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asservissement moteur de base OK

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This commit is contained in:
vezde 2023-04-13 15:28:53 +02:00
parent aa83f00d28
commit 23eac89c23
39 changed files with 57819 additions and 901 deletions
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16
hardware/pcb/Dumber-v3/dumber-v3/cpu.kicad_sch
View file

@ -6,8 +6,8 @@
(title_block
(title "CPU + Com + Motors")
(date "2022-06-08")
(rev "1.0")
(date "2023-03-29")
(rev "2.1")
(company "INSA - GEI")
)
@ -1221,7 +1221,7 @@
)
(no_connect (at 116.84 66.04) (uuid 3e049e38-2c02-4d68-adb2-295069211b5c))
(no_connect (at 149.86 81.28) (uuid 3e049e38-2c02-4d68-adb2-295069211b5d))
(no_connect (at 149.86 78.74) (uuid 3e049e38-2c02-4d68-adb2-295069211b5d))
(no_connect (at 116.84 83.82) (uuid 3e049e38-2c02-4d68-adb2-295069211b5e))
(no_connect (at 116.84 76.2) (uuid 3e049e38-2c02-4d68-adb2-295069211b5f))
(no_connect (at 116.84 60.96) (uuid 3e049e38-2c02-4d68-adb2-295069211b60))
@ -1353,10 +1353,6 @@
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 25ab8ac8-4632-4332-ad11-eb21df540869)
)
(wire (pts (xy 149.86 78.74) (xy 172.72 78.74))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 26cb4be2-0d3e-4bbc-9131-33df76a0e6ce)
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(wire (pts (xy 64.77 138.43) (xy 82.55 138.43))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 275abccc-9bc6-4fce-a082-4b6d12de4c9f)
@ -1429,6 +1425,10 @@
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid 44bac1b6-94df-45ae-8ad7-2e2594d65e67)
)
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(stroke (width 0) (type default) (color 0 0 0 0))
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(stroke (width 0) (type default) (color 0 0 0 0))
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@ -1891,7 +1891,7 @@
(uuid fe739cda-c9e2-42cb-8c61-96240769247f)
)
(label "ENCDROIT_B" (at 172.72 78.74 180)
(label "ENCDROIT_B" (at 172.72 81.28 180)
(effects (font (size 1.27 1.27)) (justify right bottom))
(uuid 03db0c05-d37c-4aaa-9c85-1f194b1c4382)
)

154
hardware/pcb/Dumber-v3/dumber-v3/dumber-v3.kicad_pcb
View file

@ -7,7 +7,7 @@
(paper "A4")
(title_block
(title "Dumber-3")
(date "2023-01-19")
(date "2023-03-29")
(rev "2.1")
(company "INSA-GEI")
)
@ -152,7 +152,7 @@
(net 54 "/Cpu/XBEE_RESET")
(net 55 "unconnected-(J3-Pad7)")
(net 56 "unconnected-(J3-Pad8)")
(net 57 "unconnected-(U2-Pad14)")
(net 57 "unconnected-(U2-Pad13)")
(net 58 "Net-(R1-Pad1)")
(net 59 "/Cpu/CHARGER_ST1")
(net 60 "unconnected-(U2-Pad20)")
@ -1224,9 +1224,9 @@
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(net 44 "/Cpu/ENCDROIT_A") (pinfunction "PA2") (pintype "bidirectional") (tstamp 4fa6ee9c-2f3a-470d-b465-2ba2e64c59e5))
(pad "13" smd roundrect locked (at -2.75 -4.1625) (size 0.3 1.475) (layers "B.Cu" "B.Paste" "B.Mask") (roundrect_rratio 0.25)
(net 45 "/Cpu/ENCDROIT_B") (pinfunction "PA3") (pintype "bidirectional") (tstamp e428e261-02f0-4650-b01d-c388448a6ebe))
(net 57 "unconnected-(U2-Pad13)") (pinfunction "PA3") (pintype "bidirectional+no_connect") (tstamp e428e261-02f0-4650-b01d-c388448a6ebe))
(pad "14" smd roundrect locked (at -2.25 -4.1625) (size 0.3 1.475) (layers "B.Cu" "B.Paste" "B.Mask") (roundrect_rratio 0.25)
(net 57 "unconnected-(U2-Pad14)") (pinfunction "PA4") (pintype "bidirectional+no_connect") (tstamp bbe9d954-03cf-4544-8ffa-e71030f20f56))
(net 45 "/Cpu/ENCDROIT_B") (pinfunction "PA4") (pintype "bidirectional") (tstamp bbe9d954-03cf-4544-8ffa-e71030f20f56))
(pad "15" smd roundrect locked (at -1.75 -4.1625) (size 0.3 1.475) (layers "B.Cu" "B.Paste" "B.Mask") (roundrect_rratio 0.25)
(net 43 "/Cpu/ENCGAUCHE_B") (pinfunction "PA5") (pintype "bidirectional") (tstamp 6e5bbbb0-1b86-4c75-bb3f-70d46d7a17fa))
(pad "16" smd roundrect locked (at -1.25 -4.1625) (size 0.3 1.475) (layers "B.Cu" "B.Paste" "B.Mask") (roundrect_rratio 0.25)
@ -3769,7 +3769,7 @@
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(gr_arc locked (start 197.75 127) (mid 189.400826 142.716848) (end 172.75 149) (layer "Edge.Cuts") (width 0.5) (tstamp fc8ea201-9ded-4ac3-ba16-4a6392ec15d7))
(gr_circle locked (center 127.75 142) (end 127.76 142) (layer "Edge.Cuts") (width 0.0001) (fill solid) (tstamp fef8047c-e7ca-43cd-87ea-61593c07659f))
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(gr_text "Dumber 3 V2.1\nINSA-GEI\n03/23\n" (at 152.4 78.105) (layer "B.SilkS") (tstamp 4b8c507a-81fb-422c-8cba-327bb70db032)
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1
hardware/pcb/Dumber-v3/dumber-v3/dumber-v3.kicad_sch
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2
hardware/pcb/Dumber-v3/dumber-v3/power_charge.kicad_sch
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(title_block
(title "Power & Charge")
(date "2022-06-08")
(rev "1.1")
(rev "2.0")
(company "INSA - GEI")
)

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4056
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View file

File diff suppressed because it is too large Load diff

2
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56
hardware/pcb/Dumber-v3/ecran/ecran/ecran.kicad_pro
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90
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@ -940,6 +932,14 @@
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid edc3aafd-deed-4a66-a6d1-4ee426f81493)
)
(wire (pts (xy 58.42 68.58) (xy 77.47 68.58))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid f1be5002-2aec-47ee-9202-0ad205bda4f5)
)
(wire (pts (xy 58.42 86.36) (xy 62.23 86.36))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid f1d72924-241c-4875-8d35-2505dcc457b5)
)
(wire (pts (xy 151.13 78.74) (xy 110.49 78.74))
(stroke (width 0) (type default) (color 0 0 0 0))
(uuid f693675a-df1a-4384-a0ce-d5fc4eba6a5f)
@ -949,6 +949,12 @@
(uuid fe9fa9e4-e241-4882-adc5-948ef600fce4)
)
(text "Attention\n\nLe connecteur est inversé \npar rapport au robot.\n\nC'est à cause de la nappe"
(at 22.86 81.28 0)
(effects (font (size 1.27 1.27) (thickness 0.254) bold) (justify left bottom))
(uuid 76a1beb0-e050-40fc-878c-3f89f74fead0)
)
(symbol (lib_id "power:GND") (at 62.23 99.06 0) (unit 1)
(in_bom yes) (on_board yes) (fields_autoplaced)
(uuid 3e4cf8d0-1a24-41bd-ba1e-a878af63653a)
@ -1168,15 +1174,15 @@
(pin "1" (uuid 6fa61d63-a3e3-44bc-9631-22f3c00decde))
)
(symbol (lib_id "Connector_Generic:Conn_01x10") (at 55.88 76.2 180) (unit 1)
(symbol (lib_id "Connector_Generic:Conn_01x10") (at 53.34 73.66 0) (mirror y) (unit 1)
(in_bom yes) (on_board yes) (fields_autoplaced)
(uuid d5be53be-c9e0-4e80-8e37-ad7502a1b8a7)
(property "Reference" "J1" (id 0) (at 55.88 58.5302 0))
(property "Value" "TE 1-84981-0" (id 1) (at 55.88 61.0671 0))
(property "Footprint" "INSA:TE 1-84981-0" (id 2) (at 55.88 76.2 0)
(property "Reference" "J1" (id 0) (at 53.34 58.5302 0))
(property "Value" "TE 1-84981-0" (id 1) (at 53.34 61.0671 0))
(property "Footprint" "INSA:TE 1-84981-0" (id 2) (at 53.34 73.66 0)
(effects (font (size 1.27 1.27)) hide)
)
(property "Datasheet" "~" (id 3) (at 55.88 76.2 0)
(property "Datasheet" "~" (id 3) (at 53.34 73.66 0)
(effects (font (size 1.27 1.27)) hide)
)
(pin "1" (uuid 00e9e8ec-7a40-49d5-97f0-68c0dfaeeac7))

27
software/dumber3/.cproject
View file

@ -110,16 +110,15 @@
<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.1151842665" name="Resource Custom Build Step Output Type"/>
</tool>
</fileInfo>
<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.1752824616" name="commands.c" rcbsApplicability="disable" resourcePath="Application/commands.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.2065737495">
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.2065737495" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.1535445780" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1660271606" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.301016929" name="moteurs.c" rcbsApplicability="disable" resourcePath="Application/moteurs.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.1614918774">
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.1614918774" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1820635767" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
</tool>
<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.1545965840" name="Resource Custom Build Step">
<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.1314783453" name="Resource Custom Build Step Input Type">
<additionalInput kind="additionalinputdependency" paths=""/>
<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.436390343" name="Resource Custom Build Step">
<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.1413464112" name="Resource Custom Build Step Input Type">
<additionalInput kind="additionalinputdependency"/>
</inputType>
<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.930101754" name="Resource Custom Build Step Output Type"/>
<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.859128992" name="Resource Custom Build Step Output Type"/>
</tool>
</fileInfo>
<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.1827743340" name="application.c" rcbsApplicability="disable" resourcePath="Application/application.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.2011451410">
@ -134,18 +133,6 @@
<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.1700687045" name="Resource Custom Build Step Output Type"/>
</tool>
</fileInfo>
<fileInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1504381080.306963435" name="xbee.c" rcbsApplicability="disable" resourcePath="Application/xbee.c" toolsToInvoke="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.277959437">
<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646.277959437" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1474341646">
<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.980636813" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1291936146" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
</tool>
<tool customBuildStep="true" id="org.eclipse.cdt.managedbuilder.ui.rcbs.1344848918" name="Resource Custom Build Step">
<inputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.inputtype.1895641321" name="Resource Custom Build Step Input Type">
<additionalInput kind="additionalinputdependency" paths=""/>
</inputType>
<outputType id="org.eclipse.cdt.managedbuilder.ui.rcbs.outputtype.840380300" name="Resource Custom Build Step Output Type"/>
</tool>
</fileInfo>
<sourceEntries>
<entry excluding="XBEE" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Application"/>
<entry excluding="XBEE" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>

25
software/dumber3/Application/application.c
View file

@ -86,7 +86,7 @@ void APPLICATION_Init(void) {
/* Init de la partie RF / reception des messages */
XBEE_Init();
//BATTERIE_Init();
//MOTEURS_Init();
MOTEURS_Init();
/* Create the task without using any dynamic memory allocation. */
xHandleApplicationMain = xTaskCreateStatic(
@ -123,13 +123,6 @@ void APPLICATION_MainThread(void* params) {
switch (msg.id) {
case MSG_ID_XBEE_CMD:
// systemInfos.senderAddress = 0x81;
// systemInfos.cmd = 0;
// cmdSendAnswer(systemInfos.senderAddress, ANS_OK);
//
// if (msg.data != NULL)
// free (msg.data);
xbeeFrame = (XBEE_INCOMING_FRAME*)msg.data;
if (xbeeFrame != NULL) {
@ -196,9 +189,6 @@ void APPLICATION_MainThread(void* params) {
break;
}
// if (xbeeFrame->data != NULL)
// free(xbeeFrame->data);
free(xbeeFrame);
}
break;
@ -412,27 +402,30 @@ void APPLICATION_PowerOff() {
}
}
/* This task is called every 100 ms */
/*
* This task is called every 100 ms
* RQ: les constante de temps sont exprimé en ms, d'où la division par 100
*/
void vTimerTimeoutCallback( TimerHandle_t xTimer ) {
if (systemInfos.state == stateStartup) {
systemTimeout.startupCnt++;
if (systemTimeout.startupCnt++>=APPLICATION_STARTUP_DELAY)
if (systemTimeout.startupCnt++>=(APPLICATION_STARTUP_DELAY/100))
APPLICATION_TransitionToNewState(stateIdle);
}
systemTimeout.inactivityCnt++;
if (systemTimeout.inactivityCnt>=APPLICATION_INACTIVITY_TIMEOUT)
if (systemTimeout.inactivityCnt>=(APPLICATION_INACTIVITY_TIMEOUT/100))
/* send a message Button_Pressed to enable power off */
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_BUTTON_PRESSED, APPLICATION_Mailbox, (void*)NULL);
if (systemTimeout.watchdogEnabled) {
systemTimeout.watchdogCnt++;
if (systemTimeout.watchdogCnt>APPLICATION_WATCHDOG_MAX) {
if (systemTimeout.watchdogCnt>(APPLICATION_WATCHDOG_MAX/100)) {
systemTimeout.watchdogCnt=0;
systemTimeout.watchdogMissedCnt++;
if (systemTimeout.watchdogMissedCnt>=APPLICATION_WATCHDOG_MISSED_MAX)
if (systemTimeout.watchdogMissedCnt>=(APPLICATION_WATCHDOG_MISSED_MAX/100))
APPLICATION_TransitionToNewState(stateWatchdogDisable);
}
}

44
software/dumber3/Application/commands.c
View file

@ -7,49 +7,25 @@
#include "commands.h"
#include <stdlib.h>
#include <string.h>
#include <stdio.h>
/* Definition des commandes */
CMD_Generic* cmdDecode(char* cmd, uint8_t length) {
CMD_Generic* decodedCmd;
char cmd_type = cmd[0];
int val;
uint32_t startTime, endTime;
volatile uint32_t duration;
startTime = SysTick->VAL;
switch (cmd_type)
{
case CMD_MOVE:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Move));
decodedCmd->type = cmd[0];
{
char rawCmd[length+1];
memcpy((void*)rawCmd, (void*)cmd, length);
rawCmd[length] = (char)0; /* 0 ending string */
sscanf (&rawCmd[1], "%d", &val);
((CMD_Move*)decodedCmd)->distance= (int16_t) val;
}
decodedCmd->type = CMD_MOVE;
((CMD_Move*)decodedCmd)->distance = ((int16_t)cmd[1]<<8) + (int16_t)cmd[2];
break;
case CMD_TURN:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Turn));
decodedCmd->type = cmd[0];
{
char rawCmd[length+1];
memcpy((void*)rawCmd, (void*)cmd, length);
rawCmd[length] = (char)0; /* 0 ending string */
sscanf (&rawCmd[1], "%d", &val);
((CMD_Turn*)decodedCmd)->turns = (int16_t) val;
((CMD_Turn*)decodedCmd)->turns = ((CMD_Turn*)decodedCmd)->turns * 1.4;
}
decodedCmd->type = CMD_TURN;
((CMD_Turn*)decodedCmd)->turns = ((int16_t)cmd[1]<<8) + (int16_t)cmd[2];
break;
case CMD_PING:
@ -64,19 +40,13 @@ CMD_Generic* cmdDecode(char* cmd, uint8_t length) {
case CMD_DEBUG:
case CMD_POWER_OFF:
decodedCmd = (CMD_Generic*)malloc(sizeof(CMD_Generic));
decodedCmd->type = cmd[0];
decodedCmd->type = cmd_type;
break;
default:
decodedCmd = CMD_DECODE_UNKNOWN;
}
endTime=SysTick->VAL;
if (endTime>startTime)
duration = (uint32_t)(SysTick->LOAD+1)-endTime+startTime;
else
duration = startTime-endTime;
return decodedCmd;
}
@ -104,7 +74,7 @@ void cmdSendVersion(uint16_t address) {
ANS_Version answer;
answer.ans = ANS_OK;
strcpy (answer.version, SYSTEM_VERSION_STR);
answer.version=SYSTEM_VERSION;
XBEE_SendData(address, (char*)&answer, sizeof (answer));
}

2
software/dumber3/Application/commands.h
View file

@ -64,7 +64,7 @@ typedef struct __attribute__((packed)) {
typedef struct __attribute__((packed)) {
uint8_t ans;
char version[6];
uint16_t version;
} ANS_Version;
typedef struct __attribute__((packed)) {

11
software/dumber3/Application/config.h
View file

@ -7,8 +7,9 @@
#include "stm32l0xx_hal.h"
#include "cmsis_os.h"
// current version is 2.0
#define SYSTEM_VERSION_STR "2.0"
#define SYSTEM_VERSION 0x20
#define SYSTEM_VERSION 0x0200 // Upper byte: major version, lower byte: minor version
#define STACK_SIZE 0x100
@ -21,16 +22,18 @@
#define PrioritySequenceurTimeout (configMAX_PRIORITIES -7)
#define PriorityLeds (configMAX_PRIORITIES -8)
/* Periodes des taches periodiques (en ms */
#define MOTEURS_PERIODE_ASSERVISSEMENT (5)
/* Périodes des taches périodiques (en ms) */
#define MOTEURS_PERIODE_ASSERVISSEMENT (2)
#define APPLICATION_PERIODE (100)
#define BATTERIE_PERIODE_SCRUTATION (1000)
#define LEDS_PERIODE (100)
#define XBEE_TX_SEMAPHORE_WAIT 500
#define XBEE_RX_BUFFER_MAX_LENGTH 50
/*
* Revoir les délais : c'est en 100 ms, pas ms
*/
#define APPLICATION_INACTIVITY_TIMEOUT (2*60*1000) // 2 minutes, expressed in ms
#define APPLICATION_WATCHDOG_MIN (900) // minimum time to wait before resetting watchdog, expressed in ms
#define APPLICATION_WATCHDOG_MAX (1100) // maximum time to wait before resetting watchdog, expressed in ms

402
software/dumber3/Application/moteurs.c
View file

@ -8,10 +8,15 @@
#include "moteurs.h"
#include "timers.h"
#include "stm32l0xx_ll_gpio.h"
#include "stm32l0xx_ll_tim.h"
#include <limits.h>
/*
* Global informations
* Main clock: 6 Mhz
* Tim2 PWM Input (CH1): Encodeur droit PHB : 0 -> 65535
* TIM2 PWM Input (CH1): Encodeur droit PHB : 0 -> 65535
* TIM21 PWM Input (CH1): Encodeur Gauche PHA: 0 -> 65535
* TIM3: PWM Output moteur (0->200) (~30 Khz)
*/
@ -21,13 +26,13 @@ extern TIM_HandleTypeDef htim21;
extern TIM_HandleTypeDef htim3;
#define MOTEURS_MAX_COMMANDE 200
#define MOTEURS_MAX_CONSIGNE 100
#define MOTEURS_MAX_ENCODEUR 65535
#define MOTEURS_MAX_ENCODEUR USHRT_MAX
typedef struct {
int16_t commande;
int16_t consigne;
uint16_t encodeur;
uint16_t encodeurFront;
uint8_t moteurLent;
} MOTEURS_EtatMoteur;
@ -40,10 +45,9 @@ typedef struct {
} MOTEURS_EtatDiff;
MOTEURS_EtatMoteur MOTEURS_EtatMoteurGauche, MOTEURS_EtatMoteurDroit = {0};
MOTEURS_EtatDiff MOTEURS_EtatDifferentiel;
MOTEURS_EtatDiff MOTEURS_EtatDifferentiel = {0};
#define MOTEUR_Kp 15
#define MOTEUR_DELAY 3
#define MOTEUR_Kp 300
/***** Tasks part *****/
@ -63,8 +67,7 @@ void MOTEURS_TacheAsservissement( void* params ) ;
void MOTEURS_Set(int16_t cmdGauche, int16_t cmdDroit);
void MOTEURS_DesactiveAlim(void);
void MOTEURS_ActiveAlim(void);
GPIO_PinState MOTEURS_EtatAlim(void);
uint16_t MOTEURS_CorrectionEncodeur(uint16_t encodeur);
int16_t MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteur etat);
/**
* @brief Fonction d'initialisation des moteurs
@ -151,14 +154,15 @@ void MOTEURS_TachePrincipale(void* params) {
vTaskResume(xHandleMoteursAsservissement);
break;
case MSG_ID_MOTEURS_STOP:
MOTEURS_EtatDifferentiel.distance = 0;
MOTEURS_EtatDifferentiel.tours = 0;
MOTEURS_EtatMoteurGauche.consigne=0;
MOTEURS_EtatMoteurDroit.consigne=0;
if ((MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteurGauche.encodeur) ==0) &&
(MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteurDroit.encodeur) ==0))
// Les moteurs sont déjà arretés
if ((MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteurGauche) ==0) &&
(MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteurDroit) ==0))
// Les moteurs sont déjà arrêtés
vTaskSuspend(xHandleMoteursAsservissement);
else
// Les moteurs tournent encore
@ -171,15 +175,15 @@ void MOTEURS_TachePrincipale(void* params) {
}
/*
* @brief Tache d'asservissement, periodique (10ms)
* @brief Tache d'asservissement, périodique (10ms)
*
* @params params non utilisé
*/
void MOTEURS_TacheAsservissement( void* params ) {
TickType_t xLastWakeTime;
int16_t deltaG, deltaD =0;
uint16_t encodeurGauche, encodeurDroit;
int16_t erreurG, erreurD =0;
int16_t encodeurGauche, encodeurDroit;
int32_t locCmdG, locCmdD;
// Initialise the xLastWakeTime variable with the current time.
xLastWakeTime = xTaskGetTickCount();
@ -188,191 +192,106 @@ void MOTEURS_TacheAsservissement( void* params ) {
// Wait for the next cycle.
vTaskDelayUntil( &xLastWakeTime, pdMS_TO_TICKS(MOTEURS_PERIODE_ASSERVISSEMENT));
encodeurGauche = MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteurGauche.encodeur);
encodeurDroit = MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteurDroit.encodeur);
encodeurGauche = MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteurGauche);
encodeurDroit = MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteurDroit);
deltaG = MOTEURS_EtatMoteurGauche.consigne - encodeurGauche;
deltaD = MOTEURS_EtatMoteurDroit.consigne - encodeurDroit;
/*
* encodeur est entre -32768 et +32767, selon le sens de rotation du moteur
* consigne est entre -32768 et + 32767 selon le sens de rotation du moteur
* erreur est entre -32768 et 32767 selon la difference à apporter à la commande
*/
erreurG = MOTEURS_EtatMoteurGauche.consigne - encodeurGauche;
erreurD = MOTEURS_EtatMoteurDroit.consigne - encodeurDroit;
if (((MOTEURS_EtatMoteurDroit.consigne ==0) && (MOTEURS_EtatMoteurGauche.consigne ==0)) &&
((deltaD==0) && (deltaG==0))) {
MOTEURS_DesactiveAlim();
((erreurD==0) && (erreurG==0))) {
MOTEURS_DesactiveAlim();
vTaskSuspend(xHandleMoteursAsservissement);
}
else if (MOTEURS_EtatAlim() == GPIO_PIN_RESET) {
MOTEURS_ActiveAlim();
}
if (deltaG !=0) {
MOTEURS_EtatMoteurGauche.commande = MOTEURS_EtatMoteurGauche.commande + MOTEUR_Kp*deltaG;
if (MOTEURS_EtatMoteurGauche.consigne ==0)
MOTEURS_EtatMoteurGauche.commande =0;
else {
if (erreurG !=0) {
//locCmdG = (int32_t)MOTEURS_EtatMoteurGauche.commande + ((int32_t)MOTEUR_Kp*(int32_t)erreurG)/100;
locCmdG = ((int32_t)MOTEUR_Kp*(int32_t)erreurG)/100;
if (MOTEURS_EtatMoteurGauche.consigne>=0) {
if (MOTEURS_EtatMoteurGauche.commande>255) MOTEURS_EtatMoteurGauche.commande=255;
if (MOTEURS_EtatMoteurGauche.commande<0) MOTEURS_EtatMoteurGauche.commande=0;
if (locCmdG<0) MOTEURS_EtatMoteurGauche.commande=0;
else if (locCmdG>SHRT_MAX) MOTEURS_EtatMoteurGauche.commande=SHRT_MAX;
else MOTEURS_EtatMoteurGauche.commande=(int16_t)locCmdG;
} else {
if (MOTEURS_EtatMoteurGauche.commande>0) MOTEURS_EtatMoteurGauche.commande=0;
if (MOTEURS_EtatMoteurGauche.commande<-255) MOTEURS_EtatMoteurGauche.commande=-255;
if (locCmdG>0) MOTEURS_EtatMoteurGauche.commande=0;
else if (locCmdG<SHRT_MIN) MOTEURS_EtatMoteurGauche.commande=SHRT_MIN;
else MOTEURS_EtatMoteurGauche.commande=(int16_t)locCmdG;
}
}
}
if (deltaD !=0) {
MOTEURS_EtatMoteurDroit.commande = MOTEURS_EtatMoteurDroit.commande + MOTEUR_Kp*deltaD;
if (MOTEURS_EtatMoteurDroit.consigne ==0)
MOTEURS_EtatMoteurDroit.commande =0;
else {
if (erreurD !=0) {
//locCmdD = (int32_t)MOTEURS_EtatMoteurDroit.commande + ((int32_t)MOTEUR_Kp*(int32_t)erreurD)/100;
locCmdD = ((int32_t)MOTEUR_Kp*(int32_t)erreurD)/100;
if (MOTEURS_EtatMoteurDroit.consigne>=0) {
if (MOTEURS_EtatMoteurDroit.commande>255) MOTEURS_EtatMoteurDroit.commande=255;
if (MOTEURS_EtatMoteurDroit.commande<0) MOTEURS_EtatMoteurDroit.commande=0;
if (locCmdD<0) MOTEURS_EtatMoteurDroit.commande=0;
else if (locCmdD>SHRT_MAX) MOTEURS_EtatMoteurDroit.commande=SHRT_MAX;
else MOTEURS_EtatMoteurDroit.commande=(int16_t)locCmdD;
} else {
if (MOTEURS_EtatMoteurDroit.commande>0) MOTEURS_EtatMoteurDroit.commande=0;
if (MOTEURS_EtatMoteurDroit.commande<-255) MOTEURS_EtatMoteurDroit.commande=-255;
if (locCmdD>0) MOTEURS_EtatMoteurDroit.commande=0;
else if (locCmdD<SHRT_MIN) MOTEURS_EtatMoteurDroit.commande=SHRT_MIN;
else MOTEURS_EtatMoteurDroit.commande=(int16_t)locCmdD;
}
}
}
/* Finalement, on applique les commandes aux moteurs */
MOTEURS_Set(MOTEURS_EtatMoteurGauche.commande, MOTEURS_EtatMoteurDroit.commande);
}
}
/**
*
*/
void MOTEURS_DesactiveAlim(void) {
HAL_GPIO_WritePin(GPIOB, SHUTDOWN_ENCODERS_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOB, SHUTDOWN_5V_Pin, GPIO_PIN_RESET);
}
/**
*
*/
void MOTEURS_ActiveAlim(void) {
HAL_GPIO_WritePin(GPIOB, SHUTDOWN_ENCODERS_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB, SHUTDOWN_5V_Pin, GPIO_PIN_SET);
}
/**
*
*/
GPIO_PinState MOTEURS_EtatAlim(void) {
return HAL_GPIO_ReadPin(GPIOB, SHUTDOWN_5V_Pin);
}
/**
* @brief Active les encodeurs et le régulateur des moteur si nécessaire et
* règle la commande du moteur (entre -MOTEURS_MAX_CONSIGNE et +MOTEURS_MAX_CONSIGNE)
*/
void MOTEURS_Set(int16_t cmdGauche, int16_t cmdDroit) {
uint8_t locValGauche, locValDroit;
if (cmdGauche>=0) {
if (cmdGauche>MOTEURS_MAX_CONSIGNE)
locValGauche = MOTEURS_MAX_CONSIGNE;
else
locValGauche =(uint8_t)cmdGauche;
} else {
if (cmdGauche < -MOTEURS_MAX_CONSIGNE)
locValGauche = MOTEURS_MAX_CONSIGNE;
else
locValGauche =(uint8_t)(-cmdGauche);
}
if (cmdDroit>=0) {
if (cmdDroit>MOTEURS_MAX_CONSIGNE)
locValDroit = MOTEURS_MAX_CONSIGNE;
else
locValDroit =(uint8_t)cmdDroit;
} else {
if (cmdDroit < -MOTEURS_MAX_CONSIGNE)
locValDroit = MOTEURS_MAX_CONSIGNE;
else
locValDroit =(uint8_t)(-cmdDroit);
}
if (MOTEURS_EtatAlim()==GPIO_PIN_RESET)
MOTEURS_ActiveAlim();
// Moteur droit
if (cmdDroit >=0) {
htim2.Instance->CCR1 = (uint16_t)locValDroit;
htim2.Instance->CCR2 = 0;
} else {
htim2.Instance->CCR2 = (uint16_t)locValDroit;
htim2.Instance->CCR1 = 0;
}
// Moteur gauche
if (cmdGauche >=0) {
htim2.Instance->CCR4 = (uint16_t)locValGauche;
htim2.Instance->CCR3 = 0;
} else {
htim2.Instance->CCR3 = (uint16_t)locValGauche;
htim2.Instance->CCR4 = 0;
}
}
/*
* @brief Recupere les mesures brutes des encodeurs et les enregistre dans la structure moteur correspondante
*
* @param htim pointeur sur la reference du timer qui generé l'interruption
*/
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
if (htim->Instance==TIM2) { /* moteur gauche */
MOTEURS_EtatMoteurGauche.encodeur = (uint16_t)TIM2->CCR1;
MOTEURS_EtatMoteurGauche.moteurLent = 0;
} else { /* moteur droit */
MOTEURS_EtatMoteurDroit.encodeur = (uint16_t)TIM21->CCR1;
MOTEURS_EtatMoteurDroit.moteurLent = 0;
}
}
/*
* @brief Gestionnaire d'interruption "overflow"
* Lorsque deux interruptions "overflow" sont arrivées sans que l'interruption capture n'arrive,
* cela signifie que le moteur est à l'arret.
* On met la valeur de l'encodeur à MOTEURS_MAX_ENCODEUR
*
* @param htim pointeur sur la reference du timer qui generé l'interruption
*/
void MOTEURS_TimerEncodeurUpdate (TIM_HandleTypeDef *htim) {
if (htim->Instance==TIM2) { /* moteur gauche */
if ((MOTEURS_EtatMoteurGauche.moteurLent++) >=2) {
MOTEURS_EtatMoteurGauche.encodeur = MOTEURS_MAX_ENCODEUR;
MOTEURS_EtatMoteurGauche.moteurLent = 0;
}
} else { /* moteur droit */
if ((MOTEURS_EtatMoteurDroit.moteurLent++) >=2) {
MOTEURS_EtatMoteurDroit.encodeur = MOTEURS_MAX_ENCODEUR;
MOTEURS_EtatMoteurDroit.moteurLent = 0;
}
}
}
typedef struct {
uint16_t encodeur;
uint16_t correction;
} MOTEURS_CorrectionPoint;
#define MOTEURS_MAX_CORRECTION_POINTS 8
#define MOTEURS_MAX_CORRECTION_POINTS 16
const MOTEURS_CorrectionPoint MOTEURS_CorrectionPoints[MOTEURS_MAX_CORRECTION_POINTS]=
{
{MOTEURS_MAX_ENCODEUR-1, 1},
{4000, 50},
{1000, 80},
{500, 200},
{400, 400},
{300, 1000},
{200,3000},
{0,MOTEURS_MAX_ENCODEUR}
{42000, 100},
{22000, 2500},
{18000, 5000},
{16500, 7500},
{15500, 10000},
{14500, 12500},
{13000, 15000},
{12500, 17500},
{12200, 20000},
{11500, 22500},
{11100, 25000},
{11000, 27500},
{10900, 29000},
{10850, 30500},
{10800, SHRT_MAX} // 32767
};
/*
* @brief Fonction de conversion des valeurs brutes de l'encodeur en valeur linearisées
*
* @param encodeur valeur brute de l'encodeur
* @return valeur linearisée
* @return valeur linéarisée (entre -32768 et 32767)
*/
uint16_t MOTEURS_CorrectionEncodeur(uint16_t encodeur) {
uint16_t correction=0;
int16_t MOTEURS_CorrectionEncodeur(MOTEURS_EtatMoteur etat) {
int16_t correction=0;
uint8_t index=0;
int32_t pente, origine;
uint32_t A,B,C;
uint16_t encodeur = etat.encodeur;
if (encodeur ==MOTEURS_MAX_ENCODEUR)
correction =0;
@ -385,11 +304,164 @@ uint16_t MOTEURS_CorrectionEncodeur(uint16_t encodeur) {
index++;
}
pente = 1000*(MOTEURS_CorrectionPoints[index].encodeur-MOTEURS_CorrectionPoints[index+1].encodeur)/(MOTEURS_CorrectionPoints[index].correction - MOTEURS_CorrectionPoints[index+1].correction);
origine = MOTEURS_CorrectionPoints[index].correction-((pente*MOTEURS_CorrectionPoints[index].encodeur)/1000);
if (index >= MOTEURS_MAX_CORRECTION_POINTS)
correction = SHRT_MAX;
else {
A = encodeur-MOTEURS_CorrectionPoints[index+1].encodeur;
B = MOTEURS_CorrectionPoints[index+1].correction-MOTEURS_CorrectionPoints[index].correction;
C = MOTEURS_CorrectionPoints[index].encodeur-MOTEURS_CorrectionPoints[index+1].encodeur;
correction = origine - ((pente*encodeur)/1000);
correction = (int16_t)(MOTEURS_CorrectionPoints[index+1].correction - (uint16_t)((A*B)/C));
}
}
/*
* Selon le sens de rotation du moteur (commande > 0 ou < 0), on corrige le signe du capteur
*/
if (etat.consigne<0)
correction = -correction;
return correction;
}
/**
*
*/
void MOTEURS_DesactiveAlim(void) {
LL_TIM_DisableCounter(TIM3);
LL_TIM_DisableCounter(TIM2);
LL_TIM_DisableCounter(TIM21);
LL_TIM_CC_DisableChannel(TIM3, LL_TIM_CHANNEL_CH1|LL_TIM_CHANNEL_CH2|LL_TIM_CHANNEL_CH3|LL_TIM_CHANNEL_CH4);
LL_TIM_CC_DisableChannel(TIM2, LL_TIM_CHANNEL_CH1|LL_TIM_CHANNEL_CH2);
LL_TIM_CC_DisableChannel(TIM21, LL_TIM_CHANNEL_CH1|LL_TIM_CHANNEL_CH2);
LL_TIM_DisableIT_CC1(TIM2);
LL_TIM_DisableIT_CC1(TIM21);
LL_TIM_DisableIT_UPDATE(TIM2);
LL_TIM_DisableIT_UPDATE(TIM21);
LL_GPIO_SetOutputPin(GPIOB, SHUTDOWN_ENCODERS_Pin);
LL_GPIO_ResetOutputPin(GPIOB, SHUTDOWN_5V_Pin);
}
/**
*
*/
void MOTEURS_ActiveAlim(void) {
LL_TIM_EnableCounter(TIM3);
LL_TIM_EnableCounter(TIM2);
LL_TIM_EnableCounter(TIM21);
LL_TIM_CC_EnableChannel(TIM3, LL_TIM_CHANNEL_CH1|LL_TIM_CHANNEL_CH2|LL_TIM_CHANNEL_CH3|LL_TIM_CHANNEL_CH4);
LL_TIM_CC_EnableChannel(TIM2, LL_TIM_CHANNEL_CH1|LL_TIM_CHANNEL_CH2);
LL_TIM_CC_EnableChannel(TIM21, LL_TIM_CHANNEL_CH1|LL_TIM_CHANNEL_CH2);
LL_TIM_EnableIT_CC1(TIM2);
LL_TIM_EnableIT_CC1(TIM21);
LL_TIM_EnableIT_UPDATE(TIM2);
LL_TIM_EnableIT_UPDATE(TIM21);
LL_GPIO_ResetOutputPin(GPIOB, SHUTDOWN_ENCODERS_Pin);
LL_GPIO_SetOutputPin(GPIOB, SHUTDOWN_5V_Pin);
}
/**
* @brief Active les encodeurs et le régulateur des moteur si nécessaire et
* règle la commande du moteur (entre -MOTEURS_MAX_COMMANDE et +MOTEURS_MAX_COMMANDE)
* On applique une "regle de 3"
* pour SHRT_MAX -> MOTEURS_MAX_COMMANDE
* pour 0 -> 0
* pour une commande C dans l'interval [0 .. 32767], la commande est
* commande = (C * MOTEURS_MAX_COMMANDE)/32767
*/
void MOTEURS_Set(int16_t cmdGauche, int16_t cmdDroit) {
int32_t locValGauche, locValDroit;
locValGauche = (int32_t)(((int32_t)cmdGauche * (int32_t)MOTEURS_MAX_COMMANDE)/((int32_t)SHRT_MAX));
locValDroit = (int32_t)(((int32_t)cmdDroit * (int32_t)MOTEURS_MAX_COMMANDE)/((int32_t)SHRT_MAX));
if (LL_GPIO_IsOutputPinSet(GPIOB, SHUTDOWN_5V_Pin)==GPIO_PIN_RESET)
MOTEURS_ActiveAlim();
// Moteur droit
if (cmdDroit >=0) {
LL_TIM_OC_SetCompareCH2(TIM3, (uint32_t)locValDroit);
LL_TIM_OC_SetCompareCH1(TIM3, (uint32_t)0);
} else {
LL_TIM_OC_SetCompareCH2(TIM3, (uint32_t)0);
LL_TIM_OC_SetCompareCH1(TIM3, (uint32_t)locValDroit);
}
// Moteur gauche
if (cmdGauche >=0) {
LL_TIM_OC_SetCompareCH4(TIM3, (uint32_t)locValGauche);
LL_TIM_OC_SetCompareCH3(TIM3, (uint32_t)0);
} else {
LL_TIM_OC_SetCompareCH4(TIM3, (uint32_t)0);
LL_TIM_OC_SetCompareCH3(TIM3, (uint32_t)locValGauche);
}
}
/*
* @brief Recupere les mesures brutes des encodeurs et les enregistre dans la structure moteur correspondante
*
* @param htim pointeur sur la reference du timer qui generé l'interruption
*/
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
if (htim->Instance==TIM21) { /* moteur gauche */
if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
if (MOTEURS_EtatMoteurGauche.moteurLent !=0) {
MOTEURS_EtatMoteurGauche.encodeur = MOTEURS_MAX_ENCODEUR;
MOTEURS_EtatMoteurGauche.encodeurFront = MOTEURS_MAX_ENCODEUR;
} else {
MOTEURS_EtatMoteurGauche.encodeur = (uint16_t)LL_TIM_IC_GetCaptureCH1(TIM21);
MOTEURS_EtatMoteurGauche.encodeurFront = (uint16_t)LL_TIM_IC_GetCaptureCH2(TIM21);
}
if (LL_TIM_IsActiveFlag_UPDATE(TIM21))
LL_TIM_ClearFlag_UPDATE(TIM21);
MOTEURS_EtatMoteurGauche.moteurLent = 0;
}
} else { /* moteur droit */
if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
if (MOTEURS_EtatMoteurDroit.moteurLent !=0) {
MOTEURS_EtatMoteurDroit.encodeur = MOTEURS_MAX_ENCODEUR;
MOTEURS_EtatMoteurDroit.encodeurFront = MOTEURS_MAX_ENCODEUR;
} else {
MOTEURS_EtatMoteurDroit.encodeur = (uint16_t)LL_TIM_IC_GetCaptureCH1(TIM2);
MOTEURS_EtatMoteurDroit.encodeurFront = (uint16_t)LL_TIM_IC_GetCaptureCH2(TIM2);
}
if (LL_TIM_IsActiveFlag_UPDATE(TIM2))
LL_TIM_ClearFlag_UPDATE(TIM2);
MOTEURS_EtatMoteurDroit.moteurLent = 0;
}
}
}
/*
* @brief Gestionnaire d'interruption "overflow"
* Lorsque deux interruptions "overflow" sont arrivées sans que l'interruption capture n'arrive,
* cela signifie que le moteur est à l'arret.
* On met la valeur de l'encodeur à MOTEURS_MAX_ENCODEUR
*
* @param htim pointeur sur la reference du timer qui generé l'interruption
*/
void MOTEURS_TimerEncodeurUpdate (TIM_HandleTypeDef *htim) {
if (htim->Instance==TIM21) { /* moteur gauche */
if ((MOTEURS_EtatMoteurGauche.moteurLent++) >=1) {
MOTEURS_EtatMoteurGauche.encodeur = MOTEURS_MAX_ENCODEUR;
MOTEURS_EtatMoteurGauche.moteurLent = 1;
}
} else { /* moteur droit */
if ((MOTEURS_EtatMoteurDroit.moteurLent++) >=1) {
MOTEURS_EtatMoteurDroit.encodeur = MOTEURS_MAX_ENCODEUR;
MOTEURS_EtatMoteurDroit.moteurLent = 1;
}
}
}

13
software/dumber3/Core/Src/main.c
View file

@ -332,7 +332,7 @@ static void MX_TIM2_Init(void)
/* USER CODE END TIM2_Init 1 */
htim2.Instance = TIM2;
htim2.Init.Prescaler = 9;
htim2.Init.Prescaler = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 65535;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
@ -362,13 +362,14 @@ static void MX_TIM2_Init(void)
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
sConfigIC.ICFilter = TIM_CCMR1_IC1F_3;
if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
sConfigIC.ICFilter = TIM_CCMR1_IC2F_3;
if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
@ -481,7 +482,7 @@ static void MX_TIM21_Init(void)
/* USER CODE END TIM21_Init 1 */
htim21.Instance = TIM21;
htim21.Init.Prescaler = 9;
htim21.Init.Prescaler = 0;
htim21.Init.CounterMode = TIM_COUNTERMODE_UP;
htim21.Init.Period = 65535;
htim21.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
@ -511,13 +512,14 @@ static void MX_TIM21_Init(void)
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
sConfigIC.ICFilter = TIM_CCMR1_IC1F_3;
if (HAL_TIM_IC_ConfigChannel(&htim21, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
{
Error_Handler();
}
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_FALLING;
sConfigIC.ICSelection = TIM_ICSELECTION_INDIRECTTI;
sConfigIC.ICFilter = TIM_CCMR1_IC2F_3;
if (HAL_TIM_IC_ConfigChannel(&htim21, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
{
Error_Handler();
@ -738,7 +740,8 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
else if ((htim->Instance == TIM2) || (htim->Instance == TIM21))
MOTEURS_TimerEncodeurUpdate (htim);
/* USER CODE END Callback 1 */
}

2
software/dumber3/Core/Src/stm32l0xx_hal_msp.c
View file

@ -199,7 +199,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
HAL_NVIC_SetPriority(LPUART1_IRQn, 3, 0);
HAL_NVIC_EnableIRQ(LPUART1_IRQn);
/* USER CODE BEGIN LPUART1_MspInit 1 */
HAL_NVIC_SetPriority(LPUART1_IRQn, 2, 0);
/* USER CODE END LPUART1_MspInit 1 */
}