Feature --> embedded : Merge HAL drivers with the documentation

ARM-HAL-drivers/Encoder-driver/include/ENCODER_config.h

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+/*****************************************/
+/* Author  :  Gehad Elkoumy              */
+/* Version :  V01                        */
+/* Date    : 9 FEB 2023                  */
+/*****************************************/
+
+#ifndef ENCODER_CONFIG_H
+#define ENCODER_CONFIG_H
+
+//#define channel1	GPIOA,8
+//#define channel2	GPIOA,9
+
+#define		EncoderResolution   	 230
+#define 	  WheelRadius			  5
+
+
+#endif

ARM-HAL-drivers/Encoder-driver/include/ENCODER_interface.h

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+/*****************************************/
+/* Author  :  Gehad Elkoumy              */
+/* Version :  V01                        */
+/* Date    : 9 FEB 2023                  */
+/*****************************************/
+
+#ifndef ENCODER_INTERFACE_H
+#define ENCODER_INTERFACE_H
+
+u8 HENCODER_u8GetMotorDirection(u8 Copy_u8Channel2Port , u8 Copy_u8Channel2Pin);
+void HENCODER_voidEncoderCounts(u8 Copy_u8Channel2Port ,u8 Copy_u8Channel2Pin);
+s32 HENCODER_s32GetEncoderCounts(void);
+s32 HENCODER_s32GetRevPerMin(s32 Copy_s32EncoderCounts);
+f32 HENCODER_f32GetDistance( s32 Copy_s32EncoderCounts );
+
+#define 	ClockwiseDirection     				1
+#define 	CounterClockwiseDirection    		2
+
+#endif

ARM-HAL-drivers/Encoder-driver/include/ENCODER_private.h

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+/*****************************************/
+/* Author  :  Gehad Elkoumy              */
+/* Version :  V01                        */
+/* Date    : 9 FEB 2023                  */
+/*****************************************/
+
+#ifndef ENCODER_PRIVATE_H
+#define ENCODER_PRIVATE_H
+
+
+
+
+#define 		Pi			3.14
+
+
+#endif

ARM-HAL-drivers/Encoder-driver/src/ENCODER_program.c

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+/*****************************************/
+/* Author  :  Gehad Elkoumy              */
+/* Version :  V01                        */
+/* Date    : 9 FEB 2023                  */
+/*****************************************/
+
+#include "STD_TYPES.h"
+#include "BIT_MATH.h"
+
+#include "DIO_interface.h"
+
+#include "ENCODER_interface.h"
+#include "ENCODER_private.h"
+#include "ENCODER_config.h"
+
+static s32 Global_s32NumOfCounts = 0 ;
+
+/*input parameter : encoder channels */
+u8 HENCODER_u8GetMotorDirection(u8 Copy_u8Channel2Port , u8 Copy_u8Channel2Pin)
+{
+
+	u8 Local_u8MotorDirection = 0;
+	u8 Local_u8ChannelState;
+
+	Local_u8ChannelState = MGPIO_u8GetPinValue(Copy_u8Channel2Port ,Copy_u8Channel2Pin+1);
+	if(Local_u8ChannelState == HIGH)
+	{
+		Local_u8MotorDirection = ClockwiseDirection;
+	}
+	else if (Local_u8ChannelState == LOW)
+	{
+		Local_u8MotorDirection = CounterClockwiseDirection;
+	}
+
+	return Local_u8MotorDirection;
+}
+
+
+void HENCODER_voidEncoderCounts(u8 Copy_u8Channel2Port ,u8 Copy_u8Channel2Pin)
+{
+	u8 MotorDirection ;
+
+	MotorDirection = HENCODER_u8GetMotorDirection(Copy_u8Channel2Port , Copy_u8Channel2Pin);
+
+	if(MotorDirection == ClockwiseDirection)
+	{
+		Global_s32NumOfCounts++;
+	}
+	else
+	{
+		Global_s32NumOfCounts--;
+	}
+
+}
+
+
+s32 HENCODER_s32GetEncoderCounts(void)
+{
+	return Global_s32NumOfCounts;
+}
+
+
+s32 HENCODER_s32GetRevPerMin(s32 Copy_s32EncoderCounts)
+{
+	s32 Local_s32RPM = 0;
+	Local_s32RPM = (Copy_s32EncoderCounts*60)/EncoderResolution; // need to handle if not 1sec
+	return Local_s32RPM;
+}
+
+
+f32 HENCODER_f32GetDistance( s32 Copy_s32EncoderCounts )
+{
+	f32 Local_f32Distance = 0;
+	Local_f32Distance = (Copy_s32EncoderCounts*2*Pi*WheelRadius)/EncoderResolution;
+	return Local_f32Distance;
+}
+

ARM-HAL-drivers/Encoder-driver/src/main.c

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+/*
+ * main.c
+ *
+ *  Created on: Feb 11, 2023
+ *      Author: Gehad
+ */
+
+#include"STD_TYPES.h"
+#include"BIT_MATH.h"
+
+#include"RCC_interface.h"
+#include"DIO_interface.h"
+#include"NVIC_interface.h"
+#include"AFIO_interface.h"
+#include"EXTI_interface.h"
+#include"STK_interface.h"
+//#include"TIM2_interface.h"
+#include"ENCODER_interface.h"
+
+
+volatile u8 MotorDirection;
+volatile s32 counts = 0;
+volatile s32 countsPerSec = 0;
+volatile f32 RevPerMin = 0;
+
+
+/*count 1sec : RCC = HSE crystal(8MHz) + systick clock = AHB/8 = (1tick -- 1usec)*/
+
+/*ISR of Systick*/
+void EncoderCounts(void)
+{
+	static s32 LastCounts = 0;
+
+	MotorDirection = HENCODER_u8GetMotorDirection(GPIOA,PIN8);
+
+	counts = HENCODER_s32GetEncoderCounts();
+	countsPerSec = counts - LastCounts;
+
+	LastCounts = counts;
+
+	RevPerMin = HENCODER_s32GetRevPerMin(countsPerSec);
+	MGPIO_VoidSetPinValue(GPIOC,PIN13,!MGPIO_u8GetPinValue(GPIOC,PIN13));
+
+}
+
+/*ISR of EXTI8*/
+void GetReading (void)
+{
+	 HENCODER_voidEncoderCounts(GPIOA,PIN8);
+}
+
+
+void main(void)
+{
+	/*initialize RCC*/
+	RCC_voidInitSysClock();
+	/*Enable GPIOA ,B ,C clock*/
+	RCC_voidEnableClock(RCC_APB2,2);
+	RCC_voidEnableClock(RCC_APB2,3);
+	RCC_voidEnableClock(RCC_APB2,4);
+	/*Enable AFIOA clock */
+	RCC_voidEnableClock(RCC_APB2,0);
+
+	/*AFIO*/
+	MAFIO_voidSetEXTIConfiguration(LINE8 , AFIOA);
+	//MAFIO_voidSetEXTIConfiguration(LINE9 , AFIOA);
+
+	/*pin directions*/
+	/*input floating --- 0 or 1 (encoder pins)*/
+	MGPIO_VoidSetPinDirection(GPIOA,PIN8,INPUT_FLOATING);
+	MGPIO_VoidSetPinDirection(GPIOA,PIN9,INPUT_FLOATING);
+	/*motor*/
+	MGPIO_VoidSetPinDirection(GPIOA,PIN2,OUTPUT_2MHZ_PP);
+	MGPIO_VoidSetPinDirection(GPIOA,PIN3,OUTPUT_2MHZ_PP);
+	/*output pin for test*/
+	MGPIO_VoidSetPinDirection(GPIOC,PIN13,OUTPUT_2MHZ_PP);
+
+
+	/*EXTI initialize*/
+	/*before initializing EXTI , initiate call back*/
+	EXTI_voidSetCallBack(GetReading,LINE8);
+	MEXTI_voidInit();
+	MEXTI_voidSetSignalLatch(LINE8,RISING);
+	//MEXTI_voidSetSignalLatch(LINE9,RISING);
+
+	/*Enable EXTI(5:9) interrupt from NVIC*/
+	MNVIC_voidEnableInterrupt(23);
+
+	/*systick initialize*/
+	MSTK_voidInit();
+	/*start timer 1sec*/
+	MSTK_voidSetIntervalPeriodic(1000000,EncoderCounts);
+
+	while(1)
+	{
+		/*cytron pins*/
+		MGPIO_VoidSetPinValue(GPIOA,PIN2,HIGH);
+		MGPIO_VoidSetPinValue(GPIOA,PIN3,HIGH);
+	}
+}

ARM-HAL-drivers/Encoder/src/main.c

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+/*
+ * main.c
+ *
+ *  Created on: Feb 11, 2023
+ *      Author: Eslam
+ */
+
+
+#include"STD_TYPES.h"
+#include"BIT_MATH.h"
+
+#include"RCC_interface.h"
+#include"DIO_interface.h"
+#include"NVIC_interface.h"
+#include"AFIO_interface.h"
+#include"EXTI_interface.h"
+#include"STK_interface.h"
+//#include"TIM2_interface.h"
+#include"ENCODER_interface.h"
+
+s32 count = 0, RPM = 0;
+u8 direction;
+/*count 1sec : RCC = HSE crystal(8MHz) + systick clock = AHB/8 = (1tick -- 1usec)*/
+
+/*ISR of Systick*/
+void EncoderCounts(void)
+{
+	RPM = (count/230)*60;
+	if (count < 0)
+	{
+		direction = CounterClockwiseDirection;
+	}
+	else
+	{
+		direction = ClockwiseDirection;
+	}
+	count = 0;
+
+}
+
+/*ISR of EXTI8*/
+void GetReading (void)
+{
+	u8 current_state = 0 ;
+	current_state = MGPIO_u8GetPinValue(GPIOA, PIN8);
+	if(MGPIO_u8GetPinValue(GPIOA, PIN9) != current_state)
+	{
+		count++;
+	}
+	else
+	{
+		count--;
+	}
+
+}
+
+
+void main(void)
+{
+	/*initialize RCC*/
+	RCC_voidInitSysClock();
+	/*Enable GPIOA ,B ,C clock*/
+	RCC_voidEnableClock(RCC_APB2,2);
+	RCC_voidEnableClock(RCC_APB2,3);
+	RCC_voidEnableClock(RCC_APB2,4);
+	/*Enable AFIOA clock */
+	RCC_voidEnableClock(RCC_APB2,0);
+
+	/*AFIO*/
+	MAFIO_voidSetEXTIConfiguration(LINE8 , AFIOA);
+	//MAFIO_voidSetEXTIConfiguration(LINE9 , AFIOA);
+
+	/*pin directions*/
+	/*input floating --- 0 or 1*/
+	MGPIO_VoidSetPinDirection(GPIOA,PIN8,INPUT_FLOATING);
+	MGPIO_VoidSetPinDirection(GPIOA,PIN9,INPUT_FLOATING);
+	/*motor*/
+	MGPIO_VoidSetPinDirection(GPIOA,PIN2,OUTPUT_2MHZ_PP);
+	MGPIO_VoidSetPinDirection(GPIOA,PIN3,OUTPUT_2MHZ_PP);
+	/*output pins for test*/
+	MGPIO_VoidSetPinDirection(GPIOC,PIN13,OUTPUT_2MHZ_PP);
+
+	/*EXTI initialize*/
+	/*before initializing EXTI , initiate call back*/
+	EXTI_voidSetCallBack(GetReading,LINE8);
+	MEXTI_voidInit();
+	MEXTI_voidSetSignalLatch(LINE8,RISING);
+	//MEXTI_voidSetSignalLatch(LINE9,RISING);
+
+	/*Enalbe EXTI(5:9) interrupt from NVIC*/
+	MNVIC_voidEnableInterrupt(23);
+
+	/*systick initialize*/
+	MSTK_voidInit();
+	/*start timer 1sec*/
+	MSTK_voidSetIntervalPeriodic(1000000,EncoderCounts);
+
+	while(1)
+	{
+
+		MGPIO_VoidSetPinValue(GPIOA,PIN2,HIGH);
+		MGPIO_VoidSetPinValue(GPIOA,PIN3,HIGH);
+	}
+}

ARM-HAL-drivers/README.md

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+> ### ***This is a documentation for issue #33***    
+> `HAL Drivers`  
+<br>
+
+## Encoder driver
+### We have 5 functions in this driver :
+1. Motor direction
+   ```C
+   u8 HENCODER_u8GetMotorDirection(u8 Copy_u8Channel2Port , u8 Copy_u8Channel2Pin);
+   ```
+	- This function gets direction of the motor by comparing the two sets of pulses from the encoder *(state of the 2 pins)*.
+	- It returns motor direction :
+		- returning 1 means `ClockwiseDirection`
+		- returning 2 means `CounterClockwiseDirection`
+	- It takes 2 parameters :
+		- Parameter1: port ID of encoder pin 
+		- Parameter2: pin ID of encoder pin 
+
+   <br>
+2. Encoder counts 
+   ```C
+   void HENCODER_voidEncoderCounts(u8 Copy_u8Channel2Port ,u8 Copy_u8Channel2Pin);
+   ```
+	- This function counts trigger point `rising edge` depending on the motor direction
+	- It takes 2 parameters :
+		- Parameter1: port ID of encoder pin 
+		- Parameter2: pin ID of encoder pin 
+   <br>
+3. Get encoder counts 
+   ```C
+   s32 HENCODER_s32GetEncoderCounts(void);
+   ```
+	- This function gets number of counts to be able to get RPM and distance moved
+	- It returns number of counts depending on motor direction
+   <br>
+4. Get revolution per minite 
+   ```C
+   s32 HENCODER_s32GetRevPerMin(s32 Copy_s32EncoderCounts);
+   ```
+	- This function calculates and returns RPM value.  
+		- RPM equation : *`RPM = (EncoderCounts*60)/EncoderResolution`*	
+   <br>   
+5. Get distance moved 
+   ```C
+   f32 HENCODER_f32GetDistance( s32 Copy_s32EncoderCounts );
+   ```
+	- This function calculates and returns distance moved. 
+		- Distance equation : *`Distance = (EncoderCounts*2*Pi*WheelRadius)/EncoderResolution`*
+

Graduation-Project-Documentation/.obsidian/app.json

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+{}

Graduation-Project-Documentation/.obsidian/appearance.json

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+{
+  "accentColor": ""
+}