/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
** This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* COPYRIGHT(c) 2018 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "stm32f4xx_hal.h"
/* USER CODE BEGIN Includes */
// #define PB1 HAL_GPIO_ReadPin(GPIOE,GPIO_PIN_8)
// #define PBFR1 HAL_GPIO_ReadPin(GPIOE,GPIO_PIN_9)
// #define PBINC1 HAL_GPIO_ReadPin(GPIOE,GPIO_PIN_10)
// #define PBDEC1 HAL_GPIO_ReadPin(GPIOE,GPIO_PIN_11)
// #define PB2 HAL_GPIO_ReadPin(GPIOE,GPIO_PIN_12)
// #define PBFR2 HAL_GPIO_ReadPin(GPIOE,GPIO_PIN_13)
// #define PBINC2 HAL_GPIO_ReadPin(GPIOE,GPIO_PIN_14)
// #define PBDEC2 HAL_GPIO_ReadPin(GPIOE,GPIO_PIN_15)
#include "lcd_character.h"
#include "keypad_4x4.h"
#define KANANMOTOR11 HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12,GPIO_PIN_SET)
#define KANANMOTOR10 HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12,GPIO_PIN_RESET)
#define KIRIMOTOR11 HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,GPIO_PIN_SET)
#define KIRIMOTOR10 HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,GPIO_PIN_RESET)
#define KANANMOTOR21 HAL_GPIO_WritePin(GPIOB,GPIO_PIN_14,GPIO_PIN_SET)
#define KANANMOTOR20 HAL_GPIO_WritePin(GPIOB,GPIO_PIN_14,GPIO_PIN_RESET)
#define KIRIMOTOR21 HAL_GPIO_WritePin(GPIOB,GPIO_PIN_15,GPIO_PIN_SET)
#define KIRIMOTOR20 HAL_GPIO_WritePin(GPIOB,GPIO_PIN_15,GPIO_PIN_RESET)
/* USER CODE END Includes */
/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim2;
/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);
void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);
/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE END PFP */
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
*
* @retval None
*/
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 */
lcd_init();
keypad_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_TIM2_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start(&htim2);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
// if(keypad_get_key_value()=='A')
// {
// TIM2->CCR3=90;
// KANANMOTOR11;
// KIRIMOTOR10;
// HAL_Delay(5000);
//
// KANANMOTOR10;
// KIRIMOTOR10;
// HAL_Delay(1000);
//
// KIRIMOTOR11;
// KANANMOTOR10;
// HAL_Delay(5000);
// }
while(keypad_get_key_value()=='A')//START STOP MOTOR 1
{
TIM2->CCR3=90;
KANANMOTOR11;
KIRIMOTOR10;
HAL_Delay(500);
KANANMOTOR20;
KIRIMOTOR20;
lcd_gotoxy(0,0);
lcd_puts(" Start Motor 1 ");
lcd_gotoxy(0,1);
lcd_puts(" Motor 1 left ");
if(keypad_get_key_value()=='A')
{
TIM2->CCR3=90;
KANANMOTOR10;
KIRIMOTOR10;
HAL_Delay(500);
KANANMOTOR20;
KIRIMOTOR20;
lcd_gotoxy(0,0);
lcd_puts(" Stop Motor 1 ");
lcd_gotoxy(0,1);
lcd_puts(" ");
}
}
while(keypad_get_key_value()=='B')//START STOP MOTOR 2
{
TIM2->CCR4=90;
KANANMOTOR21;
KIRIMOTOR20;
HAL_Delay(500);
KANANMOTOR10;
KIRIMOTOR10;
lcd_gotoxy(0,0);
lcd_puts(" Start Motor 2 ");
lcd_gotoxy(0,1);
lcd_puts(" Motor 2 left ");
if(keypad_get_key_value()=='B')
{
TIM2->CCR4=90;
KANANMOTOR20;
KIRIMOTOR20;
HAL_Delay(500);
KANANMOTOR10;
KIRIMOTOR10;
lcd_gotoxy(0,0);
lcd_puts(" Stop Motor 2 ");
lcd_gotoxy(0,1);
lcd_puts(" ");
}
}
while(keypad_get_key_value()=='C')//KANAN KIRI MOTOR 1
{
TIM2->CCR3=90;
KANANMOTOR10;
KIRIMOTOR11;
HAL_Delay(500);
KANANMOTOR20;
KIRIMOTOR20;
lcd_gotoxy(0,0);
lcd_puts(" ");
lcd_gotoxy(0,1);
lcd_puts(" Motor 1 right ");
if(keypad_get_key_value()=='C')
{
TIM2->CCR3=90;
KANANMOTOR11;
KIRIMOTOR10;
HAL_Delay(500);
KANANMOTOR20;
KIRIMOTOR20;
lcd_gotoxy(0,0);
lcd_puts(" ");
lcd_gotoxy(0,1);
lcd_puts(" Motor 1 left ");
}
}
while(keypad_get_key_value()=='D')//START STOP MOTOR 2
{
TIM2->CCR4=90;
KANANMOTOR20;
KIRIMOTOR21;
HAL_Delay(500);
KANANMOTOR10;
KIRIMOTOR10;
lcd_gotoxy(0,0);
lcd_puts(" ");
lcd_gotoxy(0,1);
lcd_puts(" Motor 2 kanan ");
if(keypad_get_key_value()=='D')
{
TIM2->CCR4=90;
KANANMOTOR21;
KIRIMOTOR20;
HAL_Delay(500);
KANANMOTOR10;
KIRIMOTOR10;
lcd_gotoxy(0,0);
lcd_puts(" ");
lcd_gotoxy(0,1);
lcd_puts(" Motor 2 kiri ");
}
}
// if(ready==1)
// {
// if(keypad_get_key_value()=='1')
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;
/**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(__FILE__, __LINE__);
}
/**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(__FILE__, __LINE__);
}
/**Configure the Systick interrupt time
*/
HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
/**Configure the Systick
*/
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}
/* TIM2 init function */
static void MX_TIM2_Init(void)
{
TIM_ClockConfigTypeDef sClockSourceConfig;
TIM_MasterConfigTypeDef sMasterConfig;
TIM_OC_InitTypeDef sConfigOC;
htim2.Instance = TIM2;
htim2.Init.Prescaler = 249;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 111;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}
HAL_TIM_MspPostInit(&htim2);
}
/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/
static void MX_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOE_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3
|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET);
/*Configure GPIO pins : PE8 PE9 PE10 PE11 */
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pins : PE12 PE13 PE14 PE15 */
GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
/*Configure GPIO pins : PB12 PB13 PB14 PB15 */
GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/*Configure GPIO pins : PA8 PA9 */
GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/*Configure GPIO pins : PD0 PD1 PD2 PD3
PD4 PD5 PD6 PD7 */
GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3
|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* EXTI interrupt init*/
HAL_NVIC_SetPriority(EXTI9_5_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @param file: The file name as string.
* @param line: The line in file as a number.
* @retval None
*/
void _Error_Handler(char *file, int line)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
while(1)
{
}
/* 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****/
Comments