int main(void)
{
SystemInit();
STM32F4_Discovery_LEDInit(LED3); //Orange
STM32F4_Discovery_LEDInit(LED4); //Green
STM32F4_Discovery_LEDInit(LED5); //Red
STM32F4_Discovery_LEDInit(LED6); //Blue
STM32F4_Discovery_PBInit(BUTTON_USER, BUTTON_MODE_GPIO);
USBD_Init(&USB_OTG_dev,USB_OTG_FS_CORE_ID,&USR_desc,&USBD_CDC_cb,&USR_cb);
while (1){
if(usb_cdc_kbhit()){
char c, buffer_out[15];
c = usb_cdc_getc();
switch(c){
case '3':
STM32F4_Discovery_LEDToggle(LED3);
sprintf(buffer_out,"LED%c = %u\r\n",c,GPIO_ReadInputDataBit(GPIOD,LED3_PIN));
usb_cdc_printf(buffer_out);
break;
case '4':
STM32F4_Discovery_LEDToggle(LED4);
sprintf(buffer_out,"LED%c = %u\r\n",c,GPIO_ReadInputDataBit(GPIOD,LED4_PIN));
usb_cdc_printf(buffer_out);
break;
case '5':
STM32F4_Discovery_LEDToggle(LED5);
sprintf(buffer_out,"LED%c = %u\r\n",c,GPIO_ReadInputDataBit(GPIOD,LED5_PIN));
usb_cdc_printf(buffer_out);
break;
case '6':
STM32F4_Discovery_LEDToggle(LED6);
sprintf(buffer_out,"LED%c = %u\r\n",c,GPIO_ReadInputDataBit(GPIOD,LED6_PIN));
usb_cdc_printf(buffer_out);
break;
}
}
button_sts = STM32F4_Discovery_PBGetState(BUTTON_USER);
if(button_sts){
STM32F4_Discovery_LEDOff(LED3);
STM32F4_Discovery_LEDOff(LED5);
STM32F4_Discovery_LEDOff(LED3);
STM32F4_Discovery_LEDOff(LED5);
}
}
}
//==============================================================================
// descri: Função para o timer do STEP dos MOTORES
// USER EDIT - Mudar o nome do IRQ se o TIMER for alterado
void TIM3_IRQHandler(void)
{
// Channel 1 - MOTOR 1
if ((STPDRV_TIM->SR & TIM_IT_CC1) && (STPDRV_TIM->DIER & TIM_IT_CC1)) {
STPDRV_TIM->CCR1 += Motors[0].CurDelay;
if (MOTOR1_STEP_PORT->IDR & MOTOR1_STEP_PIN) {
//MOTOR1_STEP_PORT->BSRRH = MOTOR1_STEP_PIN;
MOTOR1_STEP_PORT->BRR = MOTOR1_STEP_PIN;
#ifdef __STM32F4_DISCOVERY_H
STM32F4_Discovery_LEDOff(LED3);
#endif
} else {
//MOTOR1_STEP_PORT->BSRRL = MOTOR1_STEP_PIN;
MOTOR1_STEP_PORT->BSRR = MOTOR1_STEP_PIN;
#ifdef __STM32F4_DISCOVERY_H
STM32F4_Discovery_LEDOn(LED3);
#endif
if (Motors[0].Dir == dir_CW)
Motors[0].Pos++;
else
Motors[0].Pos--;
}
STPDRV_TIM->SR = ~TIM_IT_CC1;
}
// Channel 2 - MOTOR 2
if ((STPDRV_TIM->SR & TIM_IT_CC2) && (STPDRV_TIM->DIER & TIM_IT_CC2)) {
STPDRV_TIM->CCR2 += Motors[1].CurDelay;
if (MOTOR2_STEP_PORT->IDR & MOTOR2_STEP_PIN) {
//MOTOR2_STEP_PORT->BSRRH = MOTOR2_STEP_PIN;
MOTOR2_STEP_PORT->BRR = MOTOR1_STEP_PIN;
} else {
//MOTOR2_STEP_PORT->BSRRL = MOTOR2_STEP_PIN;
MOTOR2_STEP_PORT->BSRR = MOTOR2_STEP_PIN;
if (Motors[1].Dir == dir_CW)
Motors[1].Pos++;
else
Motors[1].Pos--;
}
STPDRV_TIM->SR = ~TIM_IT_CC2;
}
// Channel 3 - MOTOR 1 ACELL / DECCEL
if ((STPDRV_TIM->SR & TIM_IT_CC3) && (STPDRV_TIM->DIER & TIM_IT_CC3)) {
STPDRV_TIM->CCR3 += Motors[0].RampDelay;
__OnRampTimer(0);
STPDRV_TIM->SR = ~TIM_IT_CC3;
}
// Channel 4 - MOTOR 2 ACELL / DECCEL
if ((STPDRV_TIM->SR & TIM_IT_CC4) && (STPDRV_TIM->DIER & TIM_IT_CC4)) {
STPDRV_TIM->CCR4 += Motors[1].RampDelay;
__OnRampTimer(1);
STPDRV_TIM->SR = ~TIM_IT_CC4;
}
}
void TIM3_IRQHandler(void)
{
if(TIM_GetITStatus(TIM3, TIM_IT_CC1) != RESET)
{
TIM_ClearITPendingBit(TIM3, TIM_IT_CC1);
if(PulseGeneratorData[0].set)
{
//Set pin to reset state
if(!PulseGeneratorData[0].polarity)
GPIOA->BSRRH |= 1 << 6;
else
GPIOA->BSRRL |= 1 << 6;
STM32F4_Discovery_LEDOff(LED3);
}
PulseGeneratorData[0].set = false;
}
else if(TIM_GetITStatus(TIM3, TIM_IT_CC2) != RESET)
{
TIM_ClearITPendingBit(TIM3, TIM_IT_CC2);
if(PulseGeneratorData[1].set)
{
//Set pin to reset state
if(!PulseGeneratorData[1].polarity)
GPIOA->BSRRH |= 1 << 7;
else
GPIOA->BSRRL |= 1 << 7;
}
PulseGeneratorData[1].set = false;
}
else if(TIM_GetITStatus(TIM3, TIM_IT_CC3) != RESET)
{
TIM_ClearITPendingBit(TIM3, TIM_IT_CC3);
if(PulseGeneratorData[2].set)
{
//Set pin to reset state
if(!PulseGeneratorData[2].polarity)
GPIOB->BSRRH |= 1 << 0;
else
GPIOB->BSRRL |= 1 << 0;
}
PulseGeneratorData[2].set = false;
}
else if(TIM_GetITStatus(TIM3, TIM_IT_CC4) != RESET)
{
TIM_ClearITPendingBit(TIM3, TIM_IT_CC4);
}
}
int main(void)
{
STM32F4_Discovery_LEDInit(LED3);
STM32F4_Discovery_LEDInit(LED4);
STM32F4_Discovery_LEDInit(LED5);
STM32F4_Discovery_LEDInit(LED6);
STM32F4_Discovery_PBInit(BUTTON_USER, BUTTON_MODE_GPIO);
STM32F4_Discovery_LEDOn(LED3);
Delay(0xFFFF);
STM32F4_Discovery_LEDOff(LED3);
USBD_Init(&USB_OTG_dev,
#ifdef USE_USB_OTG_HS
USB_OTG_HS_CORE_ID,
#else
USB_OTG_FS_CORE_ID,
#endif
&USR_desc,
&USBD_HID_cb,
&USR_cb);
Init_ADC_Reading();
int x=0;
while (1)
{
Delay(0xFF);
if (OutBuffer[1]%2==1)
{
switch(x)
{
case 1:
STM32F4_Discovery_LEDOn(LED3);
break;
case 999999:
STM32F4_Discovery_LEDOff(LED3);
STM32F4_Discovery_LEDOn(LED4);
break;
case 2*999999:
STM32F4_Discovery_LEDOff(LED4);
STM32F4_Discovery_LEDOn(LED5);
break;
case 3*999999:
STM32F4_Discovery_LEDOff(LED5);
STM32F4_Discovery_LEDOn(LED6);
break;
case 4*999999:
STM32F4_Discovery_LEDOff(LED6);
x=0;
}
x++;
}
else
{
if (OutBuffer[0]%5==1) STM32F4_Discovery_LEDOn(LED3);
else STM32F4_Discovery_LEDOff(LED3);
if (OutBuffer[0]%5==2) STM32F4_Discovery_LEDOn(LED4);
else STM32F4_Discovery_LEDOff(LED4);
if (OutBuffer[0]%5==3) STM32F4_Discovery_LEDOn(LED5);
else STM32F4_Discovery_LEDOff(LED5);
if (OutBuffer[0]%5==4) STM32F4_Discovery_LEDOn(LED6);
else STM32F4_Discovery_LEDOff(LED6);
}
}
}
int main(void)
{
SystemInit();
SystemCoreClockUpdate(); // inicjalizacja dystrybucji czasu procesora
/* Enable the SPI periph */
RCC_APB2PeriphClockCmd(LIS302DL_SPI_CLK, ENABLE);
/* Enable SCK, MOSI and MISO GPIO clocks */
RCC_AHB1PeriphClockCmd(LIS302DL_SPI_SCK_GPIO_CLK | LIS302DL_SPI_MISO_GPIO_CLK |
LIS302DL_SPI_MOSI_GPIO_CLK, ENABLE);
/* Enable CS GPIO clock */
RCC_AHB1PeriphClockCmd(LIS302DL_SPI_CS_GPIO_CLK, ENABLE);
/* Enable INT1 GPIO clock */
RCC_AHB1PeriphClockCmd(LIS302DL_SPI_INT1_GPIO_CLK, ENABLE);
/* Enable INT2 GPIO clock */
RCC_AHB1PeriphClockCmd(LIS302DL_SPI_INT2_GPIO_CLK, ENABLE);
GPIO_PinAFConfig(LIS302DL_SPI_SCK_GPIO_PORT, LIS302DL_SPI_SCK_SOURCE,
LIS302DL_SPI_SCK_AF);
GPIO_PinAFConfig(LIS302DL_SPI_MISO_GPIO_PORT, LIS302DL_SPI_MISO_SOURCE,
LIS302DL_SPI_MISO_AF);
GPIO_PinAFConfig(LIS302DL_SPI_MOSI_GPIO_PORT, LIS302DL_SPI_MOSI_SOURCE,
LIS302DL_SPI_MOSI_AF);
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
/* SPI SCK pin configuration */
GPIO_InitStructure.GPIO_Pin = LIS302DL_SPI_SCK_PIN;
GPIO_Init(LIS302DL_SPI_SCK_GPIO_PORT, &GPIO_InitStructure);
/* SPI MOSI pin configuration */
GPIO_InitStructure.GPIO_Pin = LIS302DL_SPI_MOSI_PIN;
GPIO_Init(LIS302DL_SPI_MOSI_GPIO_PORT, &GPIO_InitStructure);
/* SPI MISO pin configuration */
GPIO_InitStructure.GPIO_Pin = LIS302DL_SPI_MISO_PIN;
GPIO_Init(LIS302DL_SPI_MISO_GPIO_PORT, &GPIO_InitStructure);
/* SPI configuration -------------------------------------------------------*/
SPI_InitTypeDef SPI_InitStructure;
SPI_I2S_DeInit(LIS302DL_SPI);
SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_4;
SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
SPI_InitStructure.SPI_CRCPolynomial = 7;
SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
SPI_Init(LIS302DL_SPI, &SPI_InitStructure);
/* Enable SPI1 */
SPI_Cmd(LIS302DL_SPI, ENABLE);
/* Configure GPIO PIN for Lis Chip select */
GPIO_InitStructure.GPIO_Pin = LIS302DL_SPI_CS_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(LIS302DL_SPI_CS_GPIO_PORT, &GPIO_InitStructure);
/* Deselect : Chip Select high */
GPIO_SetBits(LIS302DL_SPI_CS_GPIO_PORT, LIS302DL_SPI_CS_PIN);
/* Configure GPIO PINs to detect Interrupts */
GPIO_InitStructure.GPIO_Pin = LIS302DL_SPI_INT1_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(LIS302DL_SPI_INT1_GPIO_PORT, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = LIS302DL_SPI_INT2_PIN;
GPIO_Init(LIS302DL_SPI_INT2_GPIO_PORT, &GPIO_InitStructure);
LIS302DL_InitTypeDef LIS302DL_InitStruct;
uint8_t ctrl = 0x00;
/* Set configuration of LIS302DL*/
LIS302DL_InitStruct.Power_Mode = LIS302DL_LOWPOWERMODE_ACTIVE;
LIS302DL_InitStruct.Output_DataRate = LIS302DL_DATARATE_100;
LIS302DL_InitStruct.Axes_Enable = LIS302DL_X_ENABLE | LIS302DL_Y_ENABLE |
LIS302DL_Z_ENABLE;
LIS302DL_InitStruct.Full_Scale = LIS302DL_FULLSCALE_2_3;
LIS302DL_InitStruct.Self_Test = LIS302DL_SELFTEST_NORMAL;
LIS302DL_Init(&LIS302DL_InitStruct);
LIS302DL_InterruptConfigTypeDef LIS302DL_InterruptStruct;
/* Set configuration of Internal High Pass Filter of LIS302DL*/
LIS302DL_InterruptStruct.Latch_Request = LIS302DL_INTERRUPTREQUEST_LATCHED;
LIS302DL_InterruptStruct.SingleClick_Axes = LIS302DL_CLICKINTERRUPT_Z_ENABLE;
LIS302DL_InterruptStruct.DoubleClick_Axes = LIS302DL_DOUBLECLICKINTERRUPT_Z_ENABLE;
LIS302DL_InterruptConfig(&LIS302DL_InterruptStruct);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD | RCC_AHB1Periph_GPIOA, ENABLE);
/* Configure PD12, PD13, PD14 and PD15 in output pushpull mode */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13| GPIO_Pin_14| GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOD, &GPIO_InitStructure);
STM32F4_Discovery_LEDInit(LED3);
STM32F4_Discovery_LEDInit(LED4);
STM32F4_Discovery_LEDInit(LED5);
STM32F4_Discovery_LEDInit(LED6);
STM32F4_Discovery_PBInit(BUTTON_USER, BUTTON_MODE_GPIO);
STM32F4_Discovery_LEDOn(LED3);
Delay(0xFFFF);
STM32F4_Discovery_LEDOff(LED3);
USBD_Init(&USB_OTG_dev,
#ifdef USE_USB_OTG_HS
USB_OTG_HS_CORE_ID,
#else
USB_OTG_FS_CORE_ID,
#endif
&USR_desc,
&USBD_HID_cb,
&USR_cb);
//char button=0;
while (1)
{
Delay(0xFF);
if (OutBuffer[0]&1) STM32F4_Discovery_LEDOn(LED3);
else STM32F4_Discovery_LEDOff(LED3);
if (OutBuffer[0]&2) STM32F4_Discovery_LEDOn(LED4);
else STM32F4_Discovery_LEDOff(LED4);
if (OutBuffer[0]&4) STM32F4_Discovery_LEDOn(LED5);
else STM32F4_Discovery_LEDOff(LED5);
if (OutBuffer[0]&8) STM32F4_Discovery_LEDOn(LED6);
else STM32F4_Discovery_LEDOff(LED6);
//if ((STM32F4_Discovery_PBGetState(BUTTON_USER) == Bit_SET)&&(button==0))
// {
// int i=0;
Delay(0xFF);
InBuffer[0] = przyspieszenie_x;
InBuffer[1] = przyspieszenie_y;
USBD_HID_SendReport (&USB_OTG_dev, InBuffer, 64);
// }
// button = STM32F4_Discovery_PBGetState(BUTTON_USER);
LIS302DL_Read(&przyspieszenie_x, LIS302DL_OUT_X_ADDR, 1);
if(przyspieszenie_x>127)
{
przyspieszenie_x=przyspieszenie_x-1;
przyspieszenie_x=(~przyspieszenie_x)&0xFF;
przyspieszenie_x=-przyspieszenie_x;
}
LIS302DL_Read(&przyspieszenie_y, LIS302DL_OUT_Y_ADDR, 1);
if(przyspieszenie_y>127)
{
przyspieszenie_y=przyspieszenie_y-1;
przyspieszenie_y=(~przyspieszenie_y)&0xFF;
przyspieszenie_y=-przyspieszenie_y;
}
/*LIS302DL_Read(&przyspieszenie_z, LIS302DL_OUT_Z_ADDR, 1);
if(przyspieszenie_z>127)
{
przyspieszenie_z=przyspieszenie_z-1;
przyspieszenie_z=(~przyspieszenie_z)&0xFF;
przyspieszenie_z=-przyspieszenie_z;
}*/
}
}
