3.14 / encoderResolution);
if((*(this->inputAgpioIDRaddr) & inputAgpioIDRMask) == inputAgpioIDRMask){
this->previousAstate = EncoderInputHigh;
}
if((*(this->inputAgpioIDRaddr) & inputAgpioIDRMask) == 0){
this->previousAstate = EncoderInputLow;
}
if((*(this->inputBgpioIDRaddr) & inputBgpioIDRMask) == inputBgpioIDRMask){
this->previousBstate = EncoderInputHigh;
}
if((*(this->inputBgpioIDRaddr) & inputBgpioIDRMask) == 0){
this->previousBstate = EncoderInputLow;
}
}
void Encoder::trigger(bool pinTriggered){
//On sait qu'on avance d'un tick et on connait quel pin vient de changer de valeur : on cherche a determiner la direction de deplacement
void Encoder::trigger()
{
//On sait qu'on avance d'un tick : on cherche d'abord a determiner quel pin a change de valeur puis on on cherchera a determiner la direction de deplacement
EncoderDirection direction = EncoderDirectionUndefined;
EncoderInputState pinAstate = EncoderInputUndefined;
EncoderInputState pinBstate = EncoderInputUndefined;
if(*(this->inputAgpioIDRaddr) & inputAgpioIDRMask == inputAgpioIDRMask){
// Est ce que le IDR et le mask sont bien transmis ? Est ce qu'on arrive à lire dans le registre IDR ?
if((*(this->inputAgpioIDRaddr) & inputAgpioIDRMask) == inputAgpioIDRMask){
pinAstate = EncoderInputHigh;
}
if(*(this->inputAgpioIDRaddr) & inputAgpioIDRMask == 0){
if((*(this->inputAgpioIDRaddr) & inputAgpioIDRMask) == 0){
pinAstate = EncoderInputLow;
}
if(*(this->inputBgpioIDRaddr) & inputBgpioIDRMask == inputBgpioIDRMask){
if((*(this->inputBgpioIDRaddr) & inputBgpioIDRMask) == inputBgpioIDRMask){
pinBstate = EncoderInputHigh;
}
if(*(this->inputBgpioIDRaddr) & inputBgpioIDRMask == 0){
if((*(this->inputBgpioIDRaddr) & inputBgpioIDRMask) == 0){
pinBstate = EncoderInputLow;
}
if(pinTriggered == 0){ // Interrupt venant du fil A
if(pinAstate == EncoderInputUndefined || pinBstate == EncoderInputUndefined){
return; // error : on a pas reussi a lire la valeur des pins !
}
// on considere que les previousXstate sont initialises par le constructeur
if(pinAstate != previousAstate){ // Interrupt venant du fil A => quelle direction ?
if(pinAstate == EncoderInputHigh){
if(pinBstate == EncoderInputHigh){
direction = EncoderDirectionBackward;
@@ -42,7 +70,8 @@ void Encoder::trigger(bool pinTriggered){
direction = EncoderDirectionBackward;
}
}
} else if(pinTriggered == 1){ //Interrupt venant du fil B
previousAstate = pinAstate;
} else if(pinBstate != previousBstate){ //Interrupt venant du fil B => quelle direction ?
if(pinAstate == EncoderInputHigh){
if(pinBstate == EncoderInputHigh){
direction = EncoderDirectionForward;
@@ -56,8 +85,9 @@ void Encoder::trigger(bool pinTriggered){
direction = EncoderDirectionForward;
}
}
previousBstate = pinBstate;
} else {
return; // error
return; // error : A et B n'ont pas change de valeur => pas de mouvement alors !
}
if(direction == EncoderDirectionForward){
// On ajoute la distance parcourue et on appelle le handler
@@ -68,27 +98,31 @@ void Encoder::trigger(bool pinTriggered){
this->totalDistance -= (int32_t)this->tickDistance;
this->handler(this->totalDistance, this->tickDistance, 0);
} else {
return; //error
return; //error : on a pas l'information de direction (ne devrait jamais arriver)
}
}
uint32_t Encoder::getTotalDistance(){
uint32_t Encoder::getTotalDistance()
{
return this->totalDistance;
}
uint32_t Encoder::getDistanceSinceLastCall(){
uint32_t Encoder::getDistanceSinceLastCall()
{
uint32_t result = this->totalDistance - this->latestHandledDistance;
this->latestHandledDistance = this->totalDistance;
return result;
}
void Encoder::resetToZero(){
void Encoder::resetToZero()
{
this->totalDistance = 0;
this->latestHandledDistance = 0;
}
Encoder::~Encoder() {
Encoder::~Encoder()
{
// TODO Auto-generated destructor stub
}

12
Core/Src/main.cpp
View File

@@ -72,7 +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);
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);
/* USER CODE END 0 */
@@ -340,7 +341,14 @@ static void MX_GPIO_Init(void)
}
/* USER CODE BEGIN 4 */
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
}
}
/* USER CODE END 4 */
/**

14
Core/Src/stm32l0xx_it.cpp
View File

@@ -58,7 +58,7 @@
/* External variables --------------------------------------------------------*/
/* USER CODE BEGIN EV */
extern Encoder encoder1;
/* USER CODE END EV */
/******************************************************************************/
@@ -147,12 +147,16 @@ void SysTick_Handler(void)
void EXTI0_1_IRQHandler(void)
{
/* USER CODE BEGIN EXTI0_1_IRQn 0 */
encoder1.trigger(0); // trigger pin A de l'encodeur sur PC0
/* USER CODE END EXTI0_1_IRQn 0 */
// On branche le fil A et le fil B du meme encodeur sur la meme interruption et on determine nous meme lequel a trigger l'interruption
/* USER CODE END EXTI0_1_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_0);
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_1);
/* USER CODE BEGIN EXTI0_1_IRQn 1 */
// Est ce que le callback est appelé deux fois à la suite ??
/* USER CODE END EXTI0_1_IRQn 1 */
}
@@ -162,8 +166,8 @@ void EXTI0_1_IRQHandler(void)
void EXTI2_3_IRQHandler(void)
{
/* USER CODE BEGIN EXTI2_3_IRQn 0 */
encoder1.trigger(1); // trigger pin B de l'encodeur sur PC2
/* USER CODE END EXTI2_3_IRQn 0 */
/* USER CODE END EXTI2_3_IRQn 0 */
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_2);
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_3);
/* USER CODE BEGIN EXTI2_3_IRQn 1 */