mirror of
https://github.com/yoboujon/dumber.git
synced 2025-06-08 22:00:49 +02:00
153 lines
3.3 KiB
C
153 lines
3.3 KiB
C
#include "system_dumby.h"
|
|
#include "Battery.h"
|
|
#include <stm32f10x.h>
|
|
#include "led.h"
|
|
#include <string.h>
|
|
#include <stdio.h>
|
|
#include "motor.h"
|
|
#include "cmde_usart.h"
|
|
|
|
|
|
Settings Dumber;
|
|
static __IO uint32_t TimingBattery=10000;
|
|
uint16_t greenLight = 0;
|
|
uint16_t redLight = 0;
|
|
uint16_t regulation_vitesseD = 0, regulation_vitesseG = 0, asservissement =0;
|
|
char etatLED = 1;
|
|
uint16_t watchDogState;;
|
|
char vClignotement1s=0;
|
|
uint16_t tourPositionGprec =1, tourPositionDprec=1;
|
|
char LEDON =0;
|
|
|
|
int led=0;
|
|
|
|
/**
|
|
* @brief configure les PIN de shutdown de dumber sur PB5 en OUTPP
|
|
* @param aucun
|
|
*/
|
|
|
|
void MAP_PinShutDown(void)
|
|
{
|
|
GPIO_InitTypeDef Init_Structure;
|
|
Init_Structure.GPIO_Pin = GPIO_Pin_5;
|
|
Init_Structure.GPIO_Mode = GPIO_Mode_Out_PP;
|
|
Init_Structure.GPIO_Speed = GPIO_Speed_50MHz;
|
|
GPIO_SetBits(GPIOB, GPIO_Pin_5);
|
|
GPIO_Init(GPIOB, &Init_Structure);
|
|
}
|
|
|
|
|
|
/**
|
|
* @brief Configure les propriété de dumber au démarage :
|
|
* Etat de depart : IDLE
|
|
* Pas d'AddOn :
|
|
* Liaison série : USART
|
|
*/
|
|
void default_settings(void)
|
|
{
|
|
Dumber.BatteryPurcentage = UNDEFINED;
|
|
Dumber.BatteryCurrent = UNDEFINED;
|
|
// Retourne le pourcentage de charge de la batterie
|
|
Dumber.StateSystem = IDLE; // Etat de la MAE
|
|
Dumber.AddOn = FALSE; // Un AddOn a été détecté
|
|
Dumber.BatterieChecking = FALSE; // On doit verifier la valeur de la batterie
|
|
Dumber.WatchDogStartEnable = FALSE; // Le Robot a été lancé en mode WithWatchDog ou WithoutWatchDog
|
|
Dumber.cpt_watchdog = 0;
|
|
Dumber.cpt_systick =0;
|
|
Dumber.cpt_inactivity =0;
|
|
Dumber.acquisition =FALSE;
|
|
Dumber.busyState =FALSE;
|
|
Dumber.stateBattery =2;
|
|
};
|
|
|
|
/*
|
|
* Calcule le checksum entre le debut du tableau jusqu'à \r
|
|
*/
|
|
|
|
/**
|
|
* Configure le systick à 100ms (1/10éme d'une seconde)
|
|
*/
|
|
|
|
|
|
void Configure_SysTick(void)
|
|
{
|
|
SysTick_Config(SystemCoreClock / 20); //configuration du systick à 50ms
|
|
}
|
|
|
|
/**
|
|
* @brief Désactive les interuptions et entre dans une boucle while (1) en attendant l'extinction du CPU.
|
|
* @param Aucun paramétre
|
|
*/
|
|
|
|
void shutDown(void)
|
|
{
|
|
__disable_irq();
|
|
GPIO_ResetBits(GPIOB, GPIO_Pin_5);
|
|
while(1);
|
|
}
|
|
|
|
/**
|
|
* @brief Interuption systick. Gestion des timers interne.
|
|
*/
|
|
|
|
void SysTick_Handler(void)
|
|
{
|
|
|
|
Dumber.cpt_systick+=50;
|
|
if((Dumber.WatchDogStartEnable == TRUE) && (Dumber.StateSystem != IDLE))
|
|
{
|
|
Dumber.cpt_watchdog+=50;
|
|
}
|
|
Dumber.cpt_inactivity+=50;
|
|
if(asservissement == 1)
|
|
{
|
|
regulation_vitesseD =1;
|
|
regulation_vitesseG =1;
|
|
}
|
|
if(Dumber.cpt_systick%TIMER_1s==0)
|
|
{
|
|
Dumber.cpt_systick=0;
|
|
}
|
|
|
|
if(Dumber.cpt_watchdog % 1000 >=250 || Dumber.cpt_watchdog %1000 <=250)
|
|
{
|
|
watchDogState=TRUE;
|
|
}
|
|
else
|
|
{
|
|
watchDogState=FALSE;
|
|
}
|
|
|
|
if(Dumber.cpt_systick%500 ==0)
|
|
{
|
|
Dumber.acquisition=VOLTAGE;
|
|
voltagePrepare();
|
|
}
|
|
|
|
if(Dumber.cpt_systick%100==0)
|
|
{
|
|
etatLED++;
|
|
if(etatLED ==12)
|
|
etatLED = 1;
|
|
}
|
|
|
|
if(Dumber.cpt_inactivity>=120000)
|
|
{
|
|
shutDown();
|
|
}
|
|
|
|
/*
|
|
CLIGNOTEMENT : IDLE / DISABLE : CLIGNOTE : RUN ou LOW non clignotant
|
|
COULEUR : % BATTERIE en 3 niveau entre 100 et 50 : VERT / entre 50 et 20 : ORANGE / <20 rouge
|
|
*/
|
|
|
|
|
|
|
|
if(Dumber.cpt_watchdog>=TIMER_Watchdog)
|
|
{
|
|
Dumber.StateSystem=DISABLE;
|
|
cmdRightMotor(BRAKE,0);
|
|
cmdLeftMotor(BRAKE,0);
|
|
}
|
|
|
|
}
|