int main(void)
{
RCC_Configuration();
GPIO_Configuration();
USART1_Configuration();
LED_Initialization();
USART1_puts("Hello World!\r\n");
USART1_puts("Just for STM32F429I Discovery verify USART1 with USB TTL Cable\r\n");
while(1)
{
//LED3_Toggle();
//Recieve
if(USART_GetFlagStatus(USART1, USART_FLAG_RXNE) != RESET){ // == SET
char t = USART_ReceiveData(USART1);
if(t == 'a') LED3_Toggle();
else if(t == 'b') LED4_Toggle();
//Transmitt
while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
USART_SendData(USART1, t);
}
}
while(1); // Don't want to exit
}
void I2C_start(I2C_TypeDef* I2Cx, uint8_t address, uint8_t direction)
{
// wait until i2c_dev is not busy anymore
// while(I2C_GetFlagStatus(I2Cx, I2C_FLAG_BUSY));
// Send i2c_dev START condition
I2C_GenerateSTART(I2Cx, ENABLE);
USART1_puts("send start!\r\n");
// wait for i2c_dev EV5 --> Slave has acknowledged start condition
// while(!I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_MODE_SELECT));
// Send slave Address for write
I2C_Send7bitAddress(I2Cx, address, direction);
USART1_puts("send address!\r\n");
/* wait for i2c_dev EV6, check if
* either Slave has acknowledged Master transmitter or
* Master receiver mode, depending on the transmission
* direction
*/
if(direction == I2C_Direction_Transmitter)
{
while(!I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
// Delay(100);
USART1_puts("master transmit!\r\n");
}
else if(direction == I2C_Direction_Receiver)
{
// Delay(100);
// while(!I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED));
USART1_puts("master receive!\r\n");
}
}
uint8_t I2C_writereg(uint8_t reg, uint8_t data)
{
uint8_t tmp;
USART1_puts("start!\r\n");
I2C_start(i2c_dev, SLAVE_ADDRESS, I2C_Direction_Transmitter); // start a transmission in Master transmitter mode
USART1_puts("write start!\r\n");
I2C_write(i2c_dev, (uint8_t) reg); // write one byte to the slave
USART1_puts("write!one \r\n");
delay(100);
I2C_write(i2c_dev, (uint8_t) data); // write one byte to the slave
USART1_puts("write!two \r\n");
I2C_stop(i2c_dev); // stop the transmission
USART1_puts("stop!\r\n");
delay(100);
I2C_start(i2c_dev, SLAVE_ADDRESS, I2C_Direction_Receiver); // start a transmission in Master receiver mode
USART1_puts("start!\r\n");
tmp = I2C_read_nack(i2c_dev);
USART1_puts("write nack!\r\n");
I2C_stop(i2c_dev); // stop the transmission
USART1_puts("stop!\r\n");
delay(100);
return tmp;
}
/* This function transmits one byte to the slave device
* Parameters:
* I2Cx --> the I2C peripheral e.g. i2c_dev
* data --> the data byte to be transmitted
*/
void I2C_write(I2C_TypeDef* I2Cx, uint8_t data)
{
I2C_SendData(I2Cx, data);
USART1_puts("i2c send!\r\n");
// wait for i2c_dev EV8_2 --> byte has been transmitted
// while(!I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
// Delay(100);
}
/* This function reads one byte from the slave device
* and doesn't acknowledge the received data
*/
uint8_t I2C_read_nack(I2C_TypeDef* I2Cx){
uint8_t data;
// disable acknowledge of received data
I2C_AcknowledgeConfig(I2Cx, DISABLE);
// wait until one byte has been received
while( !I2C_CheckEvent(I2Cx, I2C_EVENT_MASTER_BYTE_RECEIVED) );
// Delay(100);
// read data from I2C data register and return data byte
data = I2C_ReceiveData(I2Cx);
USART1_puts("i2c received!\r\n");
return data;
}
int main(void)
{
RCC_Configuration();
LED_Initialization(); //PG13 (GREEN) & PG14 (RED)
USART1_Initialization(); //PA9 (TX) & PA10 (RX)
SPI1_Initialization(); //PB3 (SCK) & PB4 (MISO) & PB5 (MOSI)
Delay_1us(1000000);
NRF2401_Initialization();
Timer2_Initialization();
// LED3_On();
USART1_puts("\r\nHello World\r\n");
// Delay_1us(500000);
// LED3_Off();
// Delay_1us(500000);
while(1)
{
if(task == 1){
LED4_Toggle();
/* NRF2401 TX Mode */
NRF2401_SendData_1CH("KU");
/* NRF2401 RX Mode */
// uint8_t i;
// for(i = 0; i < 24; i++){
// receivedData = NRF2401_ReceiveData_1CH()[i];
// USART_SendData(USART1, receivedData);
// }
// USART1_puts("\r\n");
// NRF2401_ReceiveData_1CH();
task = 0;
}
}
while(1); // Don't want to exit
}
int
UART_EventHandler1() //for game
{
USART_SendData(USART1, '1');
while(USART_GetFlagStatus(USART1, USART_FLAG_RXNE) == RESET);
char t = USART_ReceiveData(USART1);
arrowKey=t;
USART_SendData(USART1, t);
portBASE_TYPE status;
if(arrowKey=='p') {
status = xQueueSendToBack(t_queue, &states[GAME_PAUSE],0);
if ( status != pdPASS) USART1_puts("queue error");
}
if(arrowKey=='r') {
status = xQueueSendToBack(t_queue, &states[GAME_RESUME],0);
if ( status != pdPASS) USART1_puts("queue error");
}
if(arrowKey==ESC) {
status = xQueueSendToBack(t_queue, &states[GAME_STOP],0);
if ( status != pdPASS) USART1_puts("queue error");
}
if ((t == '\r')) {
while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
USART_SendData(USART1, t);
arrowKey=t;
if(arrowKey=='p') {
status = xQueueSendToBack(t_queue, &states[GAME_PAUSE],0);
if ( status != pdPASS) USART1_puts("queue error");
}
if(arrowKey=='r') {
status = xQueueSendToBack(t_queue, &states[GAME_RESUME],0);
if ( status != pdPASS) USART1_puts("queue error");
}
if(arrowKey==ESC) {
status = xQueueSendToBack(t_queue, &states[GAME_STOP],0);
if ( status != pdPASS) USART1_puts("queue error");
}
}
t = '\n';
}
void USART1_Configuration(void)
{
USART_InitTypeDef USART_InitStructure;
/* USARTx configuration ------------------------------------------------------*/
/* USARTx configured as follow:
* - BaudRate = 57600 baud
* - Word Length = 8 Bits
* - One Stop Bit
* - No parity
* - Hardware flow control disabled (RTS and CTS signals)
* - Receive and transmit enabled
*/
USART_InitStructure.USART_BaudRate = 57600;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
//START USART
USART_Init(USART1, &USART_InitStructure);
USART_Cmd(USART1, ENABLE);
//Using Interrupt
USART_ClearFlag(USART1, USART_FLAG_TC);
//Enable RX interrupt & Disable TX interrupt
USART_ITConfig(USART1, USART_IT_TXE, DISABLE);
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
/* NVIC Initialization */
NVIC_InitTypeDef NVIC_InitStruct = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = 0,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE
};
NVIC_Init(&NVIC_InitStruct);
}
void USART1_puts(char* s)
{
while(*s) {
while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
USART_SendData(USART1, *s);
s++;
}
}
/**************************************************************************************/
int main(void)
{
RCC_Configuration();
GPIO_Configuration();
USART1_Configuration();
LED_Initialization();
USART1_puts("Hello World!\r\n");
USART1_puts("Just for STM32F429I Discovery verify USART1 with USB TTL Cable\r\n");
while(1)
{
//LED4_Toggle();
//Delay_1us(10000);
//USART1_puts(i);
}
}
void MPU6050Task(void) {
char uart_out[32];
uint8_t controller_command = 0;
uint8_t pre_command = 0;
uint8_t count = 0;
MPU6050_Task_Suspend();
vTaskDelayUntil(&xLastWakeTime, xFrequency); // wait while sensor is ready
initKalman(&kalmanX);
initKalman(&kalmanY);
MPU6050_ReadAccelerometer();
accX = MPU6050_Data.Accelerometer_X;
accY = MPU6050_Data.Accelerometer_Y;
accZ = MPU6050_Data.Accelerometer_Z;
float roll = atan2(-accY, -accZ) * RAD_TO_DEG;
float pitch = atan(-accX / sqrt1(Square(accY) + Square(accZ))) * RAD_TO_DEG;
setAngle(&kalmanX, roll); // Set starting angle
setAngle(&kalmanY, pitch);
while (1) {
/* Read all data from sensor */
MPU6050_ReadAccGyo();
accX = MPU6050_Data.Accelerometer_X;
accY = MPU6050_Data.Accelerometer_Y;
accZ = MPU6050_Data.Accelerometer_Z;
gyroX = MPU6050_Data.Gyroscope_X;
gyroY = MPU6050_Data.Gyroscope_Y;
gyroZ = MPU6050_Data.Gyroscope_Z;
float roll = atan2(-accY, -accZ) * RAD_TO_DEG;
float pitch = atan(-accX / sqrt1(Square(accY) + Square(accZ))) * RAD_TO_DEG;
float gyroXrate = gyroX * MPU6050_Data.Gyro_Mult; // Convert to deg/s
float gyroYrate = gyroY * MPU6050_Data.Gyro_Mult; // Convert to deg/s
// This fixes the transition problem when the accelerometer angle jumps between -180 and 180 degrees
if ((roll < -90 && kalAngleX > 90) || (roll > 90 && kalAngleX < -90)) {
setAngle(&kalmanX, roll);
} else {
kalAngleX = getAngle(&kalmanX, roll, gyroXrate, dt); // Calculate the angle using a Kalman filter
}
if (Abs(kalAngleX) > 90)
gyroYrate = -gyroYrate; // Invert rate, so it fits the restriced accelerometer reading
kalAngleY = getAngle(&kalmanY, pitch, gyroYrate, dt);
#ifdef DEBUG
USART1_puts("\r\n");
shell_float2str(accZ, uart_out);
USART1_puts(uart_out);
#else
if (accY < -6300) {
controller_command = 1;
} else if (accY > 6300) {
controller_command = 2;
} else if (accZ < 0 && kalAngleY > 47) {
controller_command = 3;
} else if (accZ < 0 && kalAngleY < -30) {
controller_command = 4;
} else if (accZ < 0 && kalAngleY > 25 && kalAngleY < 47) {
controller_command = 5;
} else {
controller_command = 6;
}
// check hand gesture for a while
if (count == 5 && pre_command == controller_command) {
switch (controller_command) {
case 1:
USART1_puts("\r\nmove right");
break;
case 2:
USART1_puts("\r\nmove left");
break;
case 3:
USART1_puts("\r\nforward");
break;
case 4:
USART1_puts("\r\nDOWN");
break;
case 5:
USART1_puts("\r\nUP");
break;
case 6:
USART1_puts("\r\nsuspend");
break;
}
} else if (pre_command == controller_command) {
count++;
} else {
pre_command = controller_command;
count = 0;
}
#endif
vTaskDelayUntil(&xLastWakeTime, xFrequency);
}
}
