/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
*
© Copyright (c) 2020 STMicroelectronics.
* All rights reserved.
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* 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 */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* 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 */
/* USER CODE BEGIN 2 */
__HAL_RCC_SPI1_CLK_ENABLE();
SPI_HandleTypeDef hspi1;
hspi1.Instance = SPI1;
hspi1.Init.Mode = SPI_MODE_MASTER;
hspi1.Init.Direction = SPI_DIRECTION_2LINES;
hspi1.Init.DataSize = SPI_DATASIZE_8BIT;
hspi1.Init.CLKPolarity = SPI_POLARITY_LOW;
hspi1.Init.CLKPhase = SPI_PHASE_1EDGE;
hspi1.Init.NSS = SPI_NSS_SOFT;
hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256;
hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
HAL_SPI_Init(&hspi1);
__HAL_RCC_GPIOA_CLK_ENABLE();
GPIO_InitTypeDef init_structure;
init_structure.Pin = GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7;
init_structure.Pull = GPIO_NOPULL;
init_structure.Speed = GPIO_SPEED_FREQ_LOW;
init_structure.Mode = GPIO_MODE_AF_PP;
init_structure.Alternate = GPIO_AF5_SPI1;
HAL_GPIO_Init(GPIOA, &init_structure);
__HAL_RCC_GPIOE_CLK_ENABLE();
init_structure.Pin = GPIO_PIN_3;
init_structure.Pull = GPIO_NOPULL;
init_structure.Speed = GPIO_SPEED_FREQ_LOW;
init_structure.Mode = GPIO_MODE_OUTPUT_PP;
HAL_GPIO_Init(GPIOE, &init_structure);
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_3, GPIO_PIN_SET);
__HAL_RCC_GPIOD_CLK_ENABLE();
// init leds
GPIO_InitTypeDef leds;
leds.Pin = GPIO_PIN_12 | GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15;
leds.Mode = GPIO_MODE_OUTPUT_PP;
leds.Pull = GPIO_NOPULL;
leds.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOD,&leds);
uint8_t in;
uint8_t out;
// slave deselect
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_3, GPIO_PIN_RESET);
out = 0x8F;
HAL_SPI_TransmitReceive(&hspi1, &out, &in, 1, HAL_MAX_DELAY);
HAL_SPI_TransmitReceive(&hspi1, &out, &in, 1, HAL_MAX_DELAY);
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_3, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_3, GPIO_PIN_RESET);
out = 0x20;
HAL_SPI_TransmitReceive(&hspi1, &out, &in, 1, HAL_MAX_DELAY);
out = 0x47;
HAL_SPI_TransmitReceive(&hspi1, &out, &in, 1, HAL_MAX_DELAY);
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_3, GPIO_PIN_SET);
HAL_Delay(500);
/* USER CODE END 2 */
/* Infinite loop */
int8_t x_acc;
int8_t y_acc;
/* USER CODE BEGIN WHILE */
while (1)
{
// beri naklon po x osi -> Naslov 0x29
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_3, GPIO_PIN_RESET);
out = 0x29 | 0x80; // 0xa9
HAL_SPI_TransmitReceive(&hspi1, &out, &in, 1, HAL_MAX_DELAY);
HAL_SPI_TransmitReceive(&hspi1, &out, &in, 1, HAL_MAX_DELAY);
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_3, GPIO_PIN_SET);
x_acc = in;
// beri naklon po y osi -> Naslov 0x2B
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_3, GPIO_PIN_RESET);
out = 0x2B | 0x80; // 0xaB
HAL_SPI_TransmitReceive(&hspi1, &out, &in, 1, HAL_MAX_DELAY);
HAL_SPI_TransmitReceive(&hspi1, &out, &in, 1, HAL_MAX_DELAY);
HAL_GPIO_WritePin(GPIOE, GPIO_PIN_3, GPIO_PIN_SET);
y_acc = in;
if(x_acc < -10){
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_12, 0);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, 1);
}
else if (x_acc > 10){
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_12, 1);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, 0);
}
else {
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_12, 0);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, 0);
}
if(y_acc < -10){
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_13, 0);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_15, 1);
}
else if (y_acc > 10){
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_13, 1);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_15, 0);
}
else {
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_13, 0);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_15, 0);
}
/* 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 = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 50;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
RCC_OscInitStruct.PLL.PLLQ = 7;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses 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_0) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* 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****/