/*************************************************************************
* Function Name: GLCD_LLInit
* Parameters: none
* Return: none
*
* Description: Init Reset and Backlight control outputs
*
*************************************************************************/
void GLCD_LLInit (void)
{
// LCD Reset output
LCD_RST_FDIR |= LCD_RST_MASK;
GLCD_SetReset(0);
// LCD backlight PWM 8bit init
LCD_BL_PIN_SEL = 3; // assign P3.26 to PWM1
PCONP_bit.PCPWM1 = 1; // enable clock of PWM1
PWM1TCR_bit.PWMEN = 0; // enable PWM function
PWM1TCR_bit.CE = 0; // disable counting
PWM1TCR_bit.CR = 1; // reset
PWM1CTCR_bit.CM = 0; // from prescaler
PWM1MCR = 2; // Reset on PWMMR0
PWM1PCR_bit.PWMSEL3 = 0; // Selects single edge controlled mode for PWM6
PWM1PCR_bit.PWMENA3 = 1; // The PWM3 output enabled
PWM1PR = 0;
PWM1MR0 = 0xFF; // 8bit resolution
PWM1LER_bit.EM0L = 1;
PWM1MR3 = 0;
PWM1LER_bit.EM3L = 1;
PWM1TCR_bit.PWMEN = 1; // enable PWM function
PWM1TCR_bit.CR = 0; // release reset
PWM1TCR_bit.CE = 1; // enable counting
GLCD_Backlight(0);
}
/*******************************************************************************
* Function Name : Menu_Init
* Description : Initializes the navigation menu.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void Menu_Init(void)
{
DelayResolution100us(Dly);
GLCD_PowerUpInit(0x0);
GLCD_Backlight(BACKLIGHT_ON);
GLCD_SetFont(&Terminal_9_12_6,0xF,0xFFF);
psCurrentMenu = &MainMenu;
psPrevMenu[nMenuLevel] = psCurrentMenu;
psMenuItem = MainMenuItems;
}
void main(void)
{
ENTR_CRT_SECTION();
/* Setup STM32 system (clock, PLL and Flash configuration) */
SystemInit();
/* Set the Vector Table base location at 0x08000000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
// SysTick end of count event each 0.5s with input clock equal to 9MHz (HCLK/8, default)
SysTick_Config(1500000);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
// Step motor init
StepMotorInit();
// I2C1 init
I2C1_Init();
EXT_CRT_SECTION();
// GLCD init
GLCD_PowerUpInit((pInt8U)IAR_Logo.pPicStream); //(
GLCD_Backlight(BACKLIGHT_ON);
GLCD_SetFont(&Terminal_9_12_6,0x000F00,0x00FF0);
GLCD_SetWindow(10,104,131,131);
// Init Accl sensor
if(FALSE == Accl_Init())
{
// Initialization fault
GLCD_TextSetPos(0,0);
GLCD_print("\fLIS3LV020 Init.\r\nfault\r\n");
while(1);
}
Car_Init();
while(1)
{
A=position();
/* A = accX[1];
B = velX[1];
C = posX[1]; */
if(SysTickFl) //
{
SysTickFl = FALSE;
GLCD_TextSetPos(0,0);
GLCD_print("\f%d Deg\r\n",A);
}
GoCar(Test, TestTurn);
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f4xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f4xx.c file
*/
/* Setup STM32 system (clock, PLL and Flash configuration) */
SystemInit();
/* GLCD init */
GLCD_PowerUpInit((pInt8U)IAR_Logo.pPicStream);
GLCD_Backlight(BACKLIGHT_ON);
DelayResolution100us(5000);
GLCD_PowerUpInit((pInt8U)STM32_Logo.pPicStream);
GLCD_SetFont(&Terminal_9_12_6,0x000F00,0x00FF0);
GLCD_TextSetPos(4,6);
GLCD_print("STM32F407ZG-SK");
GLCD_Backlight(BACKLIGHT_ON);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
/* Menu init */
Menu_Init();
Joystick_Init();
DisplayMenu();
/* Infinite loop */
while (1)
{
}
}
void main(void)
{
ENTR_CRT_SECTION();
/* Setup STM32 system (clock, PLL and Flash configuration) */
SystemInit();
/* Set the Vector Table base location at 0x08000000 */
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
// I2C1 init
I2C1_Init();
EXT_CRT_SECTION();
// GLCD init
GLCD_PowerUpInit(0x0); //(
GLCD_Backlight(BACKLIGHT_ON);
GLCD_SetFont(&Terminal_9_12_6,0x000F00,0x00FF0);
GLCD_SetWindow(10,10,131,131);
// Init Accl sensor
if(FALSE == Accl_Init())
{
// Initialization fault
GLCD_TextSetPos(0,0);
GLCD_print("\fLIS3LV020 Init.\r\nfault\r\n");
while(1);
}
//Init CarControl and Delay
Car_Init();
DWT_Init();
HCSR04_Init();
// SysTick end of count event each 0.5s with input clock equal to 9MHz (HCLK/8, default)
SysTick_Config(150000);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
DWT_Delayms(1000);
while(1)
{
//while(1){GLCD_print("Current state: %d \r",GPIO_ReadInputDataBit(JS_LEFT_PORT, JS_LEFT_MASK));}
//car_feedback=accl_feedback();
/* A = accX[1];
B = velX[1];
C = posX[1]; */
if(SysTickF1)
{
SysTickF1 = FALSE;
//GLCD_TextSetPos(0,0);
GLCD_print("%d, %d \r", get_Xvel(), accl_feedback());
DWT_Delayms(500);
}
if(NewInstr) //
{
DWT_Delayms(1000);
NewInstr = FALSE;
//GoCar(Test, TestTurn);
// 1. Give command (desired state)
//desiredState;
// 2. Run machine learning to test action
action = goToState(car_instr);
GoCars(action);
// testExp();
int runTime = 0;
while (runTime < 1){
DWT_Delayms(700);
runTime++;
}
GLCD_TextSetPos(0,0);
GLCD_print("\f%d,%d;%d,%d\r\n", get_X_accFeedback(0), get_Y_accFeedback(0), get_X_vel(0), get_Y_vel(0));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(1), get_Y_accFeedback(1), get_X_vel(1), get_Y_vel(1));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(2), get_Y_accFeedback(2), get_X_vel(2), get_Y_vel(2));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(3), get_Y_accFeedback(3), get_X_vel(3), get_Y_vel(3));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(4), get_Y_accFeedback(4), get_X_vel(4), get_Y_vel(4));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(5), get_Y_accFeedback(5), get_X_vel(5), get_Y_vel(5));
GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(6), get_Y_accFeedback(6), get_X_vel(6), get_Y_vel(6));
// GLCD_print("%d,%d;%d,%d\r\n", get_X_accFeedback(7), get_Y_accFeedback(7), get_X_vel(7), get_Y_vel(7));
car_instr=car_stop;
GoCars(car_instr);
DWT_Delayms(2000);
}
//GoCars(3); //Stopping the car
// 3. Wait x ms
//Wait in ML-method testAllActions
// 4. Return value from accelerometer
//Return value from accelerometer in ML-method testAllActions
// 5. Evaluate action compared to state
//Already implemented in ML-file. No need to alter (probably)
// 6. Repeat 3-5 until all actions has been tested
//Already implemented in ML-file. No need to alter (probably)
// 7. Choose the correct state
//Already implemented in ML-file. No need to alter (probably)
}
}
/*************************************************************************
* Function Name: GLCD_PowerUpInit
* Parameters: pInt8U pInitData
* Return: GLCD_Status_t
* GLCD_OK - init pass
* GLCD_ID_ERROR - unsupported driver type
* Description: Power-up initialization of Graphic LCD
*
*************************************************************************/
GLCD_Status_t GLCD_PowerUpInit (pInt8U pInitData)
{
Int32U Data;
pDATCTR_Data_t pDATCTR_Data;
volatile Int32U i;
// Init SPI and IO
// Init low level
GLCD_SPI_Init(GLCD_DEF_CLOCK,GLCD_DEF_WIDTH);
GLCD_LLInit();
GLCD_Backlight(BACKLIGHT_ON);
// H/W Reset
// Rest L > 10us H
GLCD_SetReset(0);
for(i = GLCD_DLY_10US; i ; --i);
GLCD_SetReset(1);
// Wait 5 ms
//DelayResolution100us(GLCD_RESET_DLY);
for(i = GLCD_DLY_10US * 100; i ; --i);
// Identify LCD and command interpreter
Glcd_Iss = GLCD_ISS_0;
/*GLCD_SendCmd(RDDID,(pInt8U)&Data,0);
if(((Data & 0xFF) != GLCD_MANF_ID) ||
(((Data >> 16)& 0xFF) != GLCD_MOD_ID))
{
// Iss = 1 don't support RDDID command
Glcd_Iss = GLCD_ISS_1;
}*/
// Power Supply Set
if(Glcd_Iss == GLCD_ISS_1)
{
// Support only 4K colors
assert(GLCD_DEF_DPL_ML == 0);
// DISCTR (Display Control)
// - F1/F2 switching period set
// - Line inversion set
Data = 0 | (0x20UL << 8) | (0x11UL << 16);
GLCD_SendCmd(DISCTR,(pInt8U)&Data,0);
// OSCON (Oscillator ON)
GLCD_SendCmd(OSCON,NULL,0);
// Set contrast
Data = 38 | (0x0UL << 8);
GLCD_SendCmd(VOLCTR,(pInt8U)&Data,0);
}
else
{
// Set contrast
Data = 0x3B;
GLCD_SendCmd(SETCON,(pInt8U)&Data,0);
}
// SLPOUT (Sleep mode OFF & OSC/Booster On)
GLCD_SendCmd(SLPOUT,NULL,0); // Sleep out
if(Glcd_Iss == GLCD_ISS_0)
{
GLCD_SendCmd(BSTRON,NULL,0); // Booster voltage on
}
// Display Environment Set
// Display inversion setting
GLCD_SendCmd(GLCD_DEF_DPL_INV?INVON:INVOFF,NULL,0);
// Display color scheme setting
GLCD_SendCmd(GLCD_DEF_DPL_8_COLOR?IDMON:IDMOFF,NULL,0);
// Display partial setting
if(GLCD_DEF_DPL_PARTIAL_MODE)
{
GLCD_SendCmd(PTLOUT,NULL,0);
}
else
{
#if GLCD_DEF_DPL_PARTIAL_MODE > 0
#error "PARTIAL_MODE not supported yet"
#endif // GLCD_DEF_DPL_PARTIAL_MODE > 0
}
// Memory Data Access Control
Data = 0;
pDATCTR_Data = (pDATCTR_Data_t)&Data;
pDATCTR_Data->RGB = GLCD_DEF_DPL_RGB_ORD; // BGR / RGB order
pDATCTR_Data->MY = GLCD_DEF_DPL_MY; // no mirror Y
pDATCTR_Data->MX = GLCD_DEF_DPL_MX; // no mirror X
pDATCTR_Data->MV = GLCD_DEF_DPL_V; // vertical RAM write in Y/X direction
pDATCTR_Data->ML = GLCD_DEF_DPL_ML; // line address order (bottom to top) / (top to bottom)
// support only 4k type A colored scheme
GLCD_SendCmd(DATCTR,(pInt8U)&Data,0);
// Display Data Write & Display On
// COLUMN ADDRESS SET and PAGE ADDRESS SET
Data = 0 | ((GLCD_HORIZONTAL_SIZE - 1)<<8);
GLCD_SendCmd(RASET,(pInt8U)&Data,0);
GLCD_SendCmd(CASET,(pInt8U)&Data,0);
// Init display memory
if(pInitData == NULL)
{
Data = DEF_BACKGND_COLOUR;
for(i = 0; i < (GLCD_HORIZONTAL_SIZE * GLCD_VERTICAL_SIZE); ++i)
{
Data = 0xFFFFFFFF >> (i & 0x1F);
LCD_WRITE_PIXEL(Data);
}
LCD_FLUSH_PIXELS();
}
/*************************************************************************
* Function Name: GLCD_LLInit
* Parameters: none
* Return: none
*
* Description: Init Reset and Backlight control outputs
*
*************************************************************************/
void GLCD_LLInit (void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/* Enable GPIO clock and release reset*/
RCC_AHB1PeriphClockCmd(LCD_RST_CLK | LCD_BL_CLK, ENABLE);
RCC_AHB1PeriphResetCmd(LCD_RST_CLK | LCD_BL_CLK,DISABLE);
/*LCD Reset pin init*/
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_Pin = LCD_RST_MASK;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(LCD_RST_PORT, &GPIO_InitStructure);
GLCD_SetReset(0);
/* LCD backlight Init*/
// PWM DAC (TIM3/CH3)
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Pin = LCD_BL_MASK;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(LCD_BL_PORT, &GPIO_InitStructure);
GPIO_PinAFConfig(LCD_BL_PORT,LCD_BL_PIN_SOURCE,LCD_BL_PIN_AF);
// Init PWM TIM3
// Enable Timer3 clock and release reset
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM3,DISABLE);
TIM_InternalClockConfig(TIM3);
// Time base configuration
TIM_TimeBaseStructure.TIM_Prescaler = 140;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 0xFF; // 8 bit resolution
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);
// Channel 4 Configuration in PWM mode
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0x00;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;
TIM_OC3Init(TIM3,&TIM_OCInitStructure);
// Double buffered
TIM_ARRPreloadConfig(TIM3,ENABLE);
// TIM3 counter enable
TIM_Cmd(TIM3,ENABLE);
GLCD_Backlight(0);
}
