keil uvision5 discovery serial+motor
Dependencies: BSP_DISCO_F429ZI LCD_DISCO_F429ZI mbed
main.cpp
- Committer:
- Najib_irvani
- Date:
- 2017-06-08
- Revision:
- 0:2c9955e886b7
File content as of revision 0:2c9955e886b7:
/** ****************************************************************************** * File Name : main.c * Description : Main program body ****************************************************************************** * * COPYRIGHT(c) 2017 STMicroelectronics * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Includes ------------------------------------------------------------------*/ #include "stm32f4xx_hal.h" #include "joystickps3.h" #include "stdbool.h" /* USER CODE BEGIN Includes */ /* USER CODE END Includes */ /* Private variables ---------------------------------------------------------*/ TIM_HandleTypeDef htim3; UART_HandleTypeDef huart1; /* USER CODE BEGIN PV */ /* Private variables ---------------------------------------------------------*/ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); void Error_Handler(void); static void MX_GPIO_Init(void); static void MX_TIM3_Init(void); static void MX_USART1_UART_Init(void); void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim); /* USER CODE BEGIN PFP */ /* Private function prototypes -----------------------------------------------*/ /* USER CODE END PFP */ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ 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(); /* Configure the system clock */ SystemClock_Config(); /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_TIM3_Init(); MX_USART1_UART_Init(); /* USER CODE BEGIN 2 */ HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1); HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ idle(); baca_data(); olah_data(); if (!L1 && R1){ //R1 /*motor depan searah jarum jam*/ HAL_GPIO_WritePin(GPIOC, GPIO_PIN_4,0); HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4,1); TIM3->CCR1=999; /*motor belakang searah jarum jam*/ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2,0); HAL_GPIO_WritePin(GPIOC, GPIO_PIN_5,1); TIM3->CCR2=999; } else if (L1 && !R1) { //L1 /*motor depan !arah jarum jam*/ HAL_GPIO_WritePin(GPIOC, GPIO_PIN_4,1); HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4,0); TIM3->CCR1=999; /*motor belakang !arah jarum jam*/ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2,1); HAL_GPIO_WritePin(GPIOC, GPIO_PIN_5,0); TIM3->CCR2=999; } else if (atas && !kiri && !kanan && !bawah) { //atas HAL_GPIO_WritePin(GPIOG, GPIO_PIN_14,1); } else if (!atas && kiri && !kanan && !bawah) { //kiri /*motor depan !arah jarum jam*/ HAL_GPIO_WritePin(GPIOC, GPIO_PIN_4,1); HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4,0); TIM3->CCR1=999; /*motor belakang searah jarum jam*/ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2,0); HAL_GPIO_WritePin(GPIOC, GPIO_PIN_5,1); TIM3->CCR2=999; } else if (!atas && !kiri && kanan && !bawah) { //kanan /*motor depan searah jarum jam*/ HAL_GPIO_WritePin(GPIOC, GPIO_PIN_4,0); HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4,1); TIM3->CCR1=999; /*motor belakang !arah jarum jam*/ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2,1); HAL_GPIO_WritePin(GPIOC, GPIO_PIN_5,0); TIM3->CCR2=999; } else if (!atas && !kiri && !kanan && bawah) { //bawah HAL_GPIO_WritePin(GPIOG, GPIO_PIN_14,0); } else { /*motor depan stop*/ HAL_GPIO_WritePin(GPIOC, GPIO_PIN_4,0); HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4,0); TIM3->CCR1=0; /*motor belakang stop*/ HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2,0); HAL_GPIO_WritePin(GPIOC, GPIO_PIN_5,0); TIM3->CCR2=0; } /* USER CODE BEGIN 3 */ } /* USER CODE END 3 */ } /** System Clock Configuration */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct; RCC_ClkInitTypeDef RCC_ClkInitStruct; __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3); RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.HSICalibrationValue = 16; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; RCC_OscInitStruct.PLL.PLLM = 8; RCC_OscInitStruct.PLL.PLLN = 84; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = 4; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) { Error_Handler(); } HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000); HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK); /* SysTick_IRQn interrupt configuration */ HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0); } /* TIM3 init function */ static void MX_TIM3_Init(void) { TIM_MasterConfigTypeDef sMasterConfig; TIM_OC_InitTypeDef sConfigOC; htim3.Instance = TIM3; htim3.Init.Prescaler = 3; htim3.Init.CounterMode = TIM_COUNTERMODE_UP; htim3.Init.Period = 999; htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; if (HAL_TIM_PWM_Init(&htim3) != HAL_OK) { Error_Handler(); } sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK) { Error_Handler(); } sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.Pulse = 0; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) { Error_Handler(); } if (HAL_TIM_PWM_ConfigChannel(&htim3, &sConfigOC, TIM_CHANNEL_2) != HAL_OK) { Error_Handler(); } HAL_TIM_MspPostInit(&htim3); } /* USART1 init function */ static void MX_USART1_UART_Init(void) { huart1.Instance = USART1; huart1.Init.BaudRate = 115200; huart1.Init.WordLength = UART_WORDLENGTH_8B; huart1.Init.StopBits = UART_STOPBITS_1; huart1.Init.Parity = UART_PARITY_NONE; huart1.Init.Mode = UART_MODE_TX_RX; huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart1.Init.OverSampling = UART_OVERSAMPLING_16; if (HAL_UART_Init(&huart1) != HAL_OK) { Error_Handler(); } } /** Configure pins as * Analog * Input * Output * EVENT_OUT * EXTI */ static void MX_GPIO_Init(void) { GPIO_InitTypeDef GPIO_InitStruct; /* GPIO Ports Clock Enable */ __HAL_RCC_GPIOH_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); __HAL_RCC_GPIOG_CLK_ENABLE(); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(Lmotor1_rev_GPIO_Port, Lmotor1_rev_Pin, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(GPIOC, Lmotor1_fwd_Pin|Lmotor2_rev_Pin, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(Lmotor2_fwd_GPIO_Port, Lmotor2_fwd_Pin, GPIO_PIN_RESET); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(led_indikator_GPIO_Port, led_indikator_Pin, GPIO_PIN_RESET); /*Configure GPIO pin : Lmotor1_rev_Pin */ GPIO_InitStruct.Pin = Lmotor1_rev_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(Lmotor1_rev_GPIO_Port, &GPIO_InitStruct); /*Configure GPIO pins : Lmotor1_fwd_Pin Lmotor2_rev_Pin */ GPIO_InitStruct.Pin = Lmotor1_fwd_Pin|Lmotor2_rev_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); /*Configure GPIO pin : Lmotor2_fwd_Pin */ GPIO_InitStruct.Pin = Lmotor2_fwd_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(Lmotor2_fwd_GPIO_Port, &GPIO_InitStruct); /*Configure GPIO pin : led_indikator_Pin */ GPIO_InitStruct.Pin = led_indikator_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(led_indikator_GPIO_Port, &GPIO_InitStruct); } /* USER CODE BEGIN 4 */ /* USER CODE END 4 */ /** * @brief This function is executed in case of error occurrence. * @param None * @retval None */ void Error_Handler(void) { /* USER CODE BEGIN Error_Handler */ /* User can add his own implementation to report the HAL error return state */ while(1) { } /* USER CODE END Error_Handler */ } #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 /** * @} */ /** * @} */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/