sketch.ino

diagram.json

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

#include <string.h>
#include <stdio.h>
#include <stdint.h>
#include "math.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
UART_HandleTypeDef huart2;
/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART2_UART_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART2_UART_Init();
  /* USER CODE BEGIN 2 */

  printf("HAL init done\n");
  usr_setup();
  printf("User init done\n");
  /* USER CODE END 2 */
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    usr_loop();
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}


/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void){
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief USART2 Initialization Function
  * @param None
  * @retval None
  */
static void MX_USART2_UART_Init(void){

  /* USER CODE BEGIN USART2_Init 0 */

  /* USER CODE END USART2_Init 0 */

  /* USER CODE BEGIN USART2_Init 1 */

  /* USER CODE END USART2_Init 1 */
  huart2.Instance = USART2;
  huart2.Init.BaudRate = 115200;
  huart2.Init.WordLength = UART_WORDLENGTH_8B;
  huart2.Init.StopBits = UART_STOPBITS_1;
  huart2.Init.Parity = UART_PARITY_NONE;
  huart2.Init.Mode = UART_MODE_TX_RX;
  huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
  huart2.Init.OverSampling = UART_OVERSAMPLING_16;
  huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
  huart2.Init.ClockPrescaler = UART_PRESCALER_DIV1;
  huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
  if (HAL_UART_Init(&huart2) != HAL_OK)
  {
    Error_Handler();
  }
  /* USER CODE BEGIN USART2_Init 2 */

  /* USER CODE END USART2_Init 2 */

}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void){
  GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOF_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void){
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line){
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */


main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.h
  * @brief          : Header for main.c file.
  *                   This file contains the common defines of the application.
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2023 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H
#define __MAIN_H

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/
#include "stm32c0xx_hal.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "runtime.h"
/* USER CODE END Includes */

/* Exported types ------------------------------------------------------------*/
/* USER CODE BEGIN ET */

/* USER CODE END ET */

/* Exported constants --------------------------------------------------------*/
/* USER CODE BEGIN EC */

/* USER CODE END EC */

/* Exported macro ------------------------------------------------------------*/
/* USER CODE BEGIN EM */

/* USER CODE END EM */

/* Exported functions prototypes ---------------------------------------------*/
void Error_Handler(void);

/* USER CODE BEGIN EFP */

/* USER CODE END EFP */

/* Private defines -----------------------------------------------------------*/


/* USER CODE BEGIN Private defines */

/* USER CODE END Private defines */

#ifdef __cplusplus
}
#endif

#endif /* __MAIN_H */


main.h

float CurrentState[3]; // noté x; x, y, θ (mm,rad)
float PreviousState[3]; //noté x(t-1)
float Commands[2]; // noté u; vecteur représenté par une vitesse (norme) et un angle
float PreviousCommands[2];

// on cherche tout d'abord a trouver les équations de notre système https://automaticaddison.com/how-to-derive-the-state-space-model-for-a-mobile-robot/

// avec ω la vitesse angulaire (rad/s), on a :
// position en x : x(t-1) + v*cos(θ(t-1)) * Δt
// position en y : y(t-1) + v*sin(θ(t-1)) * Δt
// position en θ : θ(t-1) + ω(t-1) * Δt

// Cette equation est non linéaire (en raison des fonctions trigo), 
// on va donc chercher à la linéariser selon la forme 

// CurrentState = A(t-1) * PreviousState + B(t-1) * PreviousCommands
// où A et B sont des matrices

// on va donc calculer A, qui est la matrice de (matrice de covariance)(depend des tutos j'ai l'impression) d'identité, elle "expresses how the state of the system [x position,y position,yaw angle γ] changes from t-1 to t when no control command is executed" (je peux pas faire mieux que lui)

// pour calculer la position d'une seule variable linéaire, on a y = ax + b
// avec a la pente
// on va calculer la matrice jacobienne, qui est une pente, mais applicable à une matrice, elle représente a quelle vitesse un groupe de variable évolue (et non une seule)
// c'est une matrice de pente pour chaque élément quoi

// si on devait calculer la pente d'une seule variable, on ferait
// a = Δx / Δy
// pour calculer la matrice jacobienne, on fait pareil, mais sur chaque élément
// je renvoie au tuto pour le reste, c'est bien expliqué

// on obtient notre matrice, qui est constante (puisque dépend de notre système, qui ne subit pas de force autre que celle que l'on lui applique)
float A[3][3] = {
  {1,0,0},
  {0,1,0},
  {0,0,1}
};

// il nous reste encore B à déterminer
// la matrice B définit comment le système évolue d'un instant t-1 à un instant t en fonction des commandes sur le système de déplacement
// je renvoie encore au tuto pour cette partie

// on a
/*
B = cos(θ(t-1)) * Δt    0
    sin(θ(t-1)) * Δt    0
          0             Δt
*/

// on peut alors linéariser notre expression initiale
// voir tuto

// on peut alors déterminer la position du robot à un instant t selon la position et les commandes à un instant t-1

// maintenant, EKF https://automaticaddison.com/extended-kalman-filter-ekf-with-python-code-example/#Predict_Step

// on commence par prédire notre futur état
// done. on vient de le faire au dessus



void usr_setup(){

}

void usr_loop(){

}

runtime.c

#ifndef _RUNTIME_H_
#define _RUNTIME_H_

void usr_setup();
void usr_loop();


#endif