신동해

(add) main_arm.c, main_cart.c

/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license
* SLA0044, the "License"; You may not use this file except in compliance with
* the License. You may obtain a copy of the License at:
* www.st.com/SLA0044
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "i2s.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "usb_host.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdbool.h>
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
bool distance_flag = false;
int grab_mode = 0;
uint8_t rx3_data = 0;
uint8_t tmp_stop = 1;
uint8_t tmp_speed1 = 2;
uint8_t tmp_speed2 = 3;
uint8_t tmp_speed3 = 4;
int MOTOR_PWM[5];
int MOTOR_PWM_MEAN[5];
int MOTOR_PWM_MAX[5];
int MOTOR_PWM_MIN[5];
int mode[5]={1,1,1,1,1};
char direction;
char response;
volatile uint32_t distance;
#define Delay_ms HAL_Delay
#define millis() HAL_GetTick()
#define SYS_CLOCK 168
#define SYSTICK_LOAD 167999
__IO uint32_t uwTick=0;
extern __IO uint32_t uwTick;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_NVIC_Init(void);
void MX_USB_HOST_Process(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint32_t micros() {
return (uwTick&0x3FFFFF)*1000 + (SYSTICK_LOAD-SysTick->VAL)/SYS_CLOCK;
}
void Delay_us(uint32_t us) {
uint32_t temp = micros();
uint32_t comp = temp + us;
uint8_t flag = 0;
while(comp > temp){
if(((uwTick&0x3FFFFF)==0)&&(flag==0)){
flag = 1;
}
if(flag) temp = micros() + 0x400000UL * 1000;
else temp = micros();
}
}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) //External interrupt for Sonar
{
static uint32_t ss=0;
uint32_t temp = GPIOC->IDR & 0x0002;//PC1이니까 2^(1)=2
switch (temp) {
case 0x0002:
ss = micros();
break;
case 0x0000 :
distance = (micros() - ss) / 58;
if(distance <= 2){
distance_flag = true;
}
break;
}
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
MX_I2S3_Init();
MX_SPI1_Init();
MX_TIM3_Init();
MX_TIM12_Init();
MX_USB_HOST_Init();
MX_TIM1_Init();
MX_USART2_UART_Init();
MX_USART3_UART_Init();
/* Initialize interrupts */
MX_NVIC_Init();
/* USER CODE BEGIN 2 */
//raspberryPi to robotArm
HAL_UART_Receive_IT(&huart3,&rx3_data,1);
//Robot Arm
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_2);
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim12,TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim12,TIM_CHANNEL_2);
//SONAR
HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
TIM3->CCR3=300; // 1 top
TIM12->CCR1=350; //2
TIM12->CCR2=300; // 3
TIM3->CCR2= 300; //4
TIM3->CCR1 = 500; // 5
if(rx3_data == 1){ // 전방 차량과의 거리가 70cm 미만일 때 stm_cart에 신호값 1 전달
HAL_UART_Transmit(&huart2, &tmp_stop, 1, 100);
}
else if(rx3_data == 2){ // 전방 차량과의 거리가 70cm 이상 100cm 미만일 때 stm_cart에 신호값 2 전달
HAL_UART_Transmit(&huart2, &tmp_speed1, 1, 100);
}
else if(rx3_data == 3){ // 전방 차량과의 거리가 100cm 이상 150cm 미만일 stm_cart에 신호값 3 전달
HAL_UART_Transmit(&huart2, &tmp_speed2, 1, 100);
}
else (rx3_data == 4){ // 전방에 차량이 없거나 거리가 150cm 이상일 때 stm_cart에 신호값 4 전달
HAL_UART_Transmit(&huart2, &tmp_speed3, 1, 100);
}
distance_flag = false;
rx3_data = 0;
/* USER CODE END WHILE */
MX_USB_HOST_Process();
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the CPU, AHB and APB busses clocks
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 336;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 7;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB busses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
Error_Handler();
}
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_I2S;
PeriphClkInitStruct.PLLI2S.PLLI2SN = 192;
PeriphClkInitStruct.PLLI2S.PLLI2SR = 2;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief NVIC Configuration.
* @retval None
*/
static void MX_NVIC_Init(void)
{
/* EXTI1_IRQn interrupt configuration */
HAL_NVIC_SetPriority(EXTI1_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI1_IRQn);
/* USART3_IRQn interrupt configuration */
HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART3_IRQn);
}
/* USER CODE BEGIN 4 */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if(huart->Instance==USART3){
HAL_UART_Receive_IT(&huart3,&rx3_data,1);
}
}
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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