void KEY_Init(void)
{
/*Key's Gpio configure*/
KeyGpioConfig();
/* Configure EXTI Line2/3/4 (connected to PE2/3/4 pin) in interrupt mode */
EXTILine_Config(GPIO_Pin_2,EXTI_Line2,EXTI2_IRQn);
EXTILine_Config(GPIO_Pin_3,EXTI_Line3,EXTI3_IRQn);
EXTILine_Config(GPIO_Pin_4,EXTI_Line4,EXTI4_IRQn);
/* Enable SYSCFG clock */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
/* Connect EXTI Line to PE2/PE3/PE4 pin */
SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOE, EXTI_PinSource2);
SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOE, EXTI_PinSource3);
SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOE, EXTI_PinSource4);
}
/**
* @brief Initializes the wave player
* @param AudioFreq: Audio sampling frequency
* @retval None
*/
int WavePlayerInit(uint32_t AudioFreq)
{
EXTILine_Config();
/* Initialize I2S interface */
EVAL_AUDIO_SetAudioInterface(AUDIO_INTERFACE_I2S);
/* Initialize the Audio codec and all related peripherals (I2S, I2C, IOExpander, IOs...) */
EVAL_AUDIO_Init(OUTPUT_DEVICE_AUTO, volume, AudioFreq );
return 0;
}
/**
* @brief Initializes the wave player
* @param AudioFreq: Audio sampling frequency
* @retval None
*/
int WavePlayerInit(uint32_t AudioFreq)
{
/* MEMS Accelerometre configure to manage PAUSE, RESUME and Controle Volume operation */
Mems_Config();
/* EXTI configue to detect interrupts on Z axis click and on Y axis high event */
EXTILine_Config();
/* Initialize I2S interface */
EVAL_AUDIO_SetAudioInterface(AUDIO_INTERFACE_I2S);
/* Initialize the Audio codec and all related peripherals (I2S, I2C, IOExpander, IOs...) */
EVAL_AUDIO_Init(OUTPUT_DEVICE_AUTO, volume, AudioFreq );
return 0;
}
/**
* @brief Main program.
* @param None
* @retval : None
*/
int main(void)
{
/* Setup STM32 system (clock, PLL and Flash configuration) */
u8 axis=0;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE);
for(axis=0; axis<4; axis++)
{
GPIO_InitStructure.GPIO_Pin = AxisPulsePin[axis];
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(AxisPulsePort[axis], &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = AxisDirPin[axis];
GPIO_Init(AxisDirPort[axis], &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=LmtPosPin[axis];
GPIO_InitStructure.GPIO_Mode=GPIO_Mode_IPU;
GPIO_Init(AxisLmtPosPort[axis], &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=LmtNegPin[axis];
GPIO_Init(AxisLmtNegPort[axis], &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=HomePin[axis];
GPIO_Init(HomePort[axis], &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin=AddrPin[axis];
GPIO_Init(AddrPort[axis], &GPIO_InitStructure);
}
Timer_Init();
EXTILine_Config();
NVIC_Configuration();
// AxisMoveRel(1, 550000, 25000, 25000, 50000);
// AxisMoveRel(2, 550000, 32000, 32000, 40000);
// AxisMoveRel(3, 550000, 20000, 20000, 60000);
// AxisMoveRel(4, 550000, 30000, 30000, 45000);
while (1)
{
LimitDetect(1);
LimitDetect(2);
LimitDetect(3);
LimitDetect(4);
AxisHome(1);
AxisHome(2);
AxisHome(3);
AxisHome(4);
}
}
