/**
* @brief EXTI line detection callbacks
* @param GPIO_Pin: Specifies the pins connected EXTI line
* @retval None
*/
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
// Servicing Interrupt from PWR_ONSTAT (power off required)
if (GPIO_Pin == ONOFF_STAT_PIN)
{
Stm32_Led_OFF();
#ifdef OLED_PRESENT // (defined in User_Configuration.h)
// Do not send command if no OLED (else SPI hangs)
OLED_Switch_OFF();
Delay_ms(100); // Delay between cutting OLED VDDH (13V) and VDD (logic)
// to preserve panel lifetile - as per DD160128FC-1A datasheet
//Caution: TimerTick involved, its IRQ priority must be high (urgent) enough
// in Interrupt Configuration files
#endif
// wait as long as ONOFF is active (ie. until user has finished pushing button)
while(HAL_GPIO_ReadPin(ONOFF_STAT_PORT, ONOFF_STAT_PIN) == GPIO_PIN_RESET);
//Quickly blink LED 3 times
Stm32_Led_ON();
Delay_ms(100);
Stm32_Led_OFF();
Delay_ms(200);
Stm32_Led_ON();
Delay_ms(100);
Stm32_Led_OFF();
Delay_ms(200);
Stm32_Led_ON();
Delay_ms(100);
Stm32_Led_OFF();
// Bye bye: Power down VCC_NUM by resetting pin BUCK3V_ON
GPIO_LOW(BUCK3V_ON_PORT, BUCK3V_ON_PIN);
Delay_ms(3000);
while(1);
}
}
void Get_ZeroGauss_OffsetXY( int16_t* pMField_X_Raw_Offset, int16_t* pMField_Y_Raw_Offset )
{
#define NUM_CALIB_CIRCLES 1
// Calibration performed by taking 8 measurements 45deg apart,
// repeated NUM_CALIB_CIRCLES times
uint8_t i;
uint8_t MField_X_LowByte, MField_X_HighByte;
uint8_t MField_Y_LowByte, MField_Y_HighByte;
int16_t MField_X_Raw, MField_Y_Raw;
int32_t MField_X_Acc = 0, MField_Y_Acc = 0;
uint16_t ColorSequence[8] = {RED, WHITE, GREEN, BLUE, CYAN, ORANGE, LIGHT_BLUE, YELLOW } ;
// Display Instructions :
OLED_PrintString("CALIBRATION\n\n");
OLED_PrintString("Lay La BlueFrog flat\n");
OLED_PrintString("Then rotate it 45 deg.\n at each change of color:");
Delay_ms(5000);
// Go --- 8 equally spaced magnetic field measurements, repeatable n times per #define
for (i=0; i < 8*NUM_CALIB_CIRCLES; i++)
{
OLED_Fill( X_FULL_SCREEN/2 -20, Y_FULL_SCREEN/2-20, 40, 40, ColorSequence[i] );
Delay_ms(2500);
Stm32_Led_ON();
// SINGLE SHOT conversion : CTRL_REG3 @0x22 :
I2C2_WriteSingleReg(LIS3MDL_CHIPID, 0x22, 0x01); // 0b00000001
while ( (I2C2_ReadSingleReg(LIS3MDL_CHIPID, 0x27)& 0x08) != 0x08);
// read status reg until it flags new XYZ data available
// Accumulate Results
MField_X_LowByte = I2C2_ReadSingleReg(LIS3MDL_CHIPID, 0x28);
MField_X_HighByte = I2C2_ReadSingleReg(LIS3MDL_CHIPID, 0x29);
MField_X_Raw =
(int16_t)( (MField_X_HighByte <<8 ) | MField_X_LowByte );
MField_X_Acc += (int32_t)(MField_X_Raw);
MField_Y_LowByte = I2C2_ReadSingleReg(LIS3MDL_CHIPID, 0x2A);
MField_Y_HighByte = I2C2_ReadSingleReg(LIS3MDL_CHIPID, 0x2B);
MField_Y_Raw =
(int16_t)( (MField_Y_HighByte <<8 ) | MField_Y_LowByte );
MField_Y_Acc += (int32_t)(MField_Y_Raw);
Stm32_Led_OFF();
}
*pMField_X_Raw_Offset = (int16_t)(MField_X_Acc / i);
*pMField_Y_Raw_Offset = (int16_t)(MField_Y_Acc / i);
GUI_DispStringAt("", 10, 90);
OLED_PrintString("THANKS,\nCALIBRATION DONE !");
Delay_ms(2000);
OLED_Clear();
}
/*******************************************************************************
* Function Name : main.
* Description : Main routine.
* Input : None.
* Output : None.
* Return : None.
*******************************************************************************/
int main(void)
{
boolean_t Success = TRUE;
/* ================================================================ */
/* Board Initializations and Configurations except OLED */
/* (clocks, I/Os, on-chip peripherals, on-board ICs) */
/* ================================================================ */
LBF_Board_Fixed_Inits();
LBF_Board_Selective_Inits();
// actions driven by User_Configuration.h
Stm32_Led_ON();
/* ================================================================ */
/* Optional initialization of Middleware libraries : */
/* USBD drivers, FatFS File System, STemWin GUI */
/* ================================================================ */
// UNCOMMENT AS NEEDED:
// (refer to INFO.txt for details on actions performed)
/* ... To use La BlueFrog as USB Mass Storage (Full Speed) */
// Delay_ms(1000);
// Success &= LBF_LaunchUSB_MassStorage();
/* ... To initialize FatFS */
/* and mount the Data Flash as FAT File System */
// Success &= LBF_FatFS_Init();
/* ... To initialize the STemWin Graphical Library */
/* Caution: reserves some RAM - keep some for stack/heap */
Success &= LBF_emWin_Init();
// ERROR HANDLER
/* Replace by your own as wished */
Led_StopNBlinkOnFalse (Success);
// stops here if one of above inits has failed
Stm32_Led_OFF();
/* ===================================================== */
/* Application Code Below */
/* ===================================================== */
/* == User Declarations =============================== */
uint8_t ReadValue;
/* == Body ====================================================== */
OLED_Switch_ON();
// Provide power (13V) to OLED panel, enable display
/* --- Check access to ALS/Proximity Sensor : ST VL6180X --- */
ReadValue = I2C2_ReadSingleReg(VL6180X_CHIPID, VL6180X_WHOAMI);
if (ReadValue == VL6180X_WHOAMI_CONTENTS)
{
OLED_PrintString("VL6180X OK \nWHO_AM_I = ");
}
else
{
OLED_PrintString("VL6180X FAIL \nReported WHO_AM_I = ");
}
OLED_PrintHex(ReadValue);
OLED_PrintString("\n\n");
/* --- Check access to Magnetometer : ST LIS3MDL -------- */
ReadValue = I2C2_ReadSingleReg(LIS3MDL_CHIPID, LIS3MDL_WHOAMI);
if (ReadValue == LIS3MDL_WHOAMI_CONTENTS)
{
OLED_PrintString("LIS3MDL OK \nWHO_AM_I = ");
}
else
{
OLED_PrintString("LIS3MDL FAIL \nReported WHO_AM_I = ");
}
OLED_PrintHex(ReadValue);
OLED_PrintString("\n\n");
/* --- Check access to Accelerometer/Gyro : ST LSM6DS3 ----- */
ReadValue = I2C2_ReadSingleReg(LSM6DS3_CHIPID, LSM6DS3_WHOAMI);
if (ReadValue == LSM6DS3_WHOAMI_CONTENTS)
{
OLED_PrintString("LSM6DS3 OK \nWHO_AM_I = ");
}
else
{
OLED_PrintString("LSM6DS3 FAIL \nReported WHO_AM_I = ");
}
OLED_PrintHex(ReadValue);
OLED_PrintString("\n\n");
/* --- Check access to Pressure/Temp Sensor : ST LPS25H ----- */
ReadValue = I2C2_ReadSingleReg(LPS25H_CHIPID, LPS25H_WHOAMI);
if (ReadValue == LPS25H_WHOAMI_CONTENTS)
{
OLED_PrintString("LPS25H OK \nWHO_AM_I = ");
}
else
{
OLED_PrintString("LPS25H FAIL \nReported WHO_AM_I = ");
}
OLED_PrintHex(ReadValue);
OLED_PrintString("\n\n");
while(1);
}
/*******************************************************************************
* Function Name : main.
* Description : Main routine.
* Input : None.
* Output : None.
* Return : None.
*******************************************************************************/
int main(void)
{
boolean_t Success = TRUE;
/* ================================================================ */
/* Board Initializations and Configurations except OLED */
/* (clocks, I/Os, on-chip peripherals, on-board ICs) */
/* ================================================================ */
LBF_Board_Fixed_Inits();
LBF_Board_Selective_Inits();
// actions driven by User_Configuration.h
Stm32_Led_ON();
/* ================================================================ */
/* Optional initialization of Middleware libraries : */
/* USBD drivers, FatFS File System, STemWin GUI */
/* ================================================================ */
// UNCOMMENT AS NEEDED:
// (refer to INFO.txt for details on actions performed)
/* ... To use La BlueFrog as USB Mass Storage (Full Speed) */
// Delay_ms(1000);
// Success &= LBF_LaunchUSB_MassStorage();
/* ... To initialize FatFS */
/* and mount the Data Flash as FAT File System */
// Success &= LBF_FatFS_Init();
/* ... To initialize the STemWin Graphical Library */
/* Caution: reserves some RAM - keep some for stack/heap */
Success &= LBF_emWin_Init();
// ERROR HANDLER
/* Replace by your own as wished */
Led_StopNBlinkOnFalse (Success);
// stops here if one of above inits has failed
Stm32_Led_OFF();
/* ===================================================== */
/* Application Code Below */
/* ===================================================== */
/* == User Declarations =============================== */
void Get_ZeroGauss_OffsetXY( int16_t* pMField_X_Raw_Offset, int16_t* pMField_Y_Raw_Offset );
void Get_Magnetic_FieldXY( int16_t MField_X_Raw_Offset, int16_t MField_Y_Raw_Offset,
int16_t* pMField_X_mGauss, int16_t* pMField_Y_mGauss);
uint8_t ReadValue;
int16_t MField_X_Raw_Offset, MField_Y_Raw_Offset ;
int16_t MField_X_mGauss, MField_Y_mGauss;
int32_t MField_X_mGauss_2 =0, MField_Y_mGauss_2 =0;
int32_t MField_X_mGauss_1 =0, MField_Y_mGauss_1 =0;
int32_t MField_X_mGauss_Filtd, MField_Y_mGauss_Filtd;
int32_t Field_Magnitude;
int32_t X_Gfx_Vector, Y_Gfx_Vector;
int32_t X_Previous_Gfx_Vector = 0, Y_Previous_Gfx_Vector=0;
#define MGAUSS_MAX 450 //Max expected magnitude of magnetic field to display
#define BKGND_COLOR 0x102020 // dark grey
#define FOREGND_COLOR 0x00AAA0 // blue-green
/* == Body ====================================================== */
OLED_Switch_ON();
// Provide power (13V) to OLED panel, enable display
/* --- Check access to Magnetometer : ST LIS3MDL -------- */
ReadValue = I2C2_ReadSingleReg(LIS3MDL_CHIPID, LIS3MDL_WHOAMI);
Led_StopNBlinkOnFalse ( ReadValue == LIS3MDL_WHOAMI_CONTENTS );
/* --- Configure Magnetometer -------------------------- */
// Define Full Scale: Reg. CTRL_REG2 @0x21
// NB- earth magnetic field magnitude = 0.25 to 0.65 Gauss
I2C2_WriteSingleReg(LIS3MDL_CHIPID, 0x21, 0x00);
// FS = 4 Gauss
// Define XY Performance mode and ODR: Reg. CTRL_REG1 @0x20
I2C2_WriteSingleReg(LIS3MDL_CHIPID, 0x20, 0x90); // 0b10010000
// Enable T° sensor
// Low-power mode on X and Y
// ODR = 10Hz
// Define Z Performance mode: Reg. CTRL_REG4 @0x23
I2C2_WriteSingleReg(LIS3MDL_CHIPID, 0x23, 0x00); // 0b00000000
// Calibrate to compensate Zero Gauss Offset
Get_ZeroGauss_OffsetXY( &MField_X_Raw_Offset, &MField_Y_Raw_Offset );
/* --- Prepare Display of Results -------------------------- */
GUI_SetFont(&GUI_Font24B_ASCII);
GUI_SetTextMode(GUI_TM_TRANS);
GUI_SetColor(BKGND_COLOR);
GUI_FillRect(0, 0, X_FULL_SCREEN-1, Y_FULL_SCREEN-1);
GUI_SetColor(0xAAAA00);
GUI_DrawCircle(Y_FULL_SCREEN/2, Y_FULL_SCREEN/2, (Y_FULL_SCREEN/2)-10);
GUI_FillCircle(Y_FULL_SCREEN/2, Y_FULL_SCREEN/2, 2);
/* --- Start Tracking Magnetic Field -------------------------- */
while(1)
{
// --- Capture :------------------------------------------------
// SINGLE SHOT conversion : CTRL_REG3 @0x22 :
I2C2_WriteSingleReg(LIS3MDL_CHIPID, 0x22, 0x01); // 0b00000001
// Wait until data available from Magnetometer
do
{
ReadValue = I2C2_ReadSingleReg(LIS3MDL_CHIPID, 0x27); // Status Reg
} while ( (ReadValue & 0x08) != 0x08); // bit set when new XYZ data available
// Read Results
Get_Magnetic_FieldXY( MField_X_Raw_Offset, MField_Y_Raw_Offset,
&MField_X_mGauss, &MField_Y_mGauss );
// --- Display North ------------------------------------------------
if (MField_X_mGauss > MGAUSS_MAX)
MField_X_mGauss = MGAUSS_MAX;
if (MField_X_mGauss < -MGAUSS_MAX)
MField_X_mGauss = -MGAUSS_MAX;
if (MField_Y_mGauss > MGAUSS_MAX)
MField_Y_mGauss = MGAUSS_MAX;
if (MField_Y_mGauss < -MGAUSS_MAX)
MField_Y_mGauss = -MGAUSS_MAX;
// Filtering to limit "jitter" effect on position
MField_X_mGauss_Filtd = (MField_X_mGauss_2 + 2*MField_X_mGauss_1 + (int32_t)MField_X_mGauss) /4;
MField_Y_mGauss_Filtd = (MField_Y_mGauss_2 + 2*MField_Y_mGauss_1 + (int32_t)MField_Y_mGauss) /4;
MField_X_mGauss_2 = MField_X_mGauss_1;
MField_X_mGauss_1 = (int32_t)MField_X_mGauss;
MField_Y_mGauss_2 = MField_Y_mGauss_1;
MField_Y_mGauss_1 = (int32_t)MField_Y_mGauss;
Field_Magnitude = ( MField_X_mGauss_Filtd * MField_X_mGauss_Filtd)
+ ( MField_Y_mGauss_Filtd * MField_Y_mGauss_Filtd);
X_Gfx_Vector =
( ( MField_X_mGauss_Filtd + MGAUSS_MAX) * (Y_FULL_SCREEN-1) ) / (2*MGAUSS_MAX) ;
Y_Gfx_Vector =
( (-MField_Y_mGauss_Filtd + MGAUSS_MAX) * (Y_FULL_SCREEN-1) ) / (2*MGAUSS_MAX) ;
// Only Y_FULL_SCREEN to avoid distorsion due to shape of screen
// Compensate for size of letter "N" displayed as its x,y correspond to top left corner
X_Gfx_Vector -= 6;
Y_Gfx_Vector -= 12;
// Skip Display if vector falls out of range
if (Field_Magnitude < MGAUSS_MAX*MGAUSS_MAX )
{
if ( (X_Gfx_Vector != X_Previous_Gfx_Vector) || (Y_Gfx_Vector != Y_Previous_Gfx_Vector) )
// Redraw only if needed
{
// Erase Previous
GUI_SetColor( BKGND_COLOR );
GUI_DispStringAt("N", X_Previous_Gfx_Vector, Y_Previous_Gfx_Vector);
// Draw New
GUI_SetColor( FOREGND_COLOR );
GUI_DispStringAt("N", X_Gfx_Vector, Y_Gfx_Vector);
X_Previous_Gfx_Vector = X_Gfx_Vector;
Y_Previous_Gfx_Vector = Y_Gfx_Vector;
} // end if
} // end if
Delay_ms(500);
} // end while(1)
}
/*******************************************************************************
* Function Name : main.
* Description : Main routine.
* Input : None.
* Output : None.
* Return : None.
*******************************************************************************/
int main(void)
{
boolean_t Success = TRUE;
/* ================================================================ */
/* Board Initializations and Configurations except OLED */
/* (clocks, I/Os, on-chip peripherals, on-board ICs) */
/* ================================================================ */
LBF_Board_Fixed_Inits();
LBF_Board_Selective_Inits();
// actions driven by User_Configuration.h
Stm32_Led_ON();
/* ================================================================ */
/* Optional initialization of Middleware libraries : */
/* USBD drivers, FatFS File System, STemWin GUI */
/* ================================================================ */
// UNCOMMENT AS NEEDED:
// (refer to INFO.txt for details on actions performed)
/* ... To use La BlueFrog as USB Mass Storage (Full Speed) */
//Delay_ms(1000);
//Success &= LBF_LaunchUSB_MassStorage();
/* ... To initialize FatFS */
/* and mount the Data Flash as FAT File System */
Success &= LBF_FatFS_Init();
/* ... To initialize the STemWin Graphical Library */
/* Caution: reserves some RAM - keep some for stack/heap */
// Success &= LBF_emWin_Init();
// ERROR HANDLER
/* Replace by your own as wished */
Led_StopNBlinkOnFalse (Success);
// stops here if one of above inits has failed
Stm32_Led_OFF();
/* ===================================================== */
/* Application Code Below */
/* ===================================================== */
// NOTE: Here, as Data Flash may not be formatted yet,
// we don't use LBF_LaunchUSB_MassStorage in the initalization phase above
/* == User Declarations =============================== */
FIL MyFile; /* FatFS File object */
UINT bw; /* Number of bytes written in file */
/* == Body ======================================== */
Stm32_Led_ON();
// Launch reformat only when any Push Button pressed
while ( !State_Switch1_IsOn() && !State_Switch2_IsOn() );
Stm32_Led_OFF();
/* Create FAT volume with default cluster size */
Success &= ( f_mkfs("", 0, 0) == FR_OK);
/* Create a file as new */
Success &= ( f_open(&MyFile, "FS_Formt.log", FA_CREATE_NEW | FA_WRITE) == FR_OK);
/* Write a message */
Success &= ( f_write(&MyFile, "Formatted by FatFS\r\n", 20, &bw) == FR_OK);
/* Close the file */
f_close(&MyFile);
// Launch USB
Success &= LBF_LaunchUSB_MassStorage();
/* Error handler */
Led_StopNBlinkOnFalse (Success);
// Done !
Stm32_Led_ON();
while (1);
}
/*******************************************************************************
* Function Name : main.
* Description : Main routine.
* Input : None.
* Output : None.
* Return : None.
*******************************************************************************/
int main(void)
{
boolean_t Success = TRUE;
/* ================================================================ */
/* Board Initializations and Configurations except OLED */
/* (clocks, I/Os, on-chip peripherals, on-board ICs) */
/* ================================================================ */
LBF_Board_Fixed_Inits();
LBF_Board_Selective_Inits();
// actions driven by User_Configuration.h
Stm32_Led_ON();
/* ================================================================ */
/* Optional initialization of Middleware libraries : */
/* USBD drivers, FatFS File System, STemWin GUI */
/* ================================================================ */
// UNCOMMENT AS NEEDED:
// (refer to INFO.txt for details on actions performed)
/* ... To use La BlueFrog as USB Mass Storage (Full Speed) */
// Delay_ms(1000);
// Success &= LBF_LaunchUSB_MassStorage();
/* ... To initialize FatFS */
/* and mount the Data Flash as FAT File System */
// Success &= LBF_FatFS_Init();
/* ... To initialize the STemWin Graphical Library */
/* Caution: reserves some RAM - keep some for stack/heap */
//Success &= LBF_emWin_Init();
// ERROR HANDLER
/* Replace by your own as wished */
Led_StopNBlinkOnFalse (Success);
// stops here if one of above inits has failed
Stm32_Led_OFF();
/* ===================================================== */
/* Application Code Below */
/* ===================================================== */
/* == User Declarations =============================== */
// REMINDER :
// Usage of pins of extension connector as GPIO, PWM etc
// to be specified in User_Configuration.h
// On EXtension Connector Position 2:
// Global Enable for MC33926 carrier board
#define MC33926_EN_LOW() GPIO_LOW(CONN_POS2_PORT, CONN_POS2_PIN)
#define MC33926_EN_HIGH() GPIO_HIGH(CONN_POS2_PORT, CONN_POS2_PIN)
// On EXtension Connector Position 3:
// Fault Status from MC33926, active low
#define STATUS_FAULT_MC33926() IS_GPIO_RESET(CONN_POS3_PORT, CONN_POS3_PIN)
// returns a uint8_t result
// On Extension Connector Position 5:
// Direction (Common to Motors 1 and 2)
#define MC33926_DIR_BWD() GPIO_LOW(CONN_POS5_PORT, CONN_POS5_PIN)
#define MC33926_DIR_FWD() GPIO_HIGH(CONN_POS5_PORT, CONN_POS5_PIN)
// On Extension Connector Position 6:
// notDirection (Common to Motors 1 and 2)
#define MC33926_nDIR_BWD() GPIO_HIGH(CONN_POS6_PORT, CONN_POS6_PIN)
#define MC33926_nDIR_FWD() GPIO_LOW(CONN_POS6_PORT, CONN_POS6_PIN)
// !!!!!!!! MCU must drive both DIR and nDIR
// On Extension Connector Position 9:
// Enable Motor 1 - PWM signal (supports up to 20KHz)
// On Extension Connector Position 10:
// Enable Motor 2 - PWM signal (supports up to 20KHz)
/* == Body ======================================== */
Stm32_Led_ON();
Delay_ms(2500);
// Set Direction = Forward
MC33926_DIR_FWD();
MC33926_nDIR_FWD();
// Enable Motor Carrier
MC33926_EN_LOW();
Delay_ms(1000);
MC33926_EN_HIGH();
// Turn immedialetely off if Fault,
if ( STATUS_FAULT_MC33926() )
{
MC33926_EN_LOW();
Led_StopNBlinkOnFalse( FALSE ); //
}
LBF_PWM_Start( PWM4_CH3 );
LBF_PWM_Start( PWM4_CH4 );
LBF_PWM_SetPeriod_us( PWM4, 60); // 60us period PWM = 17KHz
LBF_PWM_SetPulse_us (PWM4_CH3, 30); // 30/60 = 50% duty cycle
LBF_PWM_SetPulse_us (PWM4_CH4, 30); // 30/60 = 50% duty cycle
while(1)
{
// Turn immedialetely off if Fault,
if ( STATUS_FAULT_MC33926() )
{
MC33926_EN_LOW();
Led_StopNBlinkOnFalse( FALSE ); //
}
// Run for a while and Stop Motor
Delay_ms( 2000 ); // run for a while and stop
LBF_PWM_SetPulse_us (PWM4_CH3, 0);
LBF_PWM_SetPulse_us (PWM4_CH4, 0);
Stm32_Led_ON();
Delay_ms( 2000 ); // wait for a while and restart
LBF_PWM_SetPulse_us (PWM4_CH3, 30); // 30/60 = 50% duty cycle
LBF_PWM_SetPulse_us (PWM4_CH4, 30); // 30/60 = 50% duty cycle
Stm32_Led_OFF();
}
return 0;
}