Dong Co

#include stm32f4_discovery.
h
//***********************************************
// Configuation gnrale
//***********************************************
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
//***********************************************
// Appelle des fontions de configuration
//***********************************************
void GPIO_Config(void);
void PWM_Config(int period);
void TIM_Config(void);
void Delay(__IO uint32_t nCount);
void servo_1(int deg1);
void moteur_PWM(uint16_t mdav,uint16_t mdar, uint16_t mgav, uint16_t mgar);
void configureEncoder(void);
uint32_t offsetencoder=0x7fffffff;
long long encoder1=0;
long long encoder2=0;
/*****************************************/
void encodersReset (void) ;
#define LEFT_COUNT() TIM2->CNT
#define RIGHT_COUNT() TIM5->CNT
volatile int16_t leftCount;
volatile int16_t rightCount;
volatile int16_t fwdCount;
volatile int16_t rotCount;
//distances
volatile int32_t leftTotal;
volatile int32_t rightTotal;
volatile int32_t fwdTotal;
volatile int32_t rotTotal;
// local variables static
volatile int16_t oldLeftEncoder;
static volatile int16_t oldRightEncoder;
static volatile int16_t leftEncoder;
static volatile int16_t rightEncoder;
static volatile int16_t encoderSum;
static volatile int16_t encoderDiff;
/*******************************************/
uint16_t CCR1_Val = 0; //pc6
uint16_t CCR2_Val = 0; //PC7
uint16_t CCR3_Val = 0; //PB0
uint16_t CCR4_Val = 0; //PB1
uint16_t PrescalerValue = 0;
int deg;
//***********************************************
// Programme principale
//***********************************************
int main(void)
{
GPIO_Config();
TIM_Config();
PWM_Config(2000); // Il faut saisir la priode
while (1) //*Equivalent a void(loop) a arduino*//
{ oldLeftEncoder = leftEncoder;
leftEncoder = TIM_GetCounter (TIM2) ;
oldRightEncoder = rightEncoder;
rightEncoder = -TIM_GetCounter (TIM5) ;
leftCount = leftEncoder oldLeftEncoder;
rightCount = rightEncoder oldRightEncoder;
fwdCount = leftCount + rightCount;
rotCount = (leftCount rightCount);
fwdTotal += fwdCount;
rotTotal += rotCount;
leftTotal += leftCount;
rightTotal += rightCount;
}
}
//***********************************************
// Fonction pour configuration GPIO
//***********************************************
void GPIO_Config(void)
{
/* GPIOC and GPIOB clock enable */
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOB|
RCC_AHB1Periph_GPIOD |RCC_AHB1Periph_GPIOA, ENABLE);
/****************TIM3*********************/
/* GPIOC Configuration: TIM3 CH1 (PC6) and TIM3 CH2 (PC7) */ /* ===>Moteur 1 */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP ;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* GPIOB Configuration: TIM3 CH3 (PB0) and TIM3 CH4 (PB1) */ /* ===>Moteur 2 */
GPIO_Init(GPIOB, &GPIO_InitStructure);
/****************TIM4*********************/
/* GPIOB Configuration: TIM4 CH1 (PD12) and TIM4 CH2 (PD13) and TIM4 CH3 (PD14) and TIM4 CH4
(PD15) */ /* ===>ServoMoteur */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13| GPIO_Pin_14| GPIO_Pin_15;
GPIO_Init(GPIOD, &GPIO_InitStructure);
/****************TIM2*********************/
/* GPIOB Configuration: TIM2 CH1 (PA15) and TIM2 CH3(PA2) and TIM2 CH4 (PA3)*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2| GPIO_Pin_3;
/******encoder 1*********/
/* GPIOB Configuration: TIM2 CH1 (PB3)*/
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Pin =GPIO_Pin_3;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin =GPIO_Pin_15;
/****************TIM8*********************/
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/****************TIM1*********************/
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_Init(GPIOE, &GPIO_InitStructure);
/****************TIM5*********************/
/******encoder 2*********/
/* GPIOB Configuration: TIM5*/
GPIO_InitStructure.GPIO_Pin =GPIO_Pin_0 | GPIO_Pin_1;
}
//***********************************************
// Fonction pour configuration TIMER
//***********************************************
void TIM_Config(void)
{
/* TIM3 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
/* Connect TIM3 pins to AF2 */
GPIO_PinAFConfig(GPIOA, GPIO_PinSource6, GPIO_AF_TIM3); // Pin Moteur 1 Sens 1
GPIO_PinAFConfig(GPIOA, GPIO_PinSource7, GPIO_AF_TIM3); // Pin Moteur 1 Sens 2
GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_TIM3); // Pin Moteur 2 Sens 1
GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_TIM3); // Pin Moteur 2 Sens 2
GPIO_PinAFConfig(GPIOD, GPIO_PinSource12, GPIO_AF_TIM4); //Pin du servo 1
GPIO_PinAFConfig(GPIOA, GPIO_PinSource15, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource3, GPIO_AF_TIM2);
GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM8);
}
//***********************************************
// Fonction pour configuration PWM
//***********************************************
void PWM_Config(int period)
{
/********************************/
/*******Prametrage du PWM********/
/*******************************/
/* Compute the prescaler value */
PrescalerValue = (uint16_t) ((SystemCoreClock /2) / 16000000) 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = period ;
TIM_TimeBaseStructure.TIM_Prescaler = 500;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
/*******Prametrage des Timeurs********/
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
/*****************************************************************/
/* Configure the timer */
TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising,
TIM_ICPolarity_Rising);
TIM_SetAutoreload (TIM2, 0xffff);
TIM_EncoderInterfaceConfig(TIM5, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising,
TIM_ICPolarity_Rising);
TIM_SetAutoreload (TIM5, 0xffff);
/* TIM2 and TIM5 counter enable */
TIM_Cmd(TIM2, ENABLE);
encodersReset ();
/*******Prametrage des Chanels********/
/*******TIM3******/
/* PWM1 Mode configuration: Channel1 TIM3*/
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = CCR1_Val;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM3, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
/*Actication des TIM*/
TIM_ARRPreloadConfig(TIM3, ENABLE);
/***********TIM4*********/
/* PWM1 Mode configuration: Channel1 TIM4 */
/*Actication des TIM*/
/* TIM3 enable counter */
}
//***********************************************
// Fonction pour configuration du delay
//***********************************************
void Delay(__IO uint32_t nCount)
{
while(nCount)
{
}
}
//***********************************************
// Fonction pour controler les servo moteur
//***********************************************
void servo_1(int deg1)
{
TIM4->CCR1 =(uint16_t)(deg1*1000)/180; // Servo pinD12 TIM4
}
{
}
{
}
{
}
//***********************************************
// Fonction pour controler deux moteur
//***********************************************
void moteur_PWM(uint16_t mdav,uint16_t mdar, uint16_t mgav, uint16_t mgar)
{
TIM3->CCR1 =(uint16_t)(mdav); // PA6 TIM3
TIM3->CCR2 =(uint16_t)(mdar); //PA7 TIM3
TIM3->CCR3 = (uint16_t)(mgav); //PB0 TIM3
TIM3->CCR4 = (uint16_t)(mgar); //PB1 TIM3
}
void encodersReset (void) {
oldLeftEncoder = 0;
oldRightEncoder = 0;
leftTotal = 0;
rightTotal = 0;
fwdTotal = 0;
rotTotal = 0;
TIM_SetCounter (TIM2, 0);
TIM_SetCounter (TIM3, 0);
oldLeftEncoder = leftEncoder;
leftEncoder = TIM_GetCounter (TIM2) ;
oldRightEncoder = rightEncoder;
rightEncoder = -TIM_GetCounter (TIM5) ;
leftCount = leftEncoder oldLeftEncoder;
rightCount = rightEncoder oldRightEncoder;
fwdCount = leftCount + rightCount;
rotCount = (leftCount rightCount);
fwdTotal += fwdCount;
rotTotal += rotCount;
leftTotal += leftCount;
rightTotal += rightCount;
}

Dong Co

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#include stm32f4_discovery.

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