debug steering

INSA-GEI · Oct 28, 2019 · fcc6281 · fcc6281
1 parent a84a43d
commit fcc6281
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Showing 8 changed files with 56 additions and 71 deletions.
diff --git a/nucleo/Inc/main.h b/nucleo/Inc/main.h
@@ -46,6 +46,8 @@
 /* USER CODE BEGIN Includes */
 #include "wheels.h"
 #include "steering.h"
+#include "power.h"
+
 /* USER CODE END Includes */
 
 /* Private define ------------------------------------------------------------*/

diff --git a/nucleo/Inc/power.h b/nucleo/Inc/power.h
@@ -14,12 +14,12 @@
 /**
 * Set the power
 **/
-void power_boostrap();
+void power_boostrap(void);
 
 /**
 * shutdown the power
 **/
-void power_shutdown();
+void power_shutdown(void);
 
 
 #endif /* power_h */
diff --git a/nucleo/Inc/steering.h b/nucleo/Inc/steering.h
@@ -28,6 +28,12 @@ void steering_set_position (GPIO_PinState en_steering, int msg_CAN);
 /**
  * Cmd wheels with buttons
  */
-void move_steering_with_button();
+void steering_move_with_button(void);
+
+/**
+* Return 1 if a steering control button is pressed
+*/
+int steering_is_a_button_pressed(void);
+
 
 #endif
diff --git a/nucleo/MDK-ARM/voiture-elec.uvoptx b/nucleo/MDK-ARM/voiture-elec.uvoptx
@@ -128,7 +128,7 @@
  <SetRegEntry>
  <Number>0</Number>
  <Key>DLGTARM</Key>
- <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)</Name>
+ <Name>(1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=543,120,964,525,0)(121=566,64,987,469,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=-1,-1,-1,-1,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=-1,-1,-1,-1,0)(151=-1,-1,-1,-1,0)</Name>
  </SetRegEntry>
  <SetRegEntry>
  <Number>0</Number>
@@ -148,59 +148,10 @@
  <SetRegEntry>
  <Number>0</Number>
  <Key>ST-LINKIII-KEIL_SWO</Key>
- <Name>-U0672FF323535474B43163744 -O10446 -SF4000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P2 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103RB$Flash\STM32F10x_128.FLM)</Name>
+ <Name>-U066AFF504955857567212312 -O10446 -SF1800 -C0 -A0 -I0 -HNlocalhost -HP7184 -P2 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128.FLM -FS08000000 -FL020000 -FP0($$Device:STM32F103RB$Flash\STM32F10x_128.FLM)</Name>
  </SetRegEntry>
  </TargetDriverDllRegistry>
- <Breakpoint>
- <Bp>
- <Number>0</Number>
- <Type>0</Type>
- <LineNumber>107</LineNumber>
- <EnabledFlag>1</EnabledFlag>
- <Address>134229736</Address>
- <ByteObject>0</ByteObject>
- <HtxType>0</HtxType>
- <ManyObjects>0</ManyObjects>
- <SizeOfObject>0</SizeOfObject>
- <BreakByAccess>0</BreakByAccess>
- <BreakIfRCount>1</BreakIfRCount>
- <Filename>../Src/main.c</Filename>
- <ExecCommand></ExecCommand>
- <Expression>\\voiture_elec\../Src/main.c\107</Expression>
- </Bp>
- <Bp>
- <Number>1</Number>
- <Type>0</Type>
- <LineNumber>147</LineNumber>
- <EnabledFlag>1</EnabledFlag>
- <Address>134231760</Address>
- <ByteObject>0</ByteObject>
- <HtxType>0</HtxType>
- <ManyObjects>0</ManyObjects>
- <SizeOfObject>0</SizeOfObject>
- <BreakByAccess>0</BreakByAccess>
- <BreakIfRCount>1</BreakIfRCount>
- <Filename>../Src/stm32f1xx_it.c</Filename>
- <ExecCommand></ExecCommand>
- <Expression>\\voiture_elec\../Src/stm32f1xx_it.c\147</Expression>
- </Bp>
- <Bp>
- <Number>2</Number>
- <Type>0</Type>
- <LineNumber>119</LineNumber>
- <EnabledFlag>1</EnabledFlag>
- <Address>134219912</Address>
- <ByteObject>0</ByteObject>
- <HtxType>0</HtxType>
- <ManyObjects>0</ManyObjects>
- <SizeOfObject>0</SizeOfObject>
- <BreakByAccess>0</BreakByAccess>
- <BreakIfRCount>1</BreakIfRCount>
- <Filename>../Src/stm32f1xx_it.c</Filename>
- <ExecCommand></ExecCommand>
- <Expression>\\voiture_elec\../Src/stm32f1xx_it.c\119</Expression>
- </Bp>
- </Breakpoint>
+ <Breakpoint/>
  <WatchWindow1>
  <Ww>
  <count>0</count>
@@ -659,6 +610,18 @@
  <RteFlg>0</RteFlg>
  <bShared>0</bShared>
  </File>
+ <File>
+ <GroupNumber>4</GroupNumber>
+ <FileNumber>30</FileNumber>
+ <FileType>1</FileType>
+ <tvExp>0</tvExp>
+ <tvExpOptDlg>0</tvExpOptDlg>
+ <bDave2>0</bDave2>
+ <PathWithFileName>..\Src\power.c</PathWithFileName>
+ <FilenameWithoutPath>power.c</FilenameWithoutPath>
+ <RteFlg>0</RteFlg>
+ <bShared>0</bShared>
+ </File>
  </Group>
 
  <Group>

diff --git a/nucleo/MDK-ARM/voiture-elec.uvprojx b/nucleo/MDK-ARM/voiture-elec.uvprojx
@@ -115,8 +115,8 @@
  <SimDlgDllArguments>-pSTM32F103RB</SimDlgDllArguments>
  <TargetDllName>SARMCM3.DLL</TargetDllName>
  <TargetDllArguments></TargetDllArguments>
- <TargetDlgDll>TCM.DLL</TargetDlgDll>
- <TargetDlgDllArguments>-pCM3</TargetDlgDllArguments>
+ <TargetDlgDll>TARMSTM.DLL</TargetDlgDll>
+ <TargetDlgDllArguments>-pSTM32F103RB</TargetDlgDllArguments>
  </DllOption>
  <DebugOption>
  <OPTHX>
@@ -134,11 +134,11 @@
  <RunIndependent>0</RunIndependent>
  <UpdateFlashBeforeDebugging>1</UpdateFlashBeforeDebugging>
  <Capability>1</Capability>
- <DriverSelection>4107</DriverSelection>
+ <DriverSelection>4100</DriverSelection>
  </Flash1>
  <bUseTDR>1</bUseTDR>
  <Flash2>STLink\ST-LINKIII-KEIL_SWO.dll</Flash2>
- <Flash3></Flash3>
+ <Flash3>"" ()</Flash3>
  <Flash4></Flash4>
  <pFcarmOut></pFcarmOut>
  <pFcarmGrp></pFcarmGrp>
@@ -540,6 +540,11 @@
  <FileType>1</FileType>
  <FilePath>..\Src\steering.c</FilePath>
  </File>
+ <File>
+ <FileName>power.c</FileName>
+ <FileType>1</FileType>
+ <FilePath>..\Src\power.c</FilePath>
+ </File>
  </Files>
  </Group>
  <Group>

diff --git a/nucleo/Src/main.c b/nucleo/Src/main.c
@@ -172,7 +172,7 @@ int main(void)
 
  /* Initialize all configured peripherals */
  MX_GPIO_Init();
- bootstarp_power();
+ power_boostrap();
 
  MX_DMA_Init();
  MX_USART2_UART_Init();
@@ -225,7 +225,7 @@ int main(void)
 
  /* USER CODE BEGIN 3 */
 
- move_steering_with_button();
+ steering_move_with_button();
  /* Update motors command*/
  if (UPDATE_CMD_FLAG){
  UPDATE_CMD_FLAG = 0;
@@ -237,8 +237,10 @@ int main(void)
  {
  en_POS = GPIO_PIN_RESET;
  }
- steering_set_speed(en_MAV, cmdSFM);
- steering_set_position(en_POS, cmdPOS);
+ if (!steering_is_a_button_pressed()){
+ steering_set_speed(en_MAV, cmdSFM);
+ steering_set_position(en_POS, cmdPOS);
+ } 
  }
 
  /* CAN */

diff --git a/nucleo/Src/power.c b/nucleo/Src/power.c
@@ -7,13 +7,13 @@
 
 #include "power.h"
 
-void power_boostrap(){
+void power_boostrap(void){
  /* auto-maintien alim */
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_6, GPIO_PIN_SET);
 }
 
 
-void power_shutdown(){
+void power_shutdown(void){
  //coupure alim
  HAL_GPIO_WritePin(GPIOA, GPIO_PIN_6, GPIO_PIN_RESET);
 }
diff --git a/nucleo/Src/steering.c b/nucleo/Src/steering.c
@@ -23,14 +23,15 @@
 #define SPEED_STEP_1 30
 #define SPEED_STEP_2 150
 
+#define pin_bt_right_front_wheel GPIO_PIN_14
+#define pin_bt_left_front_wheel GPIO_PIN_15
 
 /* Private variables ---------------------------------------------------------*/
 
 extern uint32_t ADCBUF[5];
 int droite_volant, gauche_volant;
 
-uint32_t pin_bt_right_front_wheel PIN_14;
-uint32_t pin_bt_left_front_wheel PIN_15;
+
 
 /* Programs ------------------------------------------------------------------*/
 
@@ -97,23 +98,29 @@ void steering_set_position (GPIO_PinState en_steering, int msg_CAN){
  }
 }
 
-void move_steering_with_button(){
+int steering_is_a_button_pressed(){
+ return ((!HAL_GPIO_ReadPin(GPIOB, pin_bt_right_front_wheel)) || (!HAL_GPIO_ReadPin(GPIOB, pin_bt_left_front_wheel)));
+} 
+
+void steering_move_with_button(void){
  static int previous_value_right = GPIO_PIN_RESET;
  static int previous_value_left = GPIO_PIN_RESET;
  int current_value_right = !HAL_GPIO_ReadPin(GPIOB, pin_bt_right_front_wheel);
  int current_value_left = !HAL_GPIO_ReadPin(GPIOB, pin_bt_left_front_wheel);
 
- if ((current_value_right == GPIO_PIN_SET) && (current_value_left == GPIO_PIN_SET))
+ if (
+ ((current_value_right == GPIO_PIN_SET) && (current_value_left == GPIO_PIN_SET))
  || ((current_value_right == GPIO_PIN_RESET) && (previous_value_right == GPIO_PIN_SET))
- || ((current_value_left == GPIO_PIN_RESET) && (previous_value_left == GPIO_PIN_SET)){
+ || ((current_value_left == GPIO_PIN_RESET) && (previous_value_left == GPIO_PIN_SET))
+ ){
  steering_set_speed(GPIO_PIN_RESET, NO_STEERING);
  previous_value_right = GPIO_PIN_RESET;
  previous_value_left = GPIO_PIN_RESET;
  } else if ((current_value_right == GPIO_PIN_SET) && (previous_value_right == GPIO_PIN_RESET)){
  steering_set_speed(GPIO_PIN_SET, RIGHT_MAX_SPEED_STEERING);
  previous_value_right = GPIO_PIN_SET;
  } else if ((current_value_left == GPIO_PIN_SET) && (previous_value_left == GPIO_PIN_RESET)){
- steering_set_speed(GPIO_PIN_SET, RIGHT_LEFT_SPEED_STEERING)
+ steering_set_speed(GPIO_PIN_SET, LEFT_MAX_SPEED_STEERING);
  previous_value_left = GPIO_PIN_SET;
  }
 }