modelec/MarcelMoteurSTM32
1
0
Fork 0
mirror of https://github.com/modelec/MarcelMoteurSTM32.git synced 2026-01-18 16:47:23 +01:00
Code Issues Packages Projects Releases Wiki Activity

ajout classe Encodeurs

Browse Source
This commit is contained in:
Allan Cueff
2025-03-08 17:37:23 +01:00
parent 6219dbd0ea
commit d080dc42b3
10 changed files with 635 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
.mxproject
View File

File diff suppressed because one or more lines are too long

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="1663823120161288977" 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="-998940103106254309" 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="1663823120161288977" 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="-998940103106254309" 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>

52
ControleMoteur2.ioc
View File

@@ -17,26 +17,32 @@ Mcu.Name=STM32L073R(B-Z)Tx
Mcu.Package=LQFP64
Mcu.Pin0=PC13
Mcu.Pin1=PC14-OSC32_IN
Mcu.Pin10=PC9
Mcu.Pin11=PA13
Mcu.Pin12=PA14
Mcu.Pin13=PC10
Mcu.Pin14=VP_SYS_VS_Systick
Mcu.Pin15=VP_TIM3_VS_ClockSourceINT
Mcu.Pin10=PA5
Mcu.Pin11=PC6
Mcu.Pin12=PC7
Mcu.Pin13=PC8
Mcu.Pin14=PC9
Mcu.Pin15=PA13
Mcu.Pin16=PA14
Mcu.Pin17=PC10
Mcu.Pin18=VP_SYS_VS_Systick
Mcu.Pin19=VP_TIM3_VS_ClockSourceINT
Mcu.Pin2=PC15-OSC32_OUT
Mcu.Pin3=PH0-OSC_IN
Mcu.Pin4=PA2
Mcu.Pin5=PA3
Mcu.Pin6=PA5
Mcu.Pin7=PC6
Mcu.Pin8=PC7
Mcu.Pin9=PC8
Mcu.PinsNb=16
Mcu.Pin4=PC0
Mcu.Pin5=PC1
Mcu.Pin6=PC2
Mcu.Pin7=PC3
Mcu.Pin8=PA2
Mcu.Pin9=PA3
Mcu.PinsNb=20
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32L073RZTx
MxCube.Version=6.10.0
MxDb.Version=DB.6.0.100
MxCube.Version=6.13.0
MxDb.Version=DB.6.0.130
NVIC.EXTI0_1_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.EXTI2_3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
NVIC.ForceEnableDMAVector=true
NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -67,6 +73,10 @@ PA5.GPIOParameters=GPIO_Label
PA5.GPIO_Label=LD2 [Green Led]
PA5.Locked=true
PA5.Signal=GPIO_Output
PC0.Locked=true
PC0.Signal=GPXTI0
PC1.Locked=true
PC1.Signal=GPXTI1
PC10.Locked=true
PC10.Signal=GPIO_Output
PC13.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
@@ -80,6 +90,10 @@ PC14-OSC32_IN.Signal=RCC_OSC32_IN
PC15-OSC32_OUT.Locked=true
PC15-OSC32_OUT.Mode=LSE-External-Oscillator
PC15-OSC32_OUT.Signal=RCC_OSC32_OUT
PC2.Locked=true
PC2.Signal=GPXTI2
PC3.Locked=true
PC3.Signal=GPXTI3
PC6.Locked=true
PC6.Signal=S_TIM3_CH1
PC7.Locked=true
@@ -159,8 +173,16 @@ RCC.USART1Freq_Value=16000000
RCC.USART2Freq_Value=16000000
RCC.VCOOutputFreq_Value=48000000
RCC.WatchDogFreq_Value=37000
SH.GPXTI0.0=GPIO_EXTI0
SH.GPXTI0.ConfNb=1
SH.GPXTI1.0=GPIO_EXTI1
SH.GPXTI1.ConfNb=1
SH.GPXTI13.0=GPIO_EXTI13
SH.GPXTI13.ConfNb=1
SH.GPXTI2.0=GPIO_EXTI2
SH.GPXTI2.ConfNb=1
SH.GPXTI3.0=GPIO_EXTI3
SH.GPXTI3.ConfNb=1
SH.S_TIM3_CH1.0=TIM3_CH1,PWM Generation1 CH1
SH.S_TIM3_CH1.ConfNb=1
SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2

45
Core/Inc/encoder.h Normal file
View File

@@ -0,0 +1,45 @@
/*
* encoder.h
*
* Created on: Mar 8, 2025
* Author: allan
*/
#include "stm32l0xx_hal.h"
#ifndef INC_ENCODER_H_
#define INC_ENCODER_H_
typedef enum {
EncoderInputUndefined,
EncoderInputHigh,
EncoderInputLow,
} EncoderInputState;
typedef enum {
EncoderDirectionUndefined,
EncoderDirectionForward,
EncoderDirectionBackward,
} EncoderDirection;
class Encoder {
private:
int32_t totalDistance;
int32_t latestHandledDistance;
uint16_t tickDistance;
volatile uint32_t* inputAgpioIDRaddr;
uint32_t inputAgpioIDRMask;
volatile uint32_t* inputBgpioIDRaddr;
uint32_t inputBgpioIDRMask;
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)
int32_t Encoder::getTotalDistance();
int32_t Encoder::getDistanceSinceLastCall();
void Encoder::resetToZero();
virtual ~Encoder();
};
#endif /* INC_ENCODER_H_ */

2
Core/Inc/stm32l0xx_it.h
View File

@@ -51,6 +51,8 @@ void HardFault_Handler(void);
void SVC_Handler(void);
void PendSV_Handler(void);
void SysTick_Handler(void);
void EXTI0_1_IRQHandler(void);
void EXTI2_3_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

94
Core/Src/encoder.cpp Normal file
View File

@@ -0,0 +1,94 @@
/*
* encoder.cpp
*
* Created on: Mar 8, 2025
* Author: allan
*/
#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);
}
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
EncoderDirection direction = EncoderDirectionUndefined;
EncoderInputState pinAstate = EncoderInputUndefined;
EncoderInputState pinBstate = EncoderInputUndefined;
if(*(this->inputAgpioIDRaddr) & inputAgpioIDRMask == inputAgpioIDRMask){
pinAstate = EncoderInputHigh;
}
if(*(this->inputAgpioIDRaddr) & inputAgpioIDRMask == 0){
pinAstate = EncoderInputLow;
}
if(*(this->inputBgpioIDRaddr) & inputBgpioIDRMask == inputBgpioIDRMask){
pinBstate = EncoderInputHigh;
}
if(*(this->inputBgpioIDRaddr) & inputBgpioIDRMask == 0){
pinBstate = EncoderInputLow;
}
if(pinTriggered == 0){ // Interrupt venant du fil A
if(pinAstate == EncoderInputHigh){
if(pinBstate == EncoderInputHigh){
direction = EncoderDirectionBackward;
} else if(pinBstate == EncoderInputLow){
direction = EncoderDirectionForward;
}
} else if(pinAstate == EncoderInputLow) {
if(pinBstate == EncoderInputHigh){
direction = EncoderDirectionForward;
} else if(pinBstate == EncoderInputLow) {
direction = EncoderDirectionBackward;
}
}
} else if(pinTriggered == 1){ //Interrupt venant du fil B
if(pinAstate == EncoderInputHigh){
if(pinBstate == EncoderInputHigh){
direction = EncoderDirectionForward;
} else if(pinBstate == EncoderInputLow){
direction = EncoderDirectionBackward;
}
} else if(pinAstate == EncoderInputLow) {
if(pinBstate == EncoderInputHigh){
direction = EncoderDirectionBackward;
} else if(pinBstate == EncoderInputLow) {
direction = EncoderDirectionForward;
}
}
} else {
return; // error
}
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);
} 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);
} else {
return; //error
}
}
uint32_t Encoder::getTotalDistance(){
return this->totalDistance;
}
uint32_t Encoder::getDistanceSinceLastCall(){
uint32_t result = this->totalDistance - this->latestHandledDistance;
this->latestHandledDistance = this->totalDistance;
return result;
}
void Encoder::resetToZero(){
this->totalDistance = 0;
this->latestHandledDistance = 0;
}
Encoder::~Encoder() {
// TODO Auto-generated destructor stub
}

361
Core/Src/main.c Normal file
View File

@@ -0,0 +1,361 @@
/* 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 */

94
Core/Src/main.cpp
View File

@@ -19,6 +19,8 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "functions.h"
#include <stdio.h>
#include <cstring>
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
@@ -60,7 +62,15 @@ static void MX_TIM3_Init(void);
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void handleEncoderProgression(uint16_t totalDistance, uint16_t newDistance, bool direction){
char msg[128];
if(direction == 0){
sprintf(msg, "Encodeur recule de %d mm, distance totale parcourue : %d mm.\r\n\0", newDistance, totalDistance);
} else if(direction == 1){
sprintf(msg, "Encodeur avance de %d mm, distance totale parcourue : %d mm.\r\n\0", newDistance, totalDistance);
}
HAL_UART_Transmit(&huart2, (uint8_t *)msg, strlen(msg), HAL_MAX_DELAY);
}
/* USER CODE END 0 */
/**
@@ -99,10 +109,12 @@ int main(void) {
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);
// 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
motor.accelerer(626);
//motor.accelerer(626);
/* USER CODE END 2 */
@@ -113,7 +125,7 @@ int main(void) {
/* USER CODE BEGIN 3 */
Cpploop(&motor);
//Cpploop(&motor);
}
/* USER CODE END 3 */
@@ -271,44 +283,58 @@ static void MX_USART2_UART_Init(void) {
* @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 */
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();
/* 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(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 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 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 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 pins : PC1 PC2 */
GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_2;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOC, &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);
/*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);
/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
/*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 */

4
Core/Src/stm32l0xx_hal_msp.c
View File

@@ -20,7 +20,6 @@
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
@@ -65,6 +64,7 @@ void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
*/
void HAL_MspInit(void)
{
/* USER CODE BEGIN MspInit 0 */
/* USER CODE END MspInit 0 */
@@ -97,6 +97,7 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
}
@@ -184,6 +185,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
/* USER CODE BEGIN USART2_MspInit 1 */
/* USER CODE END USART2_MspInit 1 */
}
}

30
Core/Src/stm32l0xx_it.c
View File

@@ -140,6 +140,36 @@ void SysTick_Handler(void)
/* please refer to the startup file (startup_stm32l0xx.s). */
/******************************************************************************/
/**
* @brief This function handles EXTI line 0 and line 1 interrupts.
*/
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 */
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_0);
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_1);
/* USER CODE BEGIN EXTI0_1_IRQn 1 */
/* USER CODE END EXTI0_1_IRQn 1 */
}
/**
* @brief This function handles EXTI line 2 and line 3 interrupts.
*/
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 */
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_2);
HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_3);
/* USER CODE BEGIN EXTI2_3_IRQn 1 */
/* USER CODE END EXTI2_3_IRQn 1 */
}
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */