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);
}
}
}
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);
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);
STM32F4_Discovery_LEDInit(LED3);
STM32F4_Discovery_LEDInit(LED4);
STM32F4_Discovery_LEDInit(LED5);
STM32F4_Discovery_LEDInit(LED6);
while (1)
{
Delayms(0xFFFF);
uint32_t i=0;
while (i<64)
{
Buf[i]=OutBuffer[i];
i++;
}
if (Buf[0] == 't' && Buf[1] == 'e' && Buf[2] == 's' && Buf[3] == 't')
{
SendStrToUSB((uint8_t*)"Testing 1 2 3 . . .");
SendStrToUSB((uint8_t*)"|1|2|");
}
if (Buf[0] == 'l' && Buf[1] == 'e' && Buf[2] == 'd')
{
if (Buf[3] == 0x33)
{
STM32F4_Discovery_LEDToggle(LED3);
SendStrToUSB((uint8_t*)"LED3(Orange) has been toggled!");
SendStrToUSB((uint8_t*)"|1|2|");
}
if (Buf[3] == 0x34)
{
STM32F4_Discovery_LEDToggle(LED4);
SendStrToUSB((uint8_t*)"LED4(Green) has been toggled!");
SendStrToUSB((uint8_t*)"|1|2|");
}
if (Buf[3] == 0x35)
{
STM32F4_Discovery_LEDToggle(LED5);
SendStrToUSB((uint8_t*)"LED5(Red) has been toggled!");
SendStrToUSB((uint8_t*)"|1|2|");
}
if (Buf[3] == 0x36)
{
STM32F4_Discovery_LEDToggle(LED6);
SendStrToUSB((uint8_t*)"LED6(Blue) has been toggled!");
SendStrToUSB((uint8_t*)"|1|2|");
}
}
ClearBuffer();
}
}
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);
SystemCoreClockUpdate(); // inicjalizacja dystrybucji czasu procesora
init_I2C1(); // na podstawie: http://eliaselectronics.com/stm32f4-tutorials/stm32f4-i2c-mastertutorial/
//acc
I2C_start(I2C1, LSM303DL_A_ADDRESS, I2C_Direction_Transmitter);
I2C_write(I2C1,0x20); // LSM303_CTRL_REG1_A 0x20
I2C_write(I2C1,0x27); // Enable Accelerometer
// 0x27 = 0b00100111
// Normal power mode, all axes enabled
I2C_stop(I2C1); // stop the transmission
//acc
//mag
I2C_start(I2C1, LSM303DL_M_ADDRESS, I2C_Direction_Transmitter);
I2C_write(I2C1,0x02); //LSM303_MR_REG_M 0x02
I2C_write(I2C1,0x00); // Enable Magnetometer
// 0x00 = 0b00000000
// Continuous conversion mode
I2C_stop(I2C1);
//mag
//gyro
I2C_start(I2C1, LSM303DL_G_ADDRESS, I2C_Direction_Transmitter);
I2C_write(I2C1, 0x20); //L3G_CTRL_REG1 0x20
I2C_write(I2C1, 0x0F); // 0x0F = 0b00001111
// Normal power mode, all axes enabled
I2C_stop(I2C1);
//gyro
char start='0';
while(1)
{
Delay(5);
read_acc();
read_mag();
read_gyro();
start='0';
while(1)
{
start = usb_cdc_getc();
if(start=='1')
{
break;
}
}
}
/*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);
}
}*/
}
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();
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); //
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);
led_driver_init();
motor_driver_init();
SysTick_Config(2100000); //10 times a second: 168 MHz / 8 = 21 MHz
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
//while(1)
//{
//led_driver_write_data(50, 10);
//}
while (1)
{
if( usb_cdc_kbhit() )
{
character = usb_cdc_getc();
usb_rx_buffer[usb_rx_ptr] = character;
usb_rx_ptr++;
if( usb_rx_ptr == 10 ) //upon receiving 10 bytes
{
if( ( usb_rx_buffer[0] == 0xAA ) && ( usb_rx_buffer[9] == 0xCC ) ) //check head and tail for correctness
{
usb_rx_ptr = 0; //reset data pointer if correct
flag_new_command_received = 1; //set the flag if packet correct
}
else
{
usb_rx_ptr = 0; // if packet incorrect, reset data pointer
}
}
}
if(flag_new_command_received)
{
flag_new_command_received = 0;
}
if(flag_send_sensor_data)
{
motor_set_speed(0x55, 0x55);
flag_send_sensor_data = 0;
}
// here's how to send data through USB VCP
/*
sprintf(buffer_out,"LED%c = %u\r\n",c,GPIO_ReadInputDataBit(GPIOD,LED6_PIN));
usb_cdc_printf(buffer_out);
*/
}
}
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;
}*/
}
}
