From 95d7f26058ab9585dd6ebcad150911c5e8ed3754 Mon Sep 17 00:00:00 2001 From: Arnaud Cadot Date: Sun, 13 Mar 2016 17:02:38 +0100 Subject: [PATCH] Fixed simulator code not compiling because of missing ifdef. Fixed some warnings --- .../paprikaSimulateur/paprikaSimulateur.pro | 2 + stm32/include/loop.h | 8 +- stm32/paprika_krabi_h107.depend | 112 +++++++++--------- stm32/src/asservissement/command.cpp | 12 +- stm32/src/asservissement/commandAllerA.cpp | 9 +- stm32/src/asservissement/pidFilterAngle.cpp | 2 +- .../src/asservissement/pidFilterDistance.cpp | 2 +- stm32/src/initKrabiJunior.cpp | 2 + stm32/src/initialisation.cpp | 7 +- stm32/src/initkrabi.cpp | 2 + 10 files changed, 86 insertions(+), 72 deletions(-) diff --git a/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro b/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro index c62d0210..4fef27ac 100644 --- a/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro +++ b/simulation/qtcreator-files/paprikaSimulateur/paprikaSimulateur.pro @@ -10,6 +10,8 @@ greaterThan(QT_MAJOR_VERSION, 4) { DEFINES += BLUETOOTH QT5 USE_PLOT } +QMAKE_CXXFLAGS += -Wno-reorder -Wno-unused-variable + INCLUDEPATH += ../../include ../../../stm32/Libraries/CMSIS/Core/CM3 ../../../stm32/Libraries/STM32F10x_StdPeriph_Driver/inc /usr/local/include/Box2D INCLUDEPATH += ../../include/simul ../../include/strategie ../../include/asservissement ../../include/actionneurs ../../include/hardware diff --git a/stm32/include/loop.h b/stm32/include/loop.h index 77d50387..5cde2940 100644 --- a/stm32/include/loop.h +++ b/stm32/include/loop.h @@ -1,10 +1,10 @@ #ifndef LOOP_H #define LOOP_H -static long systick_count = 0; - -/**@brief fonction externe appellé directement par le microcontroleur à chaque mise à jour. C'est grace à cette fonction que des actions sont exécutés à intervalle régulier */ -extern "C" void SysTick_Handler(); +static long systick_count = 0; + +/**@brief fonction externe appellé directement par le microcontroleur à chaque mise à jour. C'est grace à cette fonction que des actions sont exécutés à intervalle régulier */ +extern "C" void SysTick_Handler(); #endif // LOOP_H diff --git a/stm32/paprika_krabi_h107.depend b/stm32/paprika_krabi_h107.depend index fcf33d12..1d83c95b 100644 --- a/stm32/paprika_krabi_h107.depend +++ b/stm32/paprika_krabi_h107.depend @@ -1,82 +1,82 @@ # depslib dependency file v1.0 -1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s +1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/startup/gcc/startup_stm32f10x_cl.s -1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c +1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/misc.c "misc.h" -1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/misc.h +1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/misc.h "stm32f10x.h" -1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/stm32f10x.h +1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/stm32f10x.h "core_cm3.h" "system_stm32f10x.h" "stm32f10x_conf.h" -1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/core_cm3.h +1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/core_cm3.h -1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/system_stm32f10x.h +1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/CMSIS/Core/CM3/system_stm32f10x.h -1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c +1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c "stm32f10x_adc.h" "stm32f10x_rcc.h" -1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h +1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h "stm32f10x.h" -1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h +1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h "stm32f10x.h" -1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c +1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c "stm32f10x_dma.h" "stm32f10x_rcc.h" -1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h +1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h "stm32f10x.h" -1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c +1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c "stm32f10x_exti.h" -1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h +1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h "stm32f10x.h" -1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c +1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c "stm32f10x_gpio.h" "stm32f10x_rcc.h" -1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h +1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h "stm32f10x.h" -1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c +1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c "stm32f10x_rcc.h" -1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c +1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c "stm32f10x_tim.h" "stm32f10x_rcc.h" -1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h +1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h "stm32f10x.h" -1455200694 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c +1457720974 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c "stm32f10x_usart.h" "stm32f10x_rcc.h" -1455200694 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h +1457720974 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h "stm32f10x.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/ascenseur.cpp +1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/ascenseur.cpp "ascenseur.h" "table.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/ascenseur.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/ascenseur.h "interfaceServosNumeriques.h" "servo.h" "microSwitch.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/interfaceServosNumeriques.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/interfaceServosNumeriques.h "stm32f4xx_rcc.h" "stm32f4xx_gpio.h" "stm32f4xx_usart.h" @@ -85,94 +85,94 @@ "stm32f10x_usart.h" "ax12api.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/ax12api.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/ax12api.h "memory.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/memory.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/memory.h -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/servo.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/servo.h "pwmHandler.h" "angle.h" "memory.h" "constantes.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/pwmHandler.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/pwmHandler.h "stm32f4xx_tim.h" "stm32f10x_tim.h" "timerHandler.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/timerHandler.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/timerHandler.h "stm32f4xx_tim.h" "stm32f4xx_rcc.h" "stm32f10x_tim.h" "stm32f10x_rcc.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/angle.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/angle.h -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/constantes.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/constantes.h -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/microSwitch.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/microSwitch.h "stm32f4xx_gpio.h" "stm32f10x_gpio.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/brasKrabi.cpp +1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/brasKrabi.cpp -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/brasLateraux.cpp +1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/brasLateraux.cpp "brasLateraux.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/brasLateraux.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/brasLateraux.h "servo.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/brasTapis.cpp +1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/brasTapis.cpp "brasTapis.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/brasTapis.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/brasTapis.h "interfaceServosNumeriques.h" "servo.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/moteur.cpp +1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/moteur.cpp "moteur.h" "constantes.h" "timerHandler.h" "stm32f4xx_gpio.h" "stm32f10x_gpio.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/moteur.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/moteur.h "pwmHandler.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/pinces.cpp +1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/pinces.cpp "pinces.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/pinces.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/pinces.h "interfaceServosNumeriques.h" "servo.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/roues.cpp +1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/roues.cpp "roues.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/roues.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/roues.h "roue.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/roue.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/roue.h "constantes.h" "stm32f4xx_gpio.h" "stm32f10x_gpio.h" "moteur.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/sensor.cpp +1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/sensor.cpp "sensor.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/sensor.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/sensor.h -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/sensors.cpp +1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/sensors.cpp "sensors.h" "leds.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/sensors.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/actionneurs/sensors.h "sharpSensor.h" "ultrasoundSensor.h" "ligthBarrierSensor.h" @@ -180,11 +180,11 @@ "vector.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/sharpSensor.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/sharpSensor.h "analogSensor.h" "constantes.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/analogSensor.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/analogSensor.h "sensor.h" "stm32f4xx_gpio.h" @@ -194,32 +194,32 @@ "stm32f10x_dma.h" "stm32f10x_gpio.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/ultrasoundSensor.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/ultrasoundSensor.h "analogSensor.h" "constantes.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/ligthBarrierSensor.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/ligthBarrierSensor.h "sensor.h" "stm32f4xx_gpio.h" "stm32f10x_gpio.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/limitSwitchSensor.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/limitSwitchSensor.h "sensor.h" "stm32f4xx_gpio.h" "stm32f10x_gpio.h" -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/vector.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/vector.h -1455200696 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/leds.h +1457720976 /home/alex/Documents/Krabi/Gits/gitRobotique/stm32/include/hardware/leds.h "stm32f4xx_gpio.h" "stm32f10x_gpio.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/servo.cpp +1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/actionneurs/servo.cpp "stm32f4xx_gpio.h" "stm32f10x_gpio.h" "servo.h" -1455200697 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/angle.cpp +1457720976 source:/home/alex/Documents/Krabi/Gits/gitRobotique/stm32/src/angle.cpp "angle.h" diff --git a/stm32/src/asservissement/command.cpp b/stm32/src/asservissement/command.cpp index 5fb8eace..03795c5c 100644 --- a/stm32/src/asservissement/command.cpp +++ b/stm32/src/asservissement/command.cpp @@ -11,17 +11,19 @@ bool Command::limiter = false; bool Command::previousWasSmooth = false; -Command::Command() : mFinished(false), linSpeed(Odometrie::odometrie->getVitesseLineaire()), angSpeed(Odometrie::odometrie->getVitesseAngulaire()) +Command::Command() { Command::stop = false; - fromSmoothMovement = previousWasSmooth; - previousWasSmooth = false; + angSpeed = Odometrie::odometrie->getVitesseAngulaire(); + linSpeed = Odometrie::odometrie->getVitesseLineaire(); + mFinished = false; + fromSmoothMovement = previousWasSmooth; + previousWasSmooth = false; } Command::~Command() -{ -} +{} bool Command::getStop(void) { diff --git a/stm32/src/asservissement/commandAllerA.cpp b/stm32/src/asservissement/commandAllerA.cpp index a2fdf143..b15066ae 100644 --- a/stm32/src/asservissement/commandAllerA.cpp +++ b/stm32/src/asservissement/commandAllerA.cpp @@ -13,9 +13,14 @@ #include "debugwindow.h" #endif -CommandAllerA::CommandAllerA(Position p, bool reculer, float vitesseLineaireMax, float vitesseFin, float precisionAngle, float stopAtDistance) - : Command(), smoothFactor(0.f), requireSmoothMovement(false), bonAngle(false), angleSmoothEnd(false), stopAtDistance(stopAtDistance) +CommandAllerA::CommandAllerA(Position p, bool reculer, float vitesseLineaireMax, float vitesseFin, float /*precisionAngle*/, float distance): Command() { + smoothFactor = 0.f; + requireSmoothMovement = false; + bonAngle = false; + angleSmoothEnd = false; + stopAtDistance = distance; + but = p; vitesseLinMax = vitesseLineaireMax; vFin2 = vitesseFin*vitesseFin; diff --git a/stm32/src/asservissement/pidFilterAngle.cpp b/stm32/src/asservissement/pidFilterAngle.cpp index d3c5e68b..5d2fd8f9 100644 --- a/stm32/src/asservissement/pidFilterAngle.cpp +++ b/stm32/src/asservissement/pidFilterAngle.cpp @@ -2,7 +2,7 @@ PIDFilterAngle::PIDFilterAngle() : sommeErreurs(0), erreurPrecedente(0), - Kp(FILTER_ANGLE_KP), Kd(FILTER_ANGLE_KD), Ki(FILTER_ANGLE_KI) + Kp(FILTER_ANGLE_KP), Ki(FILTER_ANGLE_KI), Kd(FILTER_ANGLE_KD) { } diff --git a/stm32/src/asservissement/pidFilterDistance.cpp b/stm32/src/asservissement/pidFilterDistance.cpp index 83a618fe..b5521486 100644 --- a/stm32/src/asservissement/pidFilterDistance.cpp +++ b/stm32/src/asservissement/pidFilterDistance.cpp @@ -2,7 +2,7 @@ PIDFilterDistance::PIDFilterDistance() : sommeErreurs(0), erreurPrecedente(0), - Kp(FILTER_LINEAIRE_KP), Kd(FILTER_LINEAIRE_KD), Ki(FILTER_LINEAIRE_KI) + Kp(FILTER_LINEAIRE_KP), Ki(FILTER_LINEAIRE_KI), Kd(FILTER_LINEAIRE_KD) { } diff --git a/stm32/src/initKrabiJunior.cpp b/stm32/src/initKrabiJunior.cpp index 25a5b794..c607055b 100644 --- a/stm32/src/initKrabiJunior.cpp +++ b/stm32/src/initKrabiJunior.cpp @@ -22,8 +22,10 @@ void InitKrabiJunior::setYellow() /** Initialisation roues codeuses **/ void InitKrabiJunior::initRotaryEncoders() { +#ifdef ROBOTHW rcd = new QuadratureCoderHandler(TIM4, GPIOB, GPIO_Pin_6, GPIOB, GPIO_Pin_7, GPIO_AF_TIM4, GPIO_PinSource6, GPIO_PinSource7); rcg = new QuadratureCoderHandler(TIM1, GPIOA, GPIO_Pin_8, GPIOA, GPIO_Pin_9, GPIO_AF_TIM1, GPIO_PinSource8, GPIO_PinSource9); +#endif } diff --git a/stm32/src/initialisation.cpp b/stm32/src/initialisation.cpp index 5d1fe9a2..a0a211dd 100644 --- a/stm32/src/initialisation.cpp +++ b/stm32/src/initialisation.cpp @@ -11,6 +11,7 @@ #include "initialisation.h" +#include "hardware/tourelle.h" //pour lancer l'update à chaque tic d'horloge extern "C" void SysTick_Handler() @@ -249,13 +250,13 @@ void initialisationDesPIN() #ifdef STM32F40_41xxx // pour la STM32 H405 2014 v1 : // Roues codeuses - /*GPIO_PinAFConfig (GPIOB, GPIO_PinSource6, GPIO_AF_TIM4); + GPIO_PinAFConfig (GPIOB, GPIO_PinSource6, GPIO_AF_TIM4); GPIO_PinAFConfig (GPIOB, GPIO_PinSource7, GPIO_AF_TIM4); GPIO_PinAFConfig (GPIOA, GPIO_PinSource8, GPIO_AF_TIM1); - GPIO_PinAFConfig (GPIOA, GPIO_PinSource9, GPIO_AF_TIM1);*/ + GPIO_PinAFConfig (GPIOA, GPIO_PinSource9, GPIO_AF_TIM1); // Moteurs - /*GPIO_InitTypeDef GPIO_InitStructure; + GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; diff --git a/stm32/src/initkrabi.cpp b/stm32/src/initkrabi.cpp index 0e1db15c..bade3a33 100644 --- a/stm32/src/initkrabi.cpp +++ b/stm32/src/initkrabi.cpp @@ -22,8 +22,10 @@ void InitKrabi::setYellow() /** Initialisation roues codeuses **/ void InitKrabi::initRotaryEncoders() { +#ifdef ROBOTHW rcd = new QuadratureCoderHandler(TIM4, GPIOD, GPIO_Pin_12, GPIOD, GPIO_Pin_13); rcg = new QuadratureCoderHandler(TIM3, GPIOA, GPIO_Pin_6, GPIOA, GPIO_Pin_7); +#endif } void InitKrabi::initClock() -- GitLab