communications avancée

Core/Inc/modelec.h

@@ -0,0 +1,58 @@
+/*
+ * modelec.h
+ *
+ *  Created on: May 25, 2025
+ *      Author: maxch
+ */
+
+#ifndef MODELEC_H
+#define MODELEC_H
+#include "motors.h"
+#include "main.h"
+//#include "stm32l0xx_hal.h"
+#include "stm32g4xx_hal.h"
+//#include "stm32g4xx_hal_uart.h"
+
+#include <cstdio>
+#include <cstring>
+#include <math.h>
+#include <algorithm>
+#include "pidVitesse.h"
+#include "pid.h"
+#include "point.h"
+#include "pidPosition.h"
+#include "usbd_cdc_if.h"
+#include "commSTM.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// Prototypes des fonctions accessibles depuis main.cpp ou ailleurs
+
+void ModelecOdometrySetup(void **out_pid, void **out_pidG, void **out_pidD);
+//void ModelecOdometryLoop(void* pid, void* pidG, void* pidD);
+void ModelecOdometryLoop(void* pid, void* pidG, void* pidD, int* cnt);
+void ModelecOdometryUpdate();
+
+void determinationCoefPosition(
+    Point objectifPoint,
+    Point pointActuel,
+    PidPosition& pid,
+    PidVitesse& pidG,
+    PidVitesse& pidD,
+    float vitGauche,
+    float vitDroit,
+    int cnt
+);
+
+// Fonctions utilitaires (optionnellement utilisables ailleurs)
+bool isDelayPassedFrom(uint32_t delay, uint32_t *lastTick);
+bool isDelayPassed(uint32_t delay);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // MODELEC_H
+

Core/Src/CommCallbacks.cpp

@@ -9,30 +9,30 @@
 
 #include "CommCallbacks.hpp"
 #include "main.h"
-#include "modelec.cpp"
+#include "modelec.h"
 #include "motors.h"
 #include "pid.h"
 #include "pidPosition.h"
 
 void Comm_GetPosition(float* x, float* y, float* theta) {
-    *x = currentPoint.getX();
-    *y = currentPoint.getY();
-    *theta = currentPoint.getTheta();
+    //*x = currentPoint.getX();
+    //*y = currentPoint.getY();
+    //*theta = currentPoint.getTheta();
 }
 
 void Comm_SetPosition(float x, float y, float theta) {
-    currentPoint.setX(x);
-    currentPoint.setY(y);
-    currentPoint.setTheta(theta);
+    //currentPoint.setX(x);
+    //currentPoint.setY(y);
+    //currentPoint.setTheta(theta);
 }
 
 void Comm_GetSpeed(float* vx, float* vy, float* omega){
-    *vx = vitesseLeft;
-    *vy = vitesseRight;
-    *omega = vitesseAngulaire;
+//    *vx = vitesseLeft;
+//    *vy = vitesseRight;
+//    *omega = vitesseAngulaire;
 }
 
-void Comm_GetPID(float* p, float* i, float* d) {
+/*void Comm_GetPID(float* p, float* i, float* d) {
     PIDController::getInstance().getCoefficients(*p, *i, *d);
 }
 
@@ -49,4 +49,4 @@ void Comm_AddWaypoint(int id, int type, float x, float y, float theta) {
     Waypoint wp(id, type, x, y, theta);
     WaypointManager::getInstance().addWaypoint(wp);
 }
-
+*/

Core/Src/commSTM.cpp

@@ -72,7 +72,7 @@ void USB_Comm_Process(void) {
         }
         else if (strcmp(token, "SPEED") == 0) {
             float vx, vy, omega;
-            Comm_GetSpeed(&vx, &vy, &omega);  // 3 valeurs
+            Comm_GetSpeed(&vx, &vy, &omega);
             char response[64];
             snprintf(response, sizeof(response), "SET;SPEED;%.2f;%.2f;%.2f\n", vx, vy, omega);
             USB_Comm_Send(response);

Core/Src/main.c

@@ -21,6 +21,7 @@
 #include "tim.h"
 #include "usb_device.h"
 #include "gpio.h"
+#include "modelec.h"
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
@@ -36,7 +37,7 @@
 /* USER CODE BEGIN PD */
 void ModelecOdometrySetup(void **out_pid, void **out_pidG, void **out_pidD);
 
-void ModelecOdometryLoop(void* pid, void* pidG, void* pidD);
+//void ModelecOdometryLoop(void* pid, void* pidG, void* pidD);
 
 /* USER CODE END PD */
 
@@ -50,6 +51,7 @@ void ModelecOdometryLoop(void* pid, void* pidG, void* pidD);
 /* USER CODE BEGIN PV */
 int counter1=0;
 int counter2=0;
+int cnt=0;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -124,7 +126,7 @@ int main(void)
   {
 	  counter2 = __HAL_TIM_GET_COUNTER(&htim2);
 	  counter1 = __HAL_TIM_GET_COUNTER(&htim3);
-	  ModelecOdometryLoop(pid, pidG, pidD);
+	  ModelecOdometryLoop(pid, pidG, pidD, &cnt);
 
     /* USER CODE END WHILE */
 

Core/Src/modelec.cpp

@@ -1,19 +1,5 @@
-#include "motors.h"
-#include "main.h"
-//#include "stm32l0xx_hal.h"
-#include "stm32g4xx_hal.h"
-//#include "stm32g4xx_hal_uart.h"
 
-#include <cstdio>
-#include <cstring>
-#include <math.h>
-#include <algorithm>
-#include "pidVitesse.h"
-#include "pid.h"
-#include "point.h"
-#include "pidPosition.h"
-#include "usbd_cdc_if.h"
-#include "commSTM.h"
+#include "modelec.h"
 
 extern "C" {
 
@@ -204,14 +190,14 @@ void receiveControlParams(){
 
 }
 
-void ModelecOdometryLoop(void* pid, void* pidG, void* pidD) {
+void ModelecOdometryLoop(void* pid, void* pidG, void* pidD, int* cnt) {
 	PidPosition* pidPosition = static_cast<PidPosition*>(pid);
 	PidVitesse* pidVitesseG = static_cast<PidVitesse*>(pidG);
 	PidVitesse* pidVitesseD = static_cast<PidVitesse*>(pidD);
 
 	//receiveControlParams();
 	//GPIOC->ODR ^= (1 << 10);
-	int cnt=0;
+
 	//On met à jour toutes les 10ms
 	if (isDelayPassed(10)) {
 		ModelecOdometryUpdate();
@@ -229,10 +215,10 @@ void ModelecOdometryLoop(void* pid, void* pidG, void* pidD) {
 		CDC_Transmit_FS((uint8_t*)debugMsg, strlen(debugMsg));
 
 
-		determinationCoefPosition(targetPoint, currentPoint, *pidPosition, *pidVitesseG, *pidVitesseD, motor.getLeftCurrentSpeed(), motor.getRightCurrentSpeed(), cnt);
+		determinationCoefPosition(targetPoint, currentPoint, *pidPosition, *pidVitesseG, *pidVitesseD, motor.getLeftCurrentSpeed(), motor.getRightCurrentSpeed(), *cnt);
 		//HAL_Delay(1000);
 		motor.update();
-		cnt++;
+		(*cnt)++;