/* 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****/