/*controle manual via joystick e botoes*/
void manualControl(){
int x, y, digital, b1, b2, end1, end2;
while(1){
x = posicaoJoystick('x');
y = posicaoJoystick('y');
digital = readJSButton();
b1 = readButtons('1');
b2 = readButtons('2');
end1 = readEnd('x');
end2 = readEnd('y');
if(end1||end2){
TM_HD44780_Clear();
TM_HD44780_Puts(0, 0, "FIM DE CURSO");
TM_HD44780_Puts(0, 1, "RESETE A MESA");
return;
}
if(x == 1||x == -1||y == 1||y == -1){
if(x==1){
runClockwise2(1, 'x');
}else if(x==-1){
runCounterclockwise2(1, 'x');
}
if(y==1){
runClockwise2(1, 'y');
}else if(y==-1){
runCounterclockwise2(1, 'y');
}
}
if(digital==1){
TM_HD44780_Clear();
TM_HD44780_Puts(0, 0, "MARCAR");
setFura();
}
if(b1==1){
TM_HD44780_Clear();
TM_HD44780_Puts(0, 0, "DESCER DRILL");
runCaneta(1, '+');
}
if(b2==1){
TM_HD44780_Clear();
TM_HD44780_Puts(0, 0, "SUBIR DRILL");
runCaneta(1, '-');
}
}
}
/*recebe um .drill interpretado em txt via semihosting e perfura os pontos*/
void modoPerfuracao(void){
TM_HD44780_Clear();
TM_HD44780_Puts(0, 0, "Aguardando dados");
float x[100], y[100];
int n = 0, i = 0;
char str[10];
readStringSH(str);
while(str[0] != '\0'){
x[i] = UB_String_DezStringToFloat(str);
readStringSH(str);
y[i] = UB_String_DezStringToFloat(str);
readStringSH(str);
i++;
}
for(;n<i;n++){
ftoa(str, x[n], 4, 0);
SH_SendString(str);
SH_SendString("\n\r");
ftoa(str, y[n], 4, 0);
SH_SendString(str);
SH_SendString("\n\r");
}
setPerfura(y, x, n);
return;
}
void TM_HD44780_Init(uint8_t cols, uint8_t rows) {
/* Initialize delay */
//TM_DELAY_Init(); //MD - Remove TM delay
HD44780_RW_LOW;
/* Init pinout */
TM_HD44780_InitPins();
/* At least 40ms */
HD44780_Delay(450);
/* Set LCD width and height */
HD44780_Opts.Rows = rows;
HD44780_Opts.Cols = cols;
/* Set cursor pointer to beginning for LCD */
HD44780_Opts.currentX = 0;
HD44780_Opts.currentY = 0;
HD44780_Opts.DisplayFunction = HD44780_4BITMODE | HD44780_5x8DOTS | HD44780_1LINE;
if (rows > 1) {
HD44780_Opts.DisplayFunction |= HD44780_2LINE;
}
/* Try to set 4bit mode */
TM_HD44780_Cmd4bit(0x03);
HD44780_Delay(450);
/* Second try */
TM_HD44780_Cmd4bit(0x03);
HD44780_Delay(450);
/* Third goo! */
TM_HD44780_Cmd4bit(0x03);
HD44780_Delay(450);
/* Set 4-bit interface */
TM_HD44780_Cmd4bit(0x02);
HD44780_Delay(100);
/* Set # lines, font size, etc. */
TM_HD44780_Cmd(HD44780_FUNCTIONSET | HD44780_Opts.DisplayFunction);
/* Turn the display on with no cursor or blinking default */
HD44780_Opts.DisplayControl = HD44780_DISPLAYON;
TM_HD44780_DisplayOn();
/* Clear lcd */
TM_HD44780_Clear();
/* Default font directions */
HD44780_Opts.DisplayMode = HD44780_ENTRYLEFT | HD44780_ENTRYSHIFTDECREMENT;
TM_HD44780_Cmd(HD44780_ENTRYMODESET | HD44780_Opts.DisplayMode);
/* Delay */
HD44780_Delay(450);
}
/*ajusta altura da caneta/drill manualmente*/
void calibraCaneta(void){
int b1, b2, digital=0;
TM_HD44780_Clear();
TM_HD44780_Puts(0, 0, "CALIBRE EIXO Z");
TM_HD44780_Puts(0, 1, "Digital = OK");
while(!digital){
digital = readJSButton();
b1 = readButtons('1');
b2 = readButtons('2');
if(b1){
runCaneta(1, '+');
}else if(b2){
runCaneta(1, '-');
}
}
TM_HD44780_Clear();
runCaneta(300, '-');
}
int main(void) {
/* Rectangle for custom character */
/* xxx means doesn't care, lower 5 bits are important for LCD */
uint8_t customChar[] = {
0x1F, /* xxx 11111 */
0x11, /* xxx 10001 */
0x11, /* xxx 10001 */
0x11, /* xxx 10001 */
0x11, /* xxx 10001 */
0x11, /* xxx 10001 */
0x11, /* xxx 10001 */
0x1F /* xxx 11111 */
};
/* Initialize system */
SystemInit();
/* Initialize LCD 20 cols x 4 rows */
TM_HD44780_Init(20, 4);
/* Save custom character on location 0 in LCD */
TM_HD44780_CreateChar(0, &customChar[0]);
/* Put string to LCD */
TM_HD44780_Puts(0, 0, "STM32F4/29 Discovery");
TM_HD44780_Puts(2, 1, "20x4 HD44780 LCD");
TM_HD44780_Puts(0, 2, "stm32f4-\n\r discovery.com");
/* Wait a little */
Delayms(3000);
/* Clear LCD */
TM_HD44780_Clear();
/* Show cursor */
TM_HD44780_CursorOn();
/* Write new text */
TM_HD44780_Puts(6, 2, "CLEARED!");
/* Wait a little */
Delayms(1000);
/* Enable cursor blinking */
TM_HD44780_BlinkOn();
/* Show custom character at x = 1, y = 2 from RAM location 0 */
TM_HD44780_PutCustom(1, 2, 0);
while (1) {
}
}
/*dado dois arrays com coordenadas x e y, perfura todos os pontos*/
void setPerfura(float x[], float y[], int n){
int i = 0;
char str[20];
sprintf(str, "%d FUROS", n-i);
TM_HD44780_Clear();
TM_HD44780_Puts(0, 0, str);
TM_HD44780_Puts(0, 1, "RESTANTES");
for(; i<n; i++){
moveParaXY(x[i], y[i], 'm');
setFura();
sprintf(str, "%d FUROS", n-i);
TM_HD44780_Clear();
TM_HD44780_Puts(0, 0, str);
TM_HD44780_Puts(0, 1, "RESTANTES");
}
TM_HD44780_Clear();
TM_HD44780_Puts(3, 0, "PERFURACAO");
TM_HD44780_Puts(5, 1, "COMPLETA");
}
/*atualiza no display lcd a posição absoluta em mm*/
void atualizaDisplayDistancia(void){
char px_mm[10], py_mm[10];
ftoa(px_mm, posit_x*0.02125, 2, 0);
ftoa(py_mm, posit_y*0.02125, 2, 0);
TM_HD44780_Clear();
TM_HD44780_Puts(0, 0, "x:");
TM_HD44780_Puts(0, 1, "y:");
TM_HD44780_Puts(9, 0, "mm");
TM_HD44780_Puts(9, 1, "mm");
TM_HD44780_Puts(3, 0, px_mm);
TM_HD44780_Puts(3, 1, py_mm);
}
/*APRIMORAR E TESTAR*/
void menu(void){
int b1, b2, digital = 0;
int menu = 0;
while(!digital){
digital = readJSButton();
b1 = readButtons('1');
b2 = readButtons('2');
if(b1||b2){
menu++;
menu %= 2;
}
if(menu == 0){
TM_HD44780_Clear();
TM_HD44780_Puts(0, 0, "MODO AUTONOMO");
TM_HD44780_PutCustom(15, 0, 0);
TM_HD44780_Puts(0, 1, "MODO MANUAL");
Delayms(50);
}else if(menu == 1){
TM_HD44780_Clear();
TM_HD44780_Puts(0, 0, "MODO AUTONOMO");
TM_HD44780_Puts(0, 1, "MODO MANUAL");
TM_HD44780_PutCustom(15, 1, 0);
Delayms(50);
}
TM_HD44780_Clear();
}
if(menu == 0){
modoPerfuracao();
//setDesenhaQuadrado();
}else if(menu == 1){
manualControl();
}
}
/*ajusta a posicao zero da mesa xy*/
void calibraZero(){
//move a mesa ate atingir as duas chaves de fim de curso
int i;
TM_HD44780_Clear();
TM_HD44780_Puts(0, 0, "Calibrando...");
while(!(readEnd('x')&&readEnd('y'))){
if(!readEnd('x')){
counterclockwise('x');
}
if(!readEnd('y')){
counterclockwise('y');
}
}
//apos o ajuste de zero, volta um pouco para liberar as chaves
for(i=15; i--;){
clockwise('x');
clockwise('y');
}
TM_HD44780_Clear();
TM_HD44780_Puts(0, 0, "Mesa calibrada");
Delayms(250);
posit_x=0;
posit_y=0;
}
void HDStartSeq(void)
{
TM_HD44780_CreateChar(0, &customChar[0]);
TM_HD44780_Puts(0, 0, "Servo Driver\n\rSTM32F4");
Delayms(3000);
TM_HD44780_Clear();
TM_HD44780_Puts(3, 0, "MANY FUN!");
TM_HD44780_Puts(6, 1, "WOW!");
Delayms(1000);
TM_HD44780_PutCustom(0, 0, 0);
TM_HD44780_PutCustom(14, 0, 0);
TM_HD44780_PutCustom(1, 1, 0);
TM_HD44780_PutCustom(15, 1, 0);
Delayms(1000);
TM_HD44780_Clear();
}
int main(void) {
char str[100];
// char buffer1[100];
// /* Free and total space */
// uint32_t total, free;
/* Initialize system */
SystemInit();
/* Initialize delays */
TM_DELAY_Init();
/* Enable watchdog, 4 seconds before timeout */
if (TM_WATCHDOG_Init(TM_WATCHDOG_Timeout_8s)) {
/* Report to user */
//printf("Reset occured because of Watchdog\n");
}
/* Reset counter to 0 */
TM_DELAY_SetTime(0);
/* init DTMF*/
TM_GPIO_Init(DTMF_BIT0_PORT, DTMF_BIT0_PIN, TM_GPIO_Mode_IN, TM_GPIO_OType_PP, TM_GPIO_PuPd_NOPULL, TM_GPIO_Speed_Low);
TM_GPIO_Init(DTMF_BIT1_PORT, DTMF_BIT1_PIN, TM_GPIO_Mode_IN, TM_GPIO_OType_PP, TM_GPIO_PuPd_NOPULL, TM_GPIO_Speed_Low);
TM_GPIO_Init(DTMF_BIT2_PORT, DTMF_BIT2_PIN, TM_GPIO_Mode_IN, TM_GPIO_OType_PP, TM_GPIO_PuPd_NOPULL, TM_GPIO_Speed_Low);
TM_GPIO_Init(DTMF_BIT3_PORT, DTMF_BIT3_PIN, TM_GPIO_Mode_IN, TM_GPIO_OType_PP, TM_GPIO_PuPd_NOPULL, TM_GPIO_Speed_Low);
/* DTMF*/
if (TM_EXTI_Attach(DFMF_BIT4_PORT, DTMF_BIT4_PIN, TM_EXTI_Trigger_Rising) == TM_EXTI_Result_Ok) {
TM_USART_Puts(USART3, "khoi tao ngat DFMF_BIT4\n");
}
/*init interrup INPUT*/
if (TM_EXTI_Attach(W1_D0_PORT, W1_D0_PIN, TM_EXTI_Trigger_Rising) == TM_EXTI_Result_Ok) {
TM_USART_Puts(USART3, "khoi tao ngat W1_D0\n");
}
if (TM_EXTI_Attach(W1_D1_PORT, W1_D1_PIN, TM_EXTI_Trigger_Rising) == TM_EXTI_Result_Ok) {
TM_USART_Puts(USART3, "khoi tao ngat W1_D1\n");
}
if (TM_EXTI_Attach(W2_D1_PORT, W2_D1_PIN, TM_EXTI_Trigger_Falling) == TM_EXTI_Result_Ok) {
TM_USART_Puts(USART3, "khoi tao ngat W2_D1\n");
}
if (TM_EXTI_Attach(W2_D0_PORT, W2_D0_PIN, TM_EXTI_Trigger_Falling) == TM_EXTI_Result_Ok) {
TM_USART_Puts(USART3, "khoi tao ngat W2_D0\n"); // W2D0
}
/*init SWADD*/
TM_GPIO_Init(ADD_BIT0_PORT, ADD_BIT0_PIN, TM_GPIO_Mode_IN, TM_GPIO_OType_PP, TM_GPIO_PuPd_UP, TM_GPIO_Speed_Medium);
TM_GPIO_Init(ADD_BIT1_PORT, ADD_BIT1_PIN, TM_GPIO_Mode_IN, TM_GPIO_OType_PP, TM_GPIO_PuPd_UP, TM_GPIO_Speed_Medium);
TM_GPIO_Init(ADD_BIT2_PORT, ADD_BIT2_PIN, TM_GPIO_Mode_IN, TM_GPIO_OType_PP, TM_GPIO_PuPd_UP, TM_GPIO_Speed_Medium);
TM_GPIO_Init(ADD_BIT3_PORT, ADD_BIT3_PIN, TM_GPIO_Mode_IN, TM_GPIO_OType_PP, TM_GPIO_PuPd_UP, TM_GPIO_Speed_Medium);
TM_GPIO_Init(ADD_BIT4_PORT, ADD_BIT4_PIN, TM_GPIO_Mode_IN, TM_GPIO_OType_PP, TM_GPIO_PuPd_UP, TM_GPIO_Speed_Medium);
TM_GPIO_Init(ADD_BIT5_PORT, ADD_BIT5_PIN, TM_GPIO_Mode_IN, TM_GPIO_OType_PP, TM_GPIO_PuPd_UP, TM_GPIO_Speed_Medium);
TM_GPIO_Init(ADD_BIT6_PORT, ADD_BIT6_PIN, TM_GPIO_Mode_IN, TM_GPIO_OType_PP, TM_GPIO_PuPd_UP, TM_GPIO_Speed_Medium);
TM_GPIO_Init(ADD_BIT7_PORT, ADD_BIT7_PIN, TM_GPIO_Mode_IN, TM_GPIO_OType_PP, TM_GPIO_PuPd_UP, TM_GPIO_Speed_Medium);
/* init OUTPUT*/
TM_GPIO_Init(RELAY_DK1_PORT, RELAY_DK1_PIN, TM_GPIO_Mode_OUT, TM_GPIO_OType_PP, TM_GPIO_PuPd_NOPULL, TM_GPIO_Speed_High);
TM_GPIO_Init(RELAY_DK2_PORT, RELAY_DK2_PIN, TM_GPIO_Mode_OUT, TM_GPIO_OType_PP, TM_GPIO_PuPd_NOPULL, TM_GPIO_Speed_High);
TM_GPIO_Init(RELAY_DK3_PORT, RELAY_DK3_PIN, TM_GPIO_Mode_OUT, TM_GPIO_OType_PP, TM_GPIO_PuPd_NOPULL, TM_GPIO_Speed_High);
TM_GPIO_Init(RELAY_DK4_PORT, RELAY_DK4_PIN, TM_GPIO_Mode_OUT, TM_GPIO_OType_PP, TM_GPIO_PuPd_NOPULL, TM_GPIO_Speed_High);
/* Initialize USART6 at 115200 baud, TX: PC6, RX: PC7 , COM 1 - RFID1 gan cong tac nguon*/
TM_USART_Init(USART6, TM_USART_PinsPack_1, 115200);
/* Initialize USART3 at 115200 baud, TX: PD8, RX: PD9 , COM 2 -RFID 2 gan ethernet*/
TM_USART_Init(USART3, TM_USART_PinsPack_3, 115200);
/* Initialize USART1 at 115200 baud, TX: PA9, RX: PA10, CONG 485 */
TM_USART_Init(USART1, TM_USART_PinsPack_1, 9600);
/* Initialize USART2, with custom pins */ // COM 3 extension PC
//TM_USART_Init(USART2, TM_USART_PinsPack_Custom,9600);
TM_USART_Init(USART2, TM_USART_PinsPack_2,9600);
/* int DIR 485 set = send , reset = recvice*/
TM_GPIO_Init(CCU_DIR_PORT, CCU_DIR_PIN, TM_GPIO_Mode_OUT, TM_GPIO_OType_PP, TM_GPIO_PuPd_UP, TM_GPIO_Speed_High);
TM_GPIO_SetPinHigh(CCU_DIR_PORT,CCU_DIR_PIN);
/* Init 2 custom timers */
/* Timer1 has reload value each 500ms, enabled auto reload feature and timer is enabled */
CustomTimer1 = TM_DELAY_TimerCreate(500, 1, 1, CustomTIMER1_Task, NULL);
/* Timer1 has reload value each 1000ms, enabled auto reload feature and timer is enabled */
CustomTimer2 = TM_DELAY_TimerCreate(100, 1, 1, CustomTIMER2_Task, NULL);
/* Init LCD*/
TM_GPIO_Init(HD44780_RW_PORT, HD44780_RW_PIN, TM_GPIO_Mode_OUT, TM_GPIO_OType_PP, TM_GPIO_PuPd_NOPULL, TM_GPIO_Speed_High);
TM_GPIO_SetPinLow(HD44780_RW_PORT,HD44780_RW_PIN);
read_sw_add();
timeout = value_dip;
memset(str,'\0',0);
//Initialize LCD 20 cols x 4 rows
TM_HD44780_Init(16, 4);
//Save custom character on location 0 in LCD
TM_HD44780_CreateChar(0, &customChar[0]);
//Put string to LCD
TM_HD44780_Puts(0, 0, "STM32F407VET\n\rCreartbyR&D-TIS"); /* 0 dong 1, 1 dong 2*/
TM_HD44780_Puts(0, 2, "Welcome");
Delayms(1000);
TM_HD44780_Clear();
sprintf(str,"Timer out %d", timeout);
TM_HD44780_Puts(0, 0,str);
Delayms(1000);
TM_HD44780_Clear();
TM_HD44780_Puts(0, 0,"----TIS8 PRO----");
//TM_USART_Puts(USART3, "Welcome2");
/*creat by duc*/
TM_WATCHDOG_Reset();
// TM_USART_BufferEmpty(USART3);
// TM_USART_BufferEmpty(USART6);
flag_RFID2=0;
flag_RFID1=0;
/*end by duc*/
while (1) {
/*process 485*/
if(flag_485){
flag_485=0;
if(LEDStatus==0) TM_USART_Puts(USART1, "/LED000>\r\n");
if(LEDStatus==1) TM_USART_Puts(USART1, "/LED001>\r\n");
if(LEDStatus==2) TM_USART_Puts(USART1, "/LED002>\r\n");
}
/* xu li W1D0 - dk1*/
if(flag_W1D0){
turn_on_dk1();
//flag_W1D0=0;
}
/* xu li W1D1 - dk2*/
if(flag_W1D1){
turn_on_dk2();
//flag_W1D1=0;
}
//TM_WATCHDOG_Reset();
// /*end*/
if(Process!=1)
TM_HD44780_Puts(0, 2,"Wait for Card"); /* 0 dong 1, 1 dong 2*/
if(flag_RFID1==1)
{
Process=1;
IDCAR1[0]=BufferCom1[4];
IDCAR1[1]=BufferCom1[5];
IDCAR1[2]=BufferCom1[6];
IDCAR1[3]=BufferCom1[7];
IDCAR1[4]=BufferCom1[8];
IDCAR1[5]=BufferCom1[9];
IDCAR1[6]=BufferCom1[10];
if(BufferCom1[1]==0x08)
{
sprintf(UID1,"%02x %02x %02x %02x,1",IDCAR1[0],IDCAR1[1],IDCAR1[2],IDCAR1[3]);
}
if(BufferCom1[1]==0x0B)
{
sprintf(UID1,"%02x %02x %02x %02x %02x %02x %02x,1",IDCAR1[0],IDCAR1[1],IDCAR1[2],IDCAR1[3],IDCAR1[4],IDCAR1[5],IDCAR1[6]);
}
TM_HD44780_Puts(0, 2,"Waiting PC..."); /* 0 dong 1, 1 dong 2*/
if(check_vip(UID1)){
flag_PC=1;
flag_R11=1;
timerdk1 =0;
Process=0;
}
else{
if(Process)TM_USART_Puts(USART2,UID1);
}
WaitPC(200);
flag_RFID1=0;
if(flag_PC)
{
TM_HD44780_Puts(0, 2,"Door opened.."); /* 0 dong 1, 1 dong 2*/
flag_PC=0;
ProcessAction();
}
else Process=0;
flag_RFID1=0;
}
if(flag_RFID2==1)
{
Process=1;
IDCAR2[0]=BufferCom2[4];
IDCAR2[1]=BufferCom2[5];
IDCAR2[2]=BufferCom2[6];
IDCAR2[3]=BufferCom2[7];
IDCAR2[4]=BufferCom2[8];
IDCAR2[5]=BufferCom2[9];
IDCAR2[6]=BufferCom2[10];
if(BufferCom2[1]==0x08)
{
sprintf(UID2,"%02x %02x %02x %02x ,2",IDCAR2[0],IDCAR2[1],IDCAR2[2],IDCAR2[3]);
}
if(BufferCom2[1]==0x0B)
{
sprintf(UID2,"%02x %02x %02x %02x %02x %02x %02x ,2",IDCAR2[0],IDCAR2[1],IDCAR2[2],IDCAR2[3],IDCAR2[4],IDCAR2[5],IDCAR2[6]);
}
TM_HD44780_Puts(0, 2,"Waiting PC..."); /* 0 dong 1, 1 dong 2*/
if(check_vip(UID2)){
flag_PC=1;
flag_R31=1;
timerdk2 =0;
Process=0;
}
else{
if(Process)TM_USART_Puts(USART2,UID2);}
WaitPC(200);
flag_RFID2=0;
if(flag_PC)
{
TM_HD44780_Puts(0, 2,"Door opened.."); /* 0 dong 1, 1 dong 2*/
flag_PC=0;
ProcessAction();
}
else Process=0;
flag_RFID2=0;
}
/**/
timer_dk1 = timerdk1/2;
if (timer_dk1 >= timeout){
turn_off_dk1();
flag_R11 =0;
flag_W1D0=0;
timerdk1=0;
timer_dk1=0;
flag_RFID1=0;
flag_RFID2=0;
Process=0;
// if(LEDStatus==0) TM_USART_Puts(USART3, "/LED000>\r\n");
}
timer_dk2 = timerdk2/2;
if (timer_dk2 >= timeout){
turn_off_dk2();
//flag_R21 =0;
flag_R31 =0;
flag_W1D1=0;
timerdk2=0;
timer_dk2=0;
//flag_RFID1=0;
Process=0;
// if(LEDStatus==0) TM_USART_Puts(USART3, "/LED000>\r\n");
}
timer_dk3 = timerdk3;
if (timer_dk3 >= 1){
turn_off_dk3();
flag_R12 =0;
timerdk3=0;
timer_dk3=0;
}
timer_dk4 = timerdk4;
if (timer_dk4 >= 1){
turn_off_dk4();
flag_R22 =0;
timer_dk4=0;
timerdk4=0;
}
TM_WATCHDOG_Reset();
}
}
