modelec/actionneurs_STM32
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move definition of const

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ackimixs
2025-12-15 17:15:53 +01:00
parent 1251be5115
commit 455514b11c
2 changed files with 13 additions and 15 deletions
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14
Core/Inc/actio.h
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@@ -4,7 +4,17 @@
#include "stm32g4xx_hal.h"
#include <stdbool.h>
#define NOMBRE_SERVOS 16
/* ######################## PARTIE PCA9685 SERVO ########################### */
#define PCA9685_COUNT 2 // number of boards
#define PCA9685_BASE_ADDR 0x40 // A0=A1=A2=0
#define PCA9685_SERVOS_PER_BOARD 16
#define PCA9685_TOTAL_SERVOS (PCA9685_COUNT * PCA9685_SERVOS_PER_BOARD)
#define PCA9685_PWM_FREQ 50 // Hz
#define SERVO_MIN_PULSE 102 // 0.5 ms
#define SERVO_MAX_PULSE 512 // 2.5 ms
#define NOMBRE_POSITIONS_ASC 8
#define NOMBRE_RELAIS 3
@@ -21,7 +31,7 @@ typedef struct Actionneurs {
bool etatLedArmement;
bool enJeu;
uint16_t armementTirette;
uint16_t angleServo[NOMBRE_SERVOS];
uint16_t angleServo[PCA9685_TOTAL_SERVOS];
uint16_t positionAscenseur;
uint16_t valeursPositionsAscenseur[NOMBRE_POSITIONS_ASC];
GPIO_TypeDef * relayPorts[NOMBRE_RELAIS];

14
Core/Src/actio.c
View File

@@ -5,18 +5,6 @@
#include <math.h>
/* ######################## PARTIE PCA9685 SERVO ########################### */
#define PCA9685_COUNT 2 // number of boards
#define PCA9685_BASE_ADDR 0x40 // A0=A1=A2=0
#define PCA9685_SERVOS_PER_BOARD 16
#define PCA9685_TOTAL_SERVOS (PCA9685_COUNT * PCA9685_SERVOS_PER_BOARD)
#define PCA9685_PWM_FREQ 50 // Hz
#define SERVO_MIN_PULSE 102 // 0.5 ms
#define SERVO_MAX_PULSE 512 // 2.5 ms
// Datasheet link --> https://cdn-shop.adafruit.com/datasheets/PCA9685.pdf
#define PCA9685_MODE1 0x0 // as in the datasheet page no 10/52
#define PCA9685_PRE_SCALE 0xFE // as in the datasheet page no 13/52
@@ -228,7 +216,7 @@ void initActionneurs(){
act.etatLedArmement = 0;
act.armementTirette = 0;
act.enJeu = 0;
for(uint16_t servoId = 0; servoId < NOMBRE_SERVOS; servoId++){
for(uint16_t servoId = 0; servoId < PCA9685_TOTAL_SERVOS; servoId++){
act.angleServo[servoId] = 0;
}
act.positionAscenseur = 0;