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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 **************************************************************
******************************************************************************/
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#include "stm32l4xx_hal.h"
#include "libalx/alx_math.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/nunchuk.h"
#include "ctrl.h"
/******************************************************************************
******* macros ***************************************************************
******************************************************************************/
#define CTRL_REFRESH_PERIOD_US (20000u)
#define PROJECT_CTRL_TASKING (PROJECT_CTRL_IT)
/******************************************************************************
******* enums ****************************************************************
******************************************************************************/
enum Project_Ctrl_Tasking {
PROJECT_CTRL_DEL,
PROJECT_CTRL_IT,
PROJECT_CTRL_EV
};
/******************************************************************************
******* structs **************************************************************
******************************************************************************/
/******************************************************************************
******* variables ************************************************************
******************************************************************************/
/* Volatile ------------------------------------------------------------------*/
/* Global --------------------------------------------------------------------*/
/* Static --------------------------------------------------------------------*/
static bool init_pending = true;
static float pitch;
static float roll;
static float yaw;
static bool level;
/******************************************************************************
******* static functions (prototypes) ****************************************
******************************************************************************/
static int modules_init (void);
static int modules_deinit (void);
static int proc_ctrl_it (void);
static int proc_ctrl_ev (void);
static int proc_ctrl_delay (void);
static int proc_ctrl_read (void);
static int proc_ctrl_report (void);
/******************************************************************************
******* global functions *****************************************************
******************************************************************************/
/**
* @brief Initialize controller process
* @return Error
* @note Sets global variable 'prj_error'
*/
int proc_ctrl_init (void)
{
if (!init_pending)
return ERROR_OK;
if (modules_init())
goto err_mod;
level = true;
init_pending = false;
return ERROR_OK;
err_mod:
return ERROR_NOK;
}
/**
* @brief Deinitialize controller process
* @return Error
* @note Sets global variable 'prj_error'
*/
int proc_ctrl_deinit (void)
{
int status;
if (init_pending)
return ERROR_OK;
status = ERROR_OK;
if (modules_deinit())
status = ERROR_NOK;
init_pending = true;
return status;
}
/**
* @brief Run controller process
* @return Error
* @note Sets global variable 'prj_error'
*/
int proc_ctrl (void)
{
if (init_pending) {
if (proc_ctrl_init())
return ERROR_NOK;
}
switch (PROJECT_CTRL_TASKING) {
case PROJECT_CTRL_DEL:
return proc_ctrl_delay();
case PROJECT_CTRL_IT:
return proc_ctrl_it();
case PROJECT_CTRL_EV:
return proc_ctrl_ev();
}
return ERROR_OK;
}
/******************************************************************************
******* static functions (definitions) ***************************************
******************************************************************************/
static int modules_init (void)
{
led_init();
if (delay_us_init())
goto err_delay;
if (can_init())
goto err_can;
if (nunchuk_init())
goto err_nunchuk;
if (PROJECT_CTRL_TASKING != PROJECT_CTRL_DEL) {
if (tim_it_init(CTRL_REFRESH_PERIOD_US))
goto err_tim;
}
return ERROR_OK;
err_tim:
nunchuk_deinit();
err_nunchuk:
can_deinit();
err_can:
delay_us_deinit();
err_delay:
led_deinit();
return ERROR_NOK;
}
static int modules_deinit (void)
{
int status;
status = ERROR_OK;
if (nunchuk_deinit())
status = ERROR_NOK;
if (can_deinit())
status = ERROR_NOK;
if (tim_it_deinit())
status = ERROR_NOK;
if (delay_us_deinit())
status = ERROR_NOK;
led_deinit();
return status;
}
static int proc_ctrl_it (void)
{
while (true) {
__WFI();
if (*tim_it_timx_interrupt_ptr) {
if (proc_ctrl_read())
return ERROR_NOK;
if (proc_ctrl_report())
return ERROR_NOK;
*tim_it_timx_interrupt_ptr = false;
}
}
}
static int proc_ctrl_ev (void)
{
while (true) {
__WFI();
if (*tim_it_timx_interrupt_ptr) {
if (proc_ctrl_read())
return ERROR_NOK;
if (proc_ctrl_report())
return ERROR_NOK;
*tim_it_timx_interrupt_ptr = false;
}
}
}
static int proc_ctrl_delay (void)
{
while (true) {
delay_us(CTRL_REFRESH_PERIOD_US);
if (proc_ctrl_read())
return ERROR_NOK;
if (proc_ctrl_report())
return ERROR_NOK;
}
}
static int proc_ctrl_read (void)
{
Nunchuk_Data_s nunchuk;
float tmp;
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)
{
int8_t plane_pos [CAN_DATA_LEN] = {0};
if (level) {
led_set();
plane_pos[0] = 0;
plane_pos[1] = 0;
plane_pos[2] = 0;
} else {
led_reset();
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 **********************************************************
******************************************************************************/
|
