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dumber/software/dumber3/Application/motors.c

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/**
******************************************************************************
* @file motors.c
* @brief motors driver body
* @author S. DI MERCURIO (dimercur@insa-toulouse.fr)
* @date December 2023
*
******************************************************************************
* @copyright Copyright 2023 INSA-GEI, Toulouse, France. All rights reserved.
* @copyright This project is released under the Lesser GNU Public License (LGPL-3.0-only).
*
* @copyright This file is part of "Dumber" project
*
* @copyright This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 3 of the License, or (at your option) any later version.
*
* @copyright This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
* @copyright You should have received a copy of the GNU Lesser General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
******************************************************************************
*/
#include "motors.h"
#include "timers.h"
#include "stm32l0xx_ll_gpio.h"
#include "stm32l0xx_ll_tim.h"
#include <limits.h>
/** @addtogroup Application_Software
* @{
*/
/** @addtogroup MOTORS
* Motors driver is in charge of controlling motors and applying a regulation to ensure a linear trajectory
*
* Global informations about peripherals
* - Main clock: 6 Mhz
* - TIM2 PWM Input (CH1): right encoder PHB : 0 -> 65535
* - TIM21 PWM Input (CH1): left encoder PHA: 0 -> 65535
* - TIM3: PWM Output motor (0->200) (~30 Khz)
* @{
*/
/** @addtogroup MOTORS_Private Private
* @{
*/
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim21;
extern TIM_HandleTypeDef htim3;
#define MOTORS_MAX_COMMAND 200
#define MOTORS_MAX_ENCODER USHRT_MAX
/** Structure for storing motors (left or right) control state
* Used during control loop task for controlling motor
*/
typedef struct {
int16_t output; /**< Output value to send to motor. Positive values for forward and negative values for backward
+/- 65535 for full power and 0 for motor stop */
int16_t setpoint; /**< Set point value for motor control*/
uint16_t encoder; /**< Number of encoder pulse acquired between last control loop iteration*/
uint16_t encoderEdge; /**< Delta T between two encoders pulse (the fastest the motor goes, the lowest the value is.
65536 means motor is stopped */
uint8_t slowMotor; /**< Flag for indicating that motor has stopped */
} MOTORS_MotorState;
/** Structure for storing differential control state.
* Used during top differentiel control loop, to ensure trjactory is strait */
typedef struct {
uint8_t type; /**< not used */
int16_t output; /**< not used */
int16_t setpoint; /**< not used */
int32_t distance; /**< Distance to move on */
int32_t turns; /**< Number of turns to apply */
} MOTORS_DifferentialState;
MOTORS_MotorState MOTORS_LeftMotorState, MOTORS_RightMotorState = { 0 };
MOTORS_DifferentialState MOTORS_DiffState = { 0 };
/**
* Proportionnal constant for motor control loop
*/
#define MOTOR_Kp 300
/***** Tasks part *****/
/* Tache moteurs (gestion des messages) */
StaticTask_t xTaskMotors;
StackType_t xStackMotors[STACK_SIZE];
TaskHandle_t xHandleMotors = NULL;
void MOTORS_HandlerTask(void *params);
/* Tache moteurs périodique (asservissement) */
StaticTask_t xTaskMotorsControl;
StackType_t xStackMotorsControl[STACK_SIZE];
TaskHandle_t xHandleMotorsControl = NULL;
void MOTORS_ControlTask(void *params);
/* Fonctions diverses */
void MOTORS_Set(int16_t leftMotor, int16_t rightMotor);
void MOTORS_PowerOff(void);
void MOTORS_PowerOn(void);
int16_t MOTORS_EncoderCorrection(MOTORS_MotorState state);
#ifdef TESTS
TIM_HandleTypeDef htim7;
volatile uint32_t DEBUG_startTime = 0;
volatile uint32_t DEBUG_endTime = 0;
volatile uint32_t DEBUG_duration = 0;
volatile uint32_t DEBUG_worstCase = 0;
void Init_Systick(void) {
// TIM_ClockConfigTypeDef sClockSourceConfig = { 0 };
//
// __HAL_RCC_TIM7_CLK_ENABLE();
//
// htim7.Instance = TIM2;
// htim7.Init.Prescaler = 0;
// htim7.Init.CounterMode = TIM_COUNTERMODE_UP;
// htim7.Init.Period = 65535;
// htim7.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
// htim7.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
// if (HAL_TIM_Base_Init(&htim7) != HAL_OK) {
// Error_Handler();
// }
//
// sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
// if (HAL_TIM_ConfigClockSource(&htim7, &sClockSourceConfig) != HAL_OK) {
// Error_Handler();
// }
//
// LL_TIM_EnableCounter(TIM7);
}
void StartMeasure(void) {
// DEBUG_startTime = LL_TIM_GetCounter(TIM7);
}
void EndMeasure(void) {
// DEBUG_endTime = LL_TIM_GetCounter(TIM7);
//
// if (DEBUG_startTime >= DEBUG_endTime)
// DEBUG_duration = 65533 - DEBUG_startTime + DEBUG_endTime;
// else
// DEBUG_duration = DEBUG_endTime - DEBUG_startTime;
//
// if (DEBUG_duration > DEBUG_worstCase)
// DEBUG_worstCase = DEBUG_duration;
}
#endif /* TESTS */
/**
* @brief Function for initializing motors driver
*
* @param None
* @return None
*/
void MOTORS_Init(void) {
/* Désactive les alimentations des moteurs */
MOTORS_PowerOff();
/* Create the task without using any dynamic memory allocation. */
xHandleMotors = xTaskCreateStatic(MOTORS_HandlerTask, /* Function that implements the task. */
"MOTORS Handler", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */
PriorityMotorsHandler,/* Priority at which the task is created. */
xStackMotors, /* Array to use as the task's stack. */
&xTaskMotors); /* Variable to hold the task's data structure. */
vTaskResume(xHandleMotors);
/* Create the task without using any dynamic memory allocation. */
xHandleMotorsControl = xTaskCreateStatic(
MOTORS_ControlTask, /* Function that implements the task. */
"MOTORS Control", /* Text name for the task. */
STACK_SIZE, /* Number of indexes in the xStack array. */
NULL, /* Parameter passed into the task. */
PriorityMotorsAsservissement,/* Priority at which the task is created. */
xStackMotorsControl, /* Array to use as the task's stack. */
&xTaskMotorsControl); /* Variable to hold the task's data structure. */
vTaskSuspend(xHandleMotorsControl); // On ne lance la tache d'asservissement que lorsque'une commande moteur arrive
MOTORS_PowerOff();
#ifdef TESTS
Init_Systick();
#endif /* TESTS */
}
/**
* @brief Request a movment in strait line
*
* @remark This function wrap a message sending to motors mailbox.
* In case of multiple call, only last one will be applied,
* with potentially some spurious movement when processing previous messages
*
* @param[in] distance Distance to move on, in mm.
* Positive values for forward movements and negative values for backward movements
* @return None
*/
void MOTORS_Move(int32_t distance) {
static int32_t dist;
dist = distance*15;
if (dist) {
MOTORS_PowerOn();
MESSAGE_SendMailbox(MOTORS_Mailbox, MSG_ID_MOTORS_MOVE,
APPLICATION_Mailbox, (void*) &dist);
} else
MOTORS_Stop();
}
/**
* @brief Request a movement in rotation
*
* @remark This function wrap a message sending to motors mailbox.
* In case of multiple call, only last one will be applied,
* with potentially some spurious movement when processing previous messages
*
* @param[in] rotations Angle of rotation to do in degree.
* Positive values for clockwise rotations and negative values for counterclockwise rotations
* @return None
*/
void MOTORS_Turn(int32_t rotations) {
static int32_t turns;
turns = rotations;
if (turns) {
MOTORS_PowerOn();
MESSAGE_SendMailbox(MOTORS_Mailbox, MSG_ID_MOTORS_TURN,
APPLICATION_Mailbox, (void*) &turns);
} else
MOTORS_Stop();
}
/**
* @brief Request for stopping any movement
*
* @remark This function wrap a message sending to motors mailbox.
* In case of multiple call, only last one will be applied,
* with potentially some spurious movement when processing previous messages
*
* @param None
* @return None
*/
void MOTORS_Stop(void) {
MOTORS_PowerOff();
MESSAGE_SendMailbox(MOTORS_Mailbox, MSG_ID_MOTORS_STOP,
APPLICATION_Mailbox, (void*) NULL);
}
/**
* @brief Handler task for motor control
* Manage mailbox et overall management
*
* @param[in] params Initial task parameters
* @return None
*/
void MOTORS_HandlerTask(void *params) {
MESSAGE_Typedef msg;
int32_t distance, tours;
while (1) {
msg = MESSAGE_ReadMailbox(MOTORS_Mailbox);
switch (msg.id) {
case MSG_ID_MOTORS_MOVE:
distance = *((int32_t*) msg.data);
MOTORS_DiffState.distance = distance;
MOTORS_DiffState.turns = 0;
if (distance > 0) {
MOTORS_LeftMotorState.setpoint = 50;
MOTORS_RightMotorState.setpoint = 50;
} else {
MOTORS_LeftMotorState.setpoint = -50;
MOTORS_RightMotorState.setpoint = -50;
}
vTaskResume(xHandleMotorsControl);
break;
case MSG_ID_MOTORS_TURN:
tours = *((int32_t*) msg.data);
MOTORS_DiffState.distance = 0;
MOTORS_DiffState.turns = tours;
if (tours > 0) {
MOTORS_LeftMotorState.setpoint = -50;
MOTORS_RightMotorState.setpoint = 50;
} else {
MOTORS_LeftMotorState.setpoint = 50;
MOTORS_RightMotorState.setpoint = -50;
}
vTaskResume(xHandleMotorsControl);
break;
case MSG_ID_MOTORS_STOP:
MOTORS_DiffState.distance = 0;
MOTORS_DiffState.turns = 0;
MOTORS_LeftMotorState.setpoint = 0;
MOTORS_RightMotorState.setpoint = 0;
if ((MOTORS_EncoderCorrection(MOTORS_LeftMotorState) == 0)
&& (MOTORS_EncoderCorrection(MOTORS_RightMotorState) == 0)) {
// Les moteurs sont déjà arrêtés
vTaskSuspend(xHandleMotorsControl);
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_MOTORS_END_OF_MOUVMENT,
MOTORS_Mailbox, (void*) NULL);
} else
// Les moteurs tournent encore
vTaskResume(xHandleMotorsControl);
break;
default:
break;
}
}
}
/**
* @brief Control loop task
* Periodic task (3ms) for motor control loop
*
* @remark This task is started by \ref MOTORS_HandlerTask when receiving a movement message
* but task kill by itself when movement has finished
*
* @param[in] params Initial task parameters
* @return None
*/
void MOTORS_ControlTask(void *params) {
TickType_t xLastWakeTime;
int16_t leftError, rightError = 0;
int16_t leftEncoder, rightEncoder;
int32_t locCmdG, locCmdD;
// Initialise the xLastWakeTime variable with the current time.
xLastWakeTime = xTaskGetTickCount();
for (;;) {
// Wait for the next cycle.
vTaskDelayUntil(&xLastWakeTime,
pdMS_TO_TICKS(MOTORS_REGULATION_DELAY));
#ifdef TESTS
//StartMeasure();
#endif /* TESTS */
leftEncoder = MOTORS_EncoderCorrection(MOTORS_LeftMotorState);
rightEncoder = MOTORS_EncoderCorrection(MOTORS_RightMotorState);
/*
* 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
*/
leftError = MOTORS_LeftMotorState.setpoint - leftEncoder;
rightError = MOTORS_RightMotorState.setpoint - rightEncoder;
if (((MOTORS_RightMotorState.setpoint == 0)
&& (MOTORS_LeftMotorState.setpoint == 0))
&& ((rightError == 0) && (leftError == 0))) {
MOTORS_PowerOff();
MESSAGE_SendMailbox(APPLICATION_Mailbox, MSG_ID_MOTORS_END_OF_MOUVMENT,
MOTORS_Mailbox, (void*) NULL);
vTaskSuspend(xHandleMotorsControl);
}
if (MOTORS_LeftMotorState.setpoint == 0)
MOTORS_LeftMotorState.output = 0;
else {
if (leftError != 0) {
//locCmdG = (int32_t)MOTEURS_EtatMoteurGauche.commande + ((int32_t)MOTEUR_Kp*(int32_t)erreurG)/100;
locCmdG = ((int32_t) MOTOR_Kp * (int32_t) leftError) / 100;
if (MOTORS_LeftMotorState.setpoint >= 0) {
if (locCmdG < 0)
MOTORS_LeftMotorState.output = 0;
else if (locCmdG > SHRT_MAX)
MOTORS_LeftMotorState.output = SHRT_MAX;
else
MOTORS_LeftMotorState.output = (int16_t) locCmdG;
} else {
if (locCmdG > 0)
MOTORS_LeftMotorState.output = 0;
else if (locCmdG < SHRT_MIN)
MOTORS_LeftMotorState.output = SHRT_MIN;
else
MOTORS_LeftMotorState.output = (int16_t) locCmdG;
}
}
}
if (MOTORS_RightMotorState.setpoint == 0)
MOTORS_RightMotorState.output = 0;
else {
if (rightError != 0) {
//locCmdD = (int32_t)MOTEURS_EtatMoteurDroit.commande + ((int32_t)MOTEUR_Kp*(int32_t)erreurD)/100;
locCmdD = ((int32_t) MOTOR_Kp * (int32_t) rightError) / 100;
if (MOTORS_RightMotorState.setpoint >= 0) {
if (locCmdD < 0)
MOTORS_RightMotorState.output = 0;
else if (locCmdD > SHRT_MAX)
MOTORS_RightMotorState.output = SHRT_MAX;
else
MOTORS_RightMotorState.output = (int16_t) locCmdD;
} else {
if (locCmdD > 0)
MOTORS_RightMotorState.output = 0;
else if (locCmdD < SHRT_MIN)
MOTORS_RightMotorState.output = SHRT_MIN;
else
MOTORS_RightMotorState.output = (int16_t) locCmdD;
}
}
}
/* Finalement, on applique les commandes aux moteurs */
MOTORS_Set(MOTORS_LeftMotorState.output,
MOTORS_RightMotorState.output);
#ifdef TESTS
//EndMeasure();
#endif /* TESTS */
}
}
/** Structure for encoder convertion
* The structure store a equivalent state point, associating a raw encoder value to a linearized corrected value
*/
typedef struct {
uint16_t encoder; /**< Raw encoder value*/
uint16_t correction; /**< Corrected, linearized value, equivalent to raw encoder*/
} MOTORS_CorrectionPoint;
/**
* Number max of correction points for encoder
*/
#define MOTORS_MAX_CORRECTION_POINTS 16
/**
* Array of correction points, associating a raw encoder value and a linearized correction.
*
* Basically, encoders return delay between two signal edges. If motor is stopped, encoder return 65535 (\ref MOTORS_MAX_ENCODER).
* Then value tends towards zero as the motor accelerates. Resulting encoder output is not linear and
* reversed with respect to the setpoint.
*
* This table give several corresponding points, associating a raw, non linear and inverted encoder value to a linerized,
* corrected value that can be compared to setpoint
*/
const MOTORS_CorrectionPoint MOTORS_CorrectionPoints[MOTORS_MAX_CORRECTION_POINTS] =
{ { MOTORS_MAX_ENCODER - 1, 1 }, { 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 Function for converting raw encoder values to linearized values
*
* @remark This function use \ref MOTORS_CorrectionPoints for its conversion
*
* @param[in] state Current state of a motor, including raw encoder value
* @return Linearized value, from -32768 (full backward) to 32767 (full forward)
*/
int16_t MOTORS_EncoderCorrection(MOTORS_MotorState state) {
int16_t correction = 0;
uint8_t index = 0;
uint32_t A, B, C;
uint16_t encoder = state.encoder;
if (encoder == MOTORS_MAX_ENCODER)
correction = 0;
else { // recherche par dichotomie de l'intervale
while (index < MOTORS_MAX_CORRECTION_POINTS) {
if ((MOTORS_CorrectionPoints[index].encoder >= encoder)
&& (MOTORS_CorrectionPoints[index + 1].encoder < encoder)) {
// valeur trouvée, on sort
break;
} else
index++;
}
if (index >= MOTORS_MAX_CORRECTION_POINTS)
correction = SHRT_MAX;
else {
A = encoder - MOTORS_CorrectionPoints[index + 1].encoder;
B = MOTORS_CorrectionPoints[index + 1].correction
- MOTORS_CorrectionPoints[index].correction;
C = MOTORS_CorrectionPoints[index].encoder
- MOTORS_CorrectionPoints[index + 1].encoder;
correction =
(int16_t) (MOTORS_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 (state.setpoint < 0)
correction = -correction;
return correction;
}
/**
* @brief Power off motor, disabling power regulator
*
* @param None
* @return None
*/
void MOTORS_PowerOff(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);
}
/**
* @brief Power on motor, enabling power regulator
*
* @param None
* @return None
*/
void MOTORS_PowerOn(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 Set command to motor
*
* This function drive motors directly. Values applied are output from regulation law.
* If power supply is not enabled (for motor and encoders), the function will enable it.
*
* Values provided are in the range [-SHRT_MAX; SHRT_MAX] and motor command must be
* in the range [-MOTORS_MAX_COMMAND et +MOTORS_MAX_COMMAND].
* The corresponding rule is used :
* - for SHRT_MAX -> MOTORS_MAX_COMMAND
* - for 0 -> 0
* - for a request R in range [0 .. SHRT_MAX], command = (R * MOTEURS_MAX_COMMANDE)/SHRT_MAX
*
* @param[in] leftMotor Request command for left motor
* @param[in] rightMotor Request command for right motor
* @return None
*/
void MOTORS_Set(int16_t leftMotor, int16_t rightMotor) {
int32_t leftValue, rightValue;
leftValue = (int32_t) (((int32_t) leftMotor * (int32_t) SHRT_MAX)
/ ((int32_t) MOTORS_MAX_COMMAND));
rightValue = (int32_t) (((int32_t) rightMotor * (int32_t) SHRT_MAX)
/ ((int32_t) MOTORS_MAX_COMMAND));
if (LL_GPIO_IsOutputPinSet(GPIOB, SHUTDOWN_5V_Pin) == GPIO_PIN_RESET)
MOTORS_PowerOn();
// Moteur droit
if (rightMotor >= 0) {
LL_TIM_OC_SetCompareCH2(TIM3, (uint32_t) rightValue);
LL_TIM_OC_SetCompareCH1(TIM3, (uint32_t) 0);
} else {
LL_TIM_OC_SetCompareCH2(TIM3, (uint32_t) 0);
LL_TIM_OC_SetCompareCH1(TIM3, (uint32_t) rightValue);
}
// Moteur gauche
if (leftMotor >= 0) {
LL_TIM_OC_SetCompareCH4(TIM3, (uint32_t) leftValue);
LL_TIM_OC_SetCompareCH3(TIM3, (uint32_t) 0);
} else {
LL_TIM_OC_SetCompareCH4(TIM3, (uint32_t) 0);
LL_TIM_OC_SetCompareCH3(TIM3, (uint32_t) leftValue);
}
}
/**
* @brief Get raw values from encoders and store them in corresponding motor state
*
* @remark Encoder values are in fact timer counting time between to encoder pulses
*
* Also, manage distance and turn counter used for overall motor control
*
* @param[in] htim Pointer to timer reference that trigger interrupt
* @return None
*/
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
if (htim->Instance == TIM21) { /* moteur gauche */
if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
if (MOTORS_LeftMotorState.slowMotor != 0) {
MOTORS_LeftMotorState.encoder = MOTORS_MAX_ENCODER;
MOTORS_LeftMotorState.encoderEdge = MOTORS_MAX_ENCODER;
} else {
MOTORS_LeftMotorState.encoder =
(uint16_t) LL_TIM_IC_GetCaptureCH1(TIM21);
MOTORS_LeftMotorState.encoderEdge =
(uint16_t) LL_TIM_IC_GetCaptureCH2(TIM21);
}
if (LL_TIM_IsActiveFlag_UPDATE(TIM21))
LL_TIM_ClearFlag_UPDATE(TIM21);
MOTORS_LeftMotorState.slowMotor = 0;
if (MOTORS_DiffState.distance) {
if (MOTORS_DiffState.distance>0) MOTORS_DiffState.distance--;
else MOTORS_DiffState.distance++;
if (MOTORS_DiffState.distance==0) {
MOTORS_LeftMotorState.setpoint=0;
MOTORS_RightMotorState.setpoint=0;
}
}
if (MOTORS_DiffState.turns) {
if (MOTORS_DiffState.turns>0) MOTORS_DiffState.turns--;
else MOTORS_DiffState.turns++;
if (MOTORS_DiffState.turns==0) {
MOTORS_LeftMotorState.setpoint=0;
MOTORS_RightMotorState.setpoint=0;
}
}
}
} else { /* moteur droit */
if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
if (MOTORS_RightMotorState.slowMotor != 0) {
MOTORS_RightMotorState.encoder = MOTORS_MAX_ENCODER;
MOTORS_RightMotorState.encoderEdge = MOTORS_MAX_ENCODER;
} else {
MOTORS_RightMotorState.encoder =
(uint16_t) LL_TIM_IC_GetCaptureCH1(TIM2);
MOTORS_RightMotorState.encoderEdge =
(uint16_t) LL_TIM_IC_GetCaptureCH2(TIM2);
}
if (LL_TIM_IsActiveFlag_UPDATE(TIM2))
LL_TIM_ClearFlag_UPDATE(TIM2);
MOTORS_RightMotorState.slowMotor = 0;
}
}
}
/**
* @brief "overflow" interrupt handler
*
* When two "overflow" interrupts occure without an encoder interrupt happened,
* this means motor is halted.
* So, we set encoder value to MOTEURS_MAX_ENCODEUR
*
* @param[in] htim Pointer to timer reference that trigger interrupt
* @return None
*/
void MOTORS_TimerEncodeurUpdate(TIM_HandleTypeDef *htim) {
if (htim->Instance == TIM21) { /* moteur gauche */
if ((MOTORS_LeftMotorState.slowMotor++) >= 1) {
MOTORS_LeftMotorState.encoder = MOTORS_MAX_ENCODER;
MOTORS_LeftMotorState.slowMotor = 1;
}
} else { /* moteur droit */
if ((MOTORS_RightMotorState.slowMotor++) >= 1) {
MOTORS_RightMotorState.encoder = MOTORS_MAX_ENCODER;
MOTORS_RightMotorState.slowMotor = 1;
}
}
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
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