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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 ctrl.c
* @author Colomar Andrés, Alejandro
* @author García Pedroche, Francisco Javier
* @copyright GPL-2.0-only
* @date 2018/dec/26
* @brief Control
* Read values from the nunchuk, and set from them
* - pitch
* - roll
* - yaw
* Send those 3 values through CAN
*/
/******************************************************************************
******* headers **************************************************************
******************************************************************************/
/* Standard C ----------------------------------------------------------------*/
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
/* Drivers -------------------------------------------------------------------*/
#include "stm32l4xx_hal.h"
/* libalx --------------------------------------------------------------------*/
#include "libalx/alx_math.h"
/* STM32L4 modules -----------------------------------------------------------*/
#include "can.h"
#include "delay.h"
#include "errors.h"
#include "led.h"
#include "nunchuk.h"
#include "tim.h"
/* Project -------------------------------------------------------------------*/
#include "ctrl.h"
/******************************************************************************
******* macros ***************************************************************
******************************************************************************/
/******************************************************************************
******* enums ****************************************************************
******************************************************************************/
/******************************************************************************
******* structs **************************************************************
******************************************************************************/
/******************************************************************************
******* variables ************************************************************
******************************************************************************/
/* Global --------------------------------------------------------------------*/
/* Static --------------------------------------------------------------------*/
static float pitch;
static float roll;
static float yaw;
static bool level;
/******************************************************************************
******* static functions (prototypes) ****************************************
******************************************************************************/
static int modules_init (void);
#if 0
static int proc_init (void);
#endif
static int proc_ctrl_read (void *data);
static int proc_ctrl_report (void *data);
/******************************************************************************
******* global functions *****************************************************
******************************************************************************/
/**
* @brief Initialize controller process
* @return Error
* @note Sets global variable 'prj_error'
*/
int proc_ctrl_init (void)
{
if (modules_init()) {
return ERROR_NOK;
}
#if 0
if (proc_init()) {
return ERROR_NOK;
}
#endif
level = true;
return ERROR_OK;
}
/**
* @brief Run controller process (based on timer interrupts)
* @return Error
* @note Sets global variable 'prj_error'
*/
int proc_ctrl_1 (void)
{
while (true) {
__WFE();
if (tim_tim3_interrupt) {
if (tim_callback_exe()) {
prj_error_handle();
return ERROR_NOK;
}
tim_tim3_interrupt = false;
}
}
return ERROR_OK;
}
/**
* @brief Run controller process (based on delays)
* @return Error
* @note Sets global variable 'prj_error'
*/
int proc_ctrl_2 (void)
{
delay_us(1000u);
while (true) {
delay_us(20000u);
if (proc_ctrl_read(NULL)) {
prj_error_handle();
return ERROR_NOK;
}
if (proc_ctrl_report(NULL)) {
prj_error_handle();
return ERROR_NOK;
}
}
return ERROR_OK;
}
/******************************************************************************
******* static functions (definitions) ***************************************
******************************************************************************/
static int modules_init (void)
{
#if 0
if (tim_tim3_init(REFRESH_FREQ)) {
return ERROR_NOK;
}
#endif
led_init();
if (delay_us_init()) {
return ERROR_NOK;
}
if (can_init()) {
return ERROR_NOK;
}
if (nunchuk_init()) {
return ERROR_NOK;
}
return ERROR_OK;
}
#if 0
static int proc_init (void)
{
if (tim_callback_push(&proc_ctrl_read, NULL)) {
return ERROR_NOK;
}
if (tim_callback_push(&proc_ctrl_report, NULL)) {
return ERROR_NOK;
}
return ERROR_OK;
}
#endif
static int proc_ctrl_read (void *data)
{
Nunchuk_Data_s nunchuk;
float tmp;
(void)data;
if (nunchuk_read(&nunchuk)) {
return ERROR_NOK;
}
tmp = nunchuk.jst.y;
pitch = -alx_scale_linear_f(tmp, 0, UINT8_MAX, -40, 40);
tmp = nunchuk.jst.x;
roll = alx_scale_linear_f(tmp, 0, UINT8_MAX, -35, 35);
tmp = nunchuk.acc.x8;
yaw = alx_scale_linear_f(tmp, 30, 150, -10, 10);
level = nunchuk.btn_c;
return ERROR_OK;
}
static int proc_ctrl_report (void *data)
{
int8_t plane_pos [CAN_DATA_LEN];
int i;
(void)data;
for (i = 3; i < CAN_DATA_LEN; i++) {
plane_pos[i] = 0;
}
if (level) {
plane_pos[0] = 0;
plane_pos[1] = 0;
plane_pos[2] = 0;
} else {
if (pitch > INT8_MAX) {
plane_pos[0] = INT8_MAX;
} else if (pitch < INT8_MIN) {
plane_pos[0] = INT8_MIN;
} else {
plane_pos[0] = (int8_t)pitch;
}
if (roll > INT8_MAX) {
plane_pos[1] = INT8_MAX;
} else if (roll < INT8_MIN) {
plane_pos[1] = INT8_MIN;
} else {
plane_pos[1] = (int8_t)roll;
}
if (yaw > INT8_MAX) {
plane_pos[2] = INT8_MAX;
} else if (yaw < INT8_MIN) {
plane_pos[2] = INT8_MIN;
} else {
plane_pos[2] = (int8_t)yaw;
}
}
if (can_msg_write((uint8_t *)plane_pos)) {
return ERROR_NOK;
}
return ERROR_OK;
}
/******************************************************************************
******* end of file **********************************************************
******************************************************************************/
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