#include <stm32f4xx_rcc.h>

#include <stm32f4xx_gpio.h>

#include <stm32f4xx_tim.h>

#include <misc.h>

#include "periph.h"

#include "stm32f4_adc.h"

#ifndef __IO

#define __IO volatile

#define __I const volatile

#define __O volatile

#endif

__IO uint32_t time;

__IO uint32_t delay;

void Delayus(__IO uint32_t t) {

delay = t;

while (delay != 0);

}

void Delayms(__IO uint32_t t) {

delay = 1000 * t;

while (delay != 0);

}

void initSysTick()

{

if(SysTick_Config(SystemCoreClock / 1000000))

while(1);

}

uint8_t Tickms(__IO uint32_t t)

{

if(DelayTime() >= (1000 * t))

{

DelaySetTime(0);

return 1;

}

else

{

return 0;

}

}

void waitForHSEStartUp()

{

RCC_HSEConfig(RCC_HSE_ON);

while(!RCC_WaitForHSEStartUp());

}

/*

* TIMER 4 servo 6,7,8,9

*/

void Timer4Init(int period)

{

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);

TIM_TimeBaseInitTypeDef timerInitStructure;

timerInitStructure.TIM_Prescaler = 84;

timerInitStructure.TIM_CounterMode = TIM_CounterMode_Up;

timerInitStructure.TIM_Period = period;

timerInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;

timerInitStructure.TIM_RepetitionCounter = 0;

TIM_TimeBaseInit(TIM4, &timerInitStructure);

TIM_Cmd(TIM4, ENABLE);

}

void PWM4Ch1Init(int Duty)

{

TIM_OCInitTypeDef outputChannelInit = {0,};

outputChannelInit.TIM_OCMode = TIM_OCMode_PWM1;

outputChannelInit.TIM_Pulse = Duty; //czas swiecenia diody zielonej

outputChannelInit.TIM_OutputState = TIM_OutputState_Enable;

outputChannelInit.TIM_OCPolarity = TIM_OCPolarity_High;

TIM_OC1Init(TIM4, &outputChannelInit);

TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);

GPIO_PinAFConfig(GPIOB, GPIO_PinSource6, GPIO_AF_TIM4);

// GPIO_PinAFConfig(GPIOD, GPIO_PinSource12, GPIO_AF_TIM4);

}

void PWM4Ch2Init(int Duty)

{

TIM_OCInitTypeDef outputChannelInit = {0,};

outputChannelInit.TIM_OCMode = TIM_OCMode_PWM1;

outputChannelInit.TIM_Pulse = Duty; //czas swiecenia diody pomaranczowej

outputChannelInit.TIM_OutputState = TIM_OutputState_Enable;

outputChannelInit.TIM_OCPolarity = TIM_OCPolarity_High;

TIM_OC2Init(TIM4, &outputChannelInit);

TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);

GPIO_PinAFConfig(GPIOB, GPIO_PinSource7, GPIO_AF_TIM4);

}

void PWM4Ch3Init(int Duty)

{

TIM_OCInitTypeDef outputChannelInit = {0,};

outputChannelInit.TIM_OCMode = TIM_OCMode_PWM1;

outputChannelInit.TIM_Pulse = Duty; //czas swiecenia diody czerwonej

outputChannelInit.TIM_OutputState = TIM_OutputState_Enable;

outputChannelInit.TIM_OCPolarity = TIM_OCPolarity_High;

TIM_OC3Init(TIM4, &outputChannelInit);

TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);

GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_TIM4);

}

void PWM4Ch4Init(int Duty)

{

TIM_OCInitTypeDef outputChannelInit = {0,};

outputChannelInit.TIM_OCMode = TIM_OCMode_PWM1;

outputChannelInit.TIM_Pulse = Duty; //czas swiecenia diody niebieskiej

outputChannelInit.TIM_OutputState = TIM_OutputState_Enable;

outputChannelInit.TIM_OCPolarity = TIM_OCPolarity_High;

TIM_OC4Init(TIM4, &outputChannelInit);

TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);

GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_TIM4);

}

/*

* TIMER 3 servo 3,4,5

*/

void Timer3Init(int period)

{

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

// RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;

TIM_TimeBaseInitTypeDef timerInitStructure;

timerInitStructure.TIM_Prescaler = 84;

timerInitStructure.TIM_CounterMode = TIM_CounterMode_Up;

timerInitStructure.TIM_Period = period;

timerInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;

timerInitStructure.TIM_RepetitionCounter = 0;

TIM_TimeBaseInit(TIM3, &timerInitStructure);

TIM_Cmd(TIM3, ENABLE);

}

void PWM3Ch1Init(int Duty)

{

TIM_OCInitTypeDef outputChannelInit = {0,};

outputChannelInit.TIM_OCMode = TIM_OCMode_PWM1;

outputChannelInit.TIM_Pulse = Duty; //czas swiecenia diody pomaranczowej

outputChannelInit.TIM_OutputState = TIM_OutputState_Enable;

outputChannelInit.TIM_OCPolarity = TIM_OCPolarity_High;

TIM_OC1Init(TIM3, &outputChannelInit);

TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);

GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_TIM3);

}

void PWM3Ch2Init(int Duty)

{

TIM_OCInitTypeDef outputChannelInit = {0,};

outputChannelInit.TIM_OCMode = TIM_OCMode_PWM1;

outputChannelInit.TIM_Pulse = Duty; //czas swiecenia diody pomaranczowej

outputChannelInit.TIM_OutputState = TIM_OutputState_Enable;

outputChannelInit.TIM_OCPolarity = TIM_OCPolarity_High;

TIM_OC2Init(TIM3, &outputChannelInit);

TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);

GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_TIM3);

}

void PWM3Ch3Init(int Duty)

{

TIM_OCInitTypeDef outputChannelInit = {0,};

outputChannelInit.TIM_OCMode = TIM_OCMode_PWM1;

outputChannelInit.TIM_Pulse = Duty; //czas swiecenia diody pomaranczowej

outputChannelInit.TIM_OutputState = TIM_OutputState_Enable;

outputChannelInit.TIM_OCPolarity = TIM_OCPolarity_High;

TIM_OC3Init(TIM3, &outputChannelInit);

TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);

GPIO_PinAFConfig(GPIOC, GPIO_PinSource8, GPIO_AF_TIM3);

}

/*

* TIMER 12 servo 1,2

*/

void Timer12Init(int period)

{

RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM12, ENABLE);

// RCC->APB1ENR |= RCC_APB1ENR_TIM12EN;

TIM_TimeBaseInitTypeDef timerInitStructure;

timerInitStructure.TIM_Prescaler = 84;

timerInitStructure.TIM_CounterMode = TIM_CounterMode_Up;

timerInitStructure.TIM_Period = period;

timerInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;

timerInitStructure.TIM_RepetitionCounter = 0;

TIM_TimeBaseInit(TIM12, &timerInitStructure);

TIM_Cmd(TIM12, ENABLE);

}

void PWM12Ch1Init(int Duty)

{

TIM_OCInitTypeDef outputChannelInit = {0,};

outputChannelInit.TIM_OCMode = TIM_OCMode_PWM1;

outputChannelInit.TIM_Pulse = Duty;

outputChannelInit.TIM_OutputState = TIM_OutputState_Enable;

outputChannelInit.TIM_OCPolarity = TIM_OCPolarity_High;

TIM_OC1Init(TIM12, &outputChannelInit);

TIM_OC1PreloadConfig(TIM12, TIM_OCPreload_Enable);

GPIO_PinAFConfig(GPIOB, GPIO_PinSource14, GPIO_AF_TIM12);

}

void PWM12Ch2Init(int Duty)

{

TIM_OCInitTypeDef outputChannelInit = {0,};

outputChannelInit.TIM_OCMode = TIM_OCMode_PWM1;

outputChannelInit.TIM_Pulse = Duty;

outputChannelInit.TIM_OutputState = TIM_OutputState_Enable;

outputChannelInit.TIM_OCPolarity = TIM_OCPolarity_High;

TIM_OC2Init(TIM12, &outputChannelInit);

TIM_OC2PreloadConfig(TIM12, TIM_OCPreload_Enable);

GPIO_PinAFConfig(GPIOB, GPIO_PinSource15, GPIO_AF_TIM12);

}

/*

* koniec timerów

*/

void PWMLEDInit()

{

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);

GPIO_InitTypeDef gpioStructure;

gpioStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15 ;

gpioStructure.GPIO_Mode = GPIO_Mode_AF;

gpioStructure.GPIO_OType = GPIO_OType_PP;

gpioStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;

gpioStructure.GPIO_Speed = GPIO_Speed_100MHz;

GPIO_Init(GPIOD, &gpioStructure);

}

void initServoPins()

{

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);

GPIO_InitTypeDef gpioStructure;

gpioStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 ;

gpioStructure.GPIO_Mode = GPIO_Mode_AF;

gpioStructure.GPIO_OType = GPIO_OType_PP;

gpioStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;

gpioStructure.GPIO_Speed = GPIO_Speed_100MHz;

GPIO_Init(GPIOC, &gpioStructure);

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

gpioStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_14 | GPIO_Pin_15 ;

gpioStructure.GPIO_Mode = GPIO_Mode_AF;

gpioStructure.GPIO_OType = GPIO_OType_PP;

gpioStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;

gpioStructure.GPIO_Speed = GPIO_Speed_100MHz;

GPIO_Init(GPIOB, &gpioStructure);

}

/*

* LEDy PE0-7

*/

void initLEDs()

{

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);

GPIO_InitTypeDef gpioStructure;

gpioStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_2 | GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6 ;

gpioStructure.GPIO_Mode = GPIO_Mode_OUT;

gpioStructure.GPIO_OType = GPIO_OType_PP;

gpioStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;

gpioStructure.GPIO_Speed = GPIO_Speed_2MHz;

GPIO_Init(GPIOE, &gpioStructure);

}

void initADC()

{

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);

GPIO_InitTypeDef gpioStructure;

gpioStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_5 ;

gpioStructure.GPIO_Mode = GPIO_Mode_OUT;

gpioStructure.GPIO_OType = GPIO_OType_PP;

gpioStructure.GPIO_PuPd = GPIO_PuPd_DOWN;

gpioStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOC, &gpioStructure);

gpioStructure.GPIO_Pin = GPIO_Pin_1;

gpioStructure.GPIO_Mode = GPIO_Mode_OUT;

gpioStructure.GPIO_OType = GPIO_OType_PP;

gpioStructure.GPIO_PuPd = GPIO_PuPd_DOWN;

gpioStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOB, &gpioStructure);

TM_ADC_InitADC(ADC1);

/* TM_ADC_InitADC(ADC2);

TM_ADC_InitADC(ADC3);*/

TM_ADC_Init(ADC1, TM_ADC_Channel_1);

TM_ADC_Init(ADC1, TM_ADC_Channel_3);

TM_ADC_Init(ADC1, TM_ADC_Channel_5);

TM_ADC_Init(ADC1, TM_ADC_Channel_7);

}

void setADCaddr(uint8_t addr)

{

if(addr & 0b1)

GPIOC->BSRRL = GPIO_Pin_5;

else

GPIOC->BSRRH = GPIO_Pin_5;

if(addr & 0b10)

GPIOB->BSRRL = GPIO_Pin_1;

else

GPIOB->BSRRH = GPIO_Pin_1;

if(addr & 0b100)

GPIOC->BSRRL = GPIO_Pin_1;

else

GPIOC->BSRRH = GPIO_Pin_1;

}

void initUserButton()

{

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

GPIO_InitTypeDef gpioStructure;

gpioStructure.GPIO_Pin = GPIO_Pin_0 ;

gpioStructure.GPIO_Mode = GPIO_Mode_IN;

gpioStructure.GPIO_OType = GPIO_OType_PP;

gpioStructure.GPIO_PuPd = GPIO_PuPd_DOWN;

gpioStructure.GPIO_Speed = GPIO_Speed_2MHz;

GPIO_Init(GPIOA, &gpioStructure);

}

void initButtons()

{

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);

GPIO_InitTypeDef gpioStructure;

gpioStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_11 | GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15 ;

gpioStructure.GPIO_Mode = GPIO_Mode_IN;

gpioStructure.GPIO_OType = GPIO_OType_PP;

gpioStructure.GPIO_PuPd = GPIO_PuPd_DOWN;

gpioStructure.GPIO_Speed = GPIO_Speed_2MHz;

GPIO_Init(GPIOD, &gpioStructure);

}

uint8_t UserButton()

{

return GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0);

}

uint8_t toggleUserButton()

{

static uint8_t slope = 0;

static uint8_t temp = 0;

if (UserButton() & ~temp)

{

if (1 == slope)

slope = 0;

else

slope = 1;

}

temp = UserButton();

return slope;

}

uint8_t UserButtonRisingEdge()

{

static uint8_t temp = 0;

if (UserButton() & ~temp)

{

temp = UserButton();

return 1;

}

else

{

temp = UserButton();

return 0;

}

}

uint8_t ButtonRisingEdge(uint8_t buttonNumber)

{

static uint8_t temp[7] = { 0, 0, 0, 0, 0, 0, 0 };

if(buttonNumber > 0 && buttonNumber <= 7)

{

if (GPIO_ReadInputDataBit(GPIOA, 1<<(buttonNumber+8)) & ~temp[buttonNumber])

{

temp[buttonNumber-1] = GPIO_ReadInputDataBit(GPIOA, 1<<(buttonNumber+8));

return 1;

}

else

{

temp[buttonNumber-1] = GPIO_ReadInputDataBit(GPIOA, 1<<(buttonNumber+8));

return 0;

}

}

return 0;

}

/*

* HANDLERY

*/

void SysTick_Handler(void)

{

time++;

if (delay != 0x00) {

delay--;

}

}