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|
/******************************************************************************
* Copyright (C) 2018 Colomar Andrés, Alejandro *
* Copyright (C) 2018 García Pedroche, Francisco Javier *
* SPDX-License-Identifier: GPL-2.0-only *
******************************************************************************/
/**
* @file actuators.c
* @author Colomar Andrés, Alejandro
* @author García Pedroche, Francisco Javier
* @copyright GPL-2.0-only
* @date 2018/dec/26
* @brief Actuators
* Set the actuators of the plane to the position received by CAN
*/
/******************************************************************************
******* headers **************************************************************
******************************************************************************/
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#include "stm32l4xx_hal.h"
#include "libalx/alx_math.h"
#include "stm32l4-modules/button.h"
#include "stm32l4-modules/can.h"
#include "stm32l4-modules/delay.h"
#include "stm32l4-modules/errors.h"
#include "stm32l4-modules/led.h"
#include "stm32l4-modules/tim.h"
#include "stm32l4-modules/dev/servo.h"
#include "actuators.h"
/******************************************************************************
******* macros ***************************************************************
******************************************************************************/
#define ACT_REFRESH_PERIOD_US (20000u)
#define PROJECT_ACT_TASKING (PROJECT_ACT_IT)
/******************************************************************************
******* enums ****************************************************************
******************************************************************************/
enum Project_Act_Tasking {
PROJECT_ACT_DEL,
PROJECT_ACT_IT,
PROJECT_ACT_EV
};
/******************************************************************************
******* structs **************************************************************
******************************************************************************/
/******************************************************************************
******* variables ************************************************************
******************************************************************************/
/* Volatile ------------------------------------------------------------------*/
/* Global --------------------------------------------------------------------*/
/* Static --------------------------------------------------------------------*/
static bool init_pending = true;
static float pitch;
static float roll;
static float yaw;
/******************************************************************************
******* static functions (prototypes) ****************************************
******************************************************************************/
static int modules_init (void);
static int modules_deinit (void);
static int proc_actuators_it (void);
static int proc_actuators_ev (void);
static int proc_actuators_delay (void);
static int proc_ref_read (void);
static int proc_actuators_set (void);
/******************************************************************************
******* global functions *****************************************************
******************************************************************************/
/**
* @brief Initialize actuators process
* @return Error
* @note Sets global variable 'prj_error'
*/
int proc_actuators_init (void)
{
if (!init_pending)
return ERROR_OK;
if (modules_init())
goto err;
init_pending = false;
return ERROR_OK;
err:
return ERROR_NOK;
}
/**
* @brief Deinitialize actuators process
* @return Error
* @note Sets global variable 'prj_error'
*/
int proc_actuators_deinit (void)
{
int status;
if (init_pending)
return status;
init_pending = true;
status = ERROR_OK;
if (modules_deinit())
status = ERROR_NOK;
return status;
}
/**
* @brief Run actuators process
* @return Error
* @note Sets global variable 'prj_error'
*/
int proc_actuators (void)
{
if (init_pending) {
if (proc_actuators_init())
return ERROR_NOK;
}
switch (PROJECT_ACT_TASKING) {
case PROJECT_ACT_DEL:
return proc_actuators_delay();
case PROJECT_ACT_IT:
return proc_actuators_it();
case PROJECT_ACT_EV:
return proc_actuators_ev();
default:
return ERROR_NOK;
}
}
/******************************************************************************
******* static functions (definitions) ***************************************
******************************************************************************/
static int modules_init (void)
{
led_init();
button_init();
if (delay_us_init())
goto err_delay;
if (can_init())
goto err_can;
if (servo_init())
goto err_servo;
if (PROJECT_ACT_TASKING != PROJECT_ACT_DEL) {
if (tim_it_init(ACT_REFRESH_PERIOD_US))
goto err_tim;
}
return ERROR_OK;
err_tim:
servo_deinit();
err_servo:
can_deinit();
err_can:
delay_us_deinit();
err_delay:
button_deinit();
led_deinit();
return ERROR_NOK;
}
static int modules_deinit (void)
{
int status;
status = ERROR_OK;
if (servo_deinit())
status = ERROR_NOK;
if (can_deinit())
status = ERROR_NOK;
if (tim_it_deinit())
status = ERROR_NOK;
if (delay_us_deinit())
status = ERROR_NOK;
button_deinit();
led_deinit();
return status;
}
static int proc_actuators_it (void)
{
while (true) {
__WFI();
if (*tim_it_timx_interrupt_ptr) {
if (!proc_ref_read()) {
if (proc_actuators_set())
return ERROR_NOK;
}
*tim_it_timx_interrupt_ptr = false;
} else if (button_interrupt) {
led_toggle();
button_interrupt = false;
}
}
}
static int proc_actuators_ev (void)
{
while (true) {
__WFE();
if (*tim_it_timx_interrupt_ptr) {
if (!proc_ref_read()) {
if (proc_actuators_set())
return ERROR_NOK;
}
*tim_it_timx_interrupt_ptr = false;
} else if (button_interrupt) {
led_toggle();
button_interrupt = false;
}
}
}
static int proc_actuators_delay (void)
{
while (true) {
delay_us(ACT_REFRESH_PERIOD_US);
if (!proc_ref_read()) {
if (proc_actuators_set())
return ERROR_NOK;
}
}
}
static int proc_ref_read (void)
{
int8_t plane_pos [CAN_DATA_LEN];
if (can_msg_read((uint8_t *)plane_pos))
return ERROR_NOK;
pitch = plane_pos[0];
roll = plane_pos[1];
yaw = plane_pos[2];
return ERROR_OK;
}
static int proc_actuators_set (void)
{
float tmp;
tmp = alx_scale_linear_f(pitch, -40, 40, -90, 90);
if (servo_position_set(SERVO_S1, tmp))
return ERROR_NOK;
tmp = alx_scale_linear_f(roll, -35, 35, -90, -20);
if (servo_position_set(SERVO_S2, tmp))
return ERROR_NOK;
if (yaw > 0) {
if (servo_position_set(SERVO_S3, 90))
return ERROR_NOK;
tmp = alx_scale_linear_f(yaw, 0, 10, -90, 90);
if (servo_position_set(SERVO_S4, tmp))
return ERROR_NOK;
} else {
tmp = alx_scale_linear_f(yaw, -10, 0, -90, 90);
if (servo_position_set(SERVO_S3, tmp))
return ERROR_NOK;
if (servo_position_set(SERVO_S4, -90))
return ERROR_NOK;
}
return ERROR_OK;
}
/******************************************************************************
******* end of file **********************************************************
******************************************************************************/
|
