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270_as6.txt
dialog.h
/**
*****************************************************************************
* @file dialog.h
* @author Yue Wang 12027710
* @version V1.0.0
* @date 03-June-2013
* @brief For the Assignment 6, 159.270 Hardware Oriented Programming.
****************************************************************************
*/
#ifndef DIALOG_H
#define DIALOG_H
#include <QDialog>
#include "qextserialport/qextserialport.h"
namespace Ui {
class Dialog;
}
class Dialog : public QDialog
{
Q_OBJECT
public:
explicit Dialog(QWidget *parent = 0);
~Dialog();
public slots:
void pushButtonClicked();
void serialDataReady();
void ServoCMDchanged(int _cmd);
void BlueLedClicked(bool _state);
void GreenLedClicked(bool _state);
void OnOff_CheckBoxSTM_Clicked(bool _state);
void Direction_CheckBoxSTM_Clicked(bool _state);
void Speed_SpliterSTM_ValueChanged(int _spd);
void OnOff_CheckBoxUS_Clicked(bool _state);
private:
Ui::Dialog *ui;
QextSerialPort *port;
void UsReceiver(char *_s);
};
#endif // DIALOG_H
dialog.cpp
/**
*****************************************************************************
* @file dialog.cpp
* @author Yue Wang 12027710
* @version V1.0.0
* @date 03-June-2013
* @brief For the Assignment 6, 159.270 Hardware Oriented Programming.
****************************************************************************
*/
#include "dialog.h"
#include "ui_dialog.h"
Dialog::Dialog(QWidget *parent) :
QDialog(parent),
ui(new Ui::Dialog)
{
ui->setupUi(this);
PortSettings settings = {BAUD9600, DATA_8, PAR_NONE, STOP_1, FLOW_OFF, 10};
port = new QextSerialPort("COM3", settings, QextSerialPort::EventDriven);
connect(port, SIGNAL(readyRead()), SLOT(serialDataReady()));
port->open(QIODevice::ReadWrite);
}
Dialog::~Dialog()
{
delete ui;
delete port;
}
void Dialog::pushButtonClicked(void)
{
QByteArray qba = (ui->lineEdit->text() + '\n').toLatin1();
port->write(qba.data());
QString s = ui->lineEdit->text();
if((ui->lineEdit->text()).startsWith('M'))
{
if((s.at(1)).isSpace())
{
s = s.remove(0, 2);
}
else
{
s = s.remove(0, 1);
}
ui->label->setText(s);
}
}
void Dialog::serialDataReady()
{
if (port->canReadLine())
{
char s[80];
port->readLine(s, 80);
s[strlen(s)-1] = '\0';
switch (s[0])
{
case 'U':
Dialog::UsReceiver(s); break;
case -100:
ui->lineEdit->clear(); break;
default:
ui->label->setText(s); break;
}
}
}
void Dialog::ServoCMDchanged(int _cmd)
{
QString s = QString::number( _cmd);
QByteArray qba = ('s'+ s + '\n').toLatin1();
port->write(qba.data());
}
void Dialog::BlueLedClicked(bool _state)
{
if(_state)
{
QString s="b1";//"b1" turns on blue LED.
QByteArray qba = (s + '\n').toLatin1();
port->write(qba.data());
}
else
{
QString s="b0";//"b0" turns off blue LED.
QByteArray qba = (s + '\n').toLatin1();
port->write(qba.data());
}
}
void Dialog::GreenLedClicked(bool _state)
{
if(_state)
{
QString s="g1";//"X" turns on green LED.
QByteArray qba = (s + '\n').toLatin1();
port->write(qba.data());
}
else
{
QString s="g0";//"x" turns off green LED.
QByteArray qba = (s + '\n').toLatin1();
port->write(qba.data());
}
}
void Dialog::OnOff_CheckBoxSTM_Clicked(bool _state)
{
if(_state)
{
QString s="c1";//"c1" turns on stepper.
QByteArray qba = (s + '\n').toLatin1();
port->write(qba.data());
}
else
{
QString s="c0";//"c0" turns off stepper.
QByteArray qba = (s + '\n').toLatin1();
port->write(qba.data());
}
}
void Dialog::Direction_CheckBoxSTM_Clicked(bool _state)
{
if(_state)
{
QString s="d1";//"d1" clockwise.
QByteArray qba = (s + '\n').toLatin1();
port->write(qba.data());
}
else
{
QString s="d0";//"d0" counter clockwise.
QByteArray qba = (s + '\n').toLatin1();
port->write(qba.data());
}
}
void Dialog::Speed_SpliterSTM_ValueChanged(int _spd)
{
QString s = QString::number( _spd);
QByteArray qba = ('R'+ s + '\n').toLatin1();
port->write(qba.data());
}
void Dialog::OnOff_CheckBoxUS_Clicked(bool _state)
{
if(_state)
{
QString s="u1";//"u1" turns on Usensor.
QByteArray qba = (s + '\n').toLatin1();
port->write(qba.data());
}
else
{
QString s="u0";//"u0" turns off Usensor.
QByteArray qba = (s + '\n').toLatin1();
port->write(qba.data());
}
}
void Dialog::UsReceiver(char *_s)
{
uint16_t d = (_s[2]<<8) | _s[3];
ui->progressBar_Us->setValue(d);
QString distance = QString::number(d);
ui->label->setText(distance);
}
dialog.ui
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>Dialog</class>
<widget class="QDialog" name="Dialog">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>636</width>
<height>375</height>
</rect>
</property>
<property name="windowTitle">
<string>Assignment 6 by Yue Wang 12027710</string>
</property>
<widget class="QGroupBox" name="groupBox">
<property name="geometry">
<rect>
<x>20</x>
<y>10</y>
<width>141</width>
<height>121</height>
</rect>
</property>
<property name="title">
<string>Message</string>
</property>
<widget class="QPushButton" name="pushButton">
<property name="geometry">
<rect>
<x>50</x>
<y>80</y>
<width>75</width>
<height>23</height>
</rect>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Emmit&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>&amp;Enter</string>
</property>
</widget>
<widget class="QLineEdit" name="lineEdit">
<property name="geometry">
<rect>
<x>10</x>
<y>50</y>
<width>113</width>
<height>20</height>
</rect>
</property>
</widget>
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>10</x>
<y>30</y>
<width>111</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Please Type:</string>
</property>
</widget>
</widget>
<widget class="QGroupBox" name="groupBox_2">
<property name="geometry">
<rect>
<x>380</x>
<y>10</y>
<width>211</width>
<height>121</height>
</rect>
</property>
<property name="title">
<string>Servo Motor</string>
</property>
<widget class="QSlider" name="horizontalSlider_Servo">
<property name="geometry">
<rect>
<x>30</x>
<y>60</y>
<width>160</width>
<height>19</height>
</rect>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;0-90 degree&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="maximum">
<number>90</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</widget>
<widget class="QGroupBox" name="groupBox_3">
<property name="geometry">
<rect>
<x>200</x>
<y>10</y>
<width>141</width>
<height>121</height>
</rect>
</property>
<property name="title">
<string>LEDS</string>
</property>
<widget class="QCheckBox" name="checkBox_GreenLed">
<property name="geometry">
<rect>
<x>30</x>
<y>50</y>
<width>71</width>
<height>16</height>
</rect>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Green Led&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>Green</string>
</property>
</widget>
<widget class="QCheckBox" name="checkBox_BlueLed">
<property name="geometry">
<rect>
<x>30</x>
<y>20</y>
<width>71</width>
<height>16</height>
</rect>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Blue Led&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>Blue</string>
</property>
</widget>
</widget>
<widget class="QGroupBox" name="groupBox_4">
<property name="geometry">
<rect>
<x>60</x>
<y>150</y>
<width>521</width>
<height>81</height>
</rect>
</property>
<property name="title">
<string>Stepper Motor</string>
</property>
<widget class="QSlider" name="horizontalSlider_Stepper">
<property name="geometry">
<rect>
<x>100</x>
<y>50</y>
<width>211</width>
<height>19</height>
</rect>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;10 Level speed&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>10</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
<widget class="QCheckBox" name="checkBox_Toggle_STP">
<property name="geometry">
<rect>
<x>380</x>
<y>20</y>
<width>71</width>
<height>16</height>
</rect>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Turn ON/OFF &lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>ON/OFF</string>
</property>
</widget>
<widget class="QCheckBox" name="checkBox_Direction_STP">
<property name="geometry">
<rect>
<x>380</x>
<y>50</y>
<width>81</width>
<height>16</height>
</rect>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Direction control&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>DIRECTION</string>
</property>
</widget>
<widget class="QLabel" name="label_2">
<property name="geometry">
<rect>
<x>150</x>
<y>20</y>
<width>121</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>SPEED: 1 to 10</string>
</property>
</widget>
</widget>
<widget class="QGroupBox" name="groupBox_5">
<property name="geometry">
<rect>
<x>60</x>
<y>250</y>
<width>521</width>
<height>91</height>
</rect>
</property>
<property name="title">
<string>Ultrasonic Sensor</string>
</property>
<widget class="QCheckBox" name="checkBox_Usensor">
<property name="geometry">
<rect>
<x>380</x>
<y>50</y>
<width>71</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>ON/OFF</string>
</property>
</widget>
<widget class="QProgressBar" name="progressBar_Us">
<property name="geometry">
<rect>
<x>100</x>
<y>40</y>
<width>251</width>
<height>23</height>
</rect>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;0-5000us&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="maximum">
<number>5000</number>
</property>
<property name="value">
<number>0</number>
</property>
<property name="invertedAppearance">
<bool>false</bool>
</property>
<property name="format">
<string>%p%</string>
</property>
</widget>
</widget>
</widget>
<layoutdefault spacing="6" margin="11"/>
<resources/>
<connections>
<connection>
<sender>pushButton</sender>
<signal>clicked()</signal>
<receiver>Dialog</receiver>
<slot>pushButtonClicked()</slot>
<hints>
<hint type="sourcelabel">
<x>100</x>
<y>101</y>
</hint>
<hint type="destinationlabel">
<x>308</x>
<y>197</y>
</hint>
</hints>
</connection>
<connection>
<sender>horizontalSlider_Servo</sender>
<signal>valueChanged(int)</signal>
<receiver>Dialog</receiver>
<slot>ServoCMDchanged(int)</slot>
<hints>
<hint type="sourcelabel">
<x>453</x>
<y>79</y>
</hint>
<hint type="destinationlabel">
<x>60</x>
<y>268</y>
</hint>
</hints>
</connection>
<connection>
<sender>checkBox_BlueLed</sender>
<signal>clicked(bool)</signal>
<receiver>Dialog</receiver>
<slot>BlueLedClicked(bool)</slot>
<hints>
<hint type="sourcelabel">
<x>240</x>
<y>39</y>
</hint>
<hint type="destinationlabel">
<x>370</x>
<y>26</y>
</hint>
</hints>
</connection>
<connection>
<sender>checkBox_GreenLed</sender>
<signal>clicked(bool)</signal>
<receiver>Dialog</receiver>
<slot>GreenLedClicked(bool)</slot>
<hints>
<hint type="sourcelabel">
<x>255</x>
<y>74</y>
</hint>
<hint type="destinationlabel">
<x>372</x>
<y>66</y>
</hint>
</hints>
</connection>
<connection>
<sender>checkBox_Toggle_STP</sender>
<signal>clicked(bool)</signal>
<receiver>Dialog</receiver>
<slot>OnOff_CheckBoxSTM_Clicked(bool)</slot>
<hints>
<hint type="sourcelabel">
<x>475</x>
<y>175</y>
</hint>
<hint type="destinationlabel">
<x>408</x>
<y>303</y>
</hint>
</hints>
</connection>
<connection>
<sender>checkBox_Direction_STP</sender>
<signal>clicked(bool)</signal>
<receiver>Dialog</receiver>
<slot>Direction_CheckBoxSTM_Clicked(bool)</slot>
<hints>
<hint type="sourcelabel">
<x>449</x>
<y>206</y>
</hint>
<hint type="destinationlabel">
<x>595</x>
<y>123</y>
</hint>
</hints>
</connection>
<connection>
<sender>horizontalSlider_Stepper</sender>
<signal>valueChanged(int)</signal>
<receiver>Dialog</receiver>
<slot>Speed_SpliterSTM_ValueChanged(int)</slot>
<hints>
<hint type="sourcelabel">
<x>273</x>
<y>203</y>
</hint>
<hint type="destinationlabel">
<x>605</x>
<y>229</y>
</hint>
</hints>
</connection>
<connection>
<sender>checkBox_Usensor</sender>
<signal>clicked(bool)</signal>
<receiver>Dialog</receiver>
<slot>OnOff_CheckBoxUS_Clicked(bool)</slot>
<hints>
<hint type="sourcelabel">
<x>458</x>
<y>294</y>
</hint>
<hint type="destinationlabel">
<x>606</x>
<y>272</y>
</hint>
</hints>
</connection>
</connections>
<slots>
<slot>pushButtonClicked()</slot>
<slot>ServoCMDchanged(int)</slot>
<slot>BlueLedClicked(bool)</slot>
<slot>GreenLedClicked(bool)</slot>
<slot>OnOff_CheckBoxSTM_Clicked(bool)</slot>
<slot>Direction_CheckBoxSTM_Clicked(bool)</slot>
<slot>Speed_SpliterSTM_ValueChanged(int)</slot>
<slot>OnOff_CheckBoxUS_Clicked(bool)</slot>
</slots>
</ui>
main.cpp
/**
*****************************************************************************
* @file main.cpp
* @author Yue Wang 12027710
* @version V1.0.0
* @date 03-June-2013
* @brief For the Assignment 6, 159.270 Hardware Oriented Programming.
****************************************************************************
*/
#include "dialog.h"
#include <QApplication>
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
Dialog w;
w.show();
return a.exec();
}
main.c
/**
*****************************************************************************
* @file main.c
* @author Yue Wang 12027710
* @version V1.0.0
* @date 03-June-2013
* @brief For the Assignment 6, 159.270 Hardware Oriented Programming.
****************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_usart.h"
#include "stm32f10x_tim.h"
#include "misc.h"
/* Macro -------------------------------------------------------------------*/
#define QUEUE_SIZE 64
/**
* @brief GPIO PINs for LCD
*/
#define LCD_D4 GPIO_Pin_0
#define LCD_D5 GPIO_Pin_1
#define LCD_D6 GPIO_Pin_2
#define LCD_D7 GPIO_Pin_3
#define LCD_EN GPIO_Pin_4
#define LCD_RS GPIO_Pin_5
#define LCD_DATA 1
#define LCD_INSTRUCTION 0
/**
* @brief buffer for UART.
*/
typedef struct Queue
{
char a[QUEUE_SIZE];
int start;
int end;
} Queue;
/**
* @brief structure for stepper motor.
*/
typedef struct wy_Stepper
{
int direction; //0 counter clock, 1 clockwise
int action; //0 stop , 1 start
} wy_Stepper;
/**
* @brief structure for ultra sonic sensor.
*/
typedef struct wy_USensor
{
int action; //0 stop , 1 start
uint16_t value;
} wy_USensor;
/**
* @brief Global variables.
*/
Queue RXQ, TXQ;
wy_Stepper Stp;
wy_USensor Usr;
/* Prototype------------------------------------------------------------------*/
/**
* @brief functions by Yue Wang.
*/
int wy_Number_Builder(char *_p);
void wy_Initialize (void );
void wy_PcCMD_Handler (char *_p);
void wy_UButton_Handler(void );
uint16_t wy_USensor_Handler(wy_USensor *_u);
void wy_M_Handler (char *_p);
void wy_S_Handler (char *_p);
void wy_G_Handler (void );
void wy_g_Handler (char *_p);
void wy_B_Handler (void );
void wy_b_Handler (char *_p);
void wy_C_Handler (void );
void wy_c_Handler (char *_p);
void wy_D_Handler (void );
void wy_d_Handler (char *_p);
void wy_R_Handler (char *_p);
void wy_U_Handler (void );
void wy_u_Handler (char *_p);
/**
* @brief functions by Peter.
*/
void lcd_command (unsigned char command );
void lcd_putchar (unsigned char c );
static void set_RS(int mode);
static void pulse_EN(void);
static void lcd_init_8_bit(unsigned char command);
int canReadLine(void);
void readLine(char *s);
void writeLine(char *s);
void uart_putchar (char c);
void delay_microsec (register unsigned short n);
void delay_millisec (register unsigned short n);
/* Main ------------------------------------------------------------------*/
int main(void)
{
wy_Initialize();
while (1)
{
/* MCU -->> PC */
Usr.value = wy_USensor_Handler(&Usr);
wy_UButton_Handler();
/* MCU <<-- PC */
if (canReadLine())
{
char str[80];
readLine(str);
wy_PcCMD_Handler(str);
}
}
}
/* Function definitions ------------------------------------------------------*/
/**
* @brief handle Usensor and stepper.
*/
void SysTick_Handler(void)
{
/*USensor*/
if(Usr.action)
{
char d[4];
d[0] = 'U';
d[1] = ' ';
d[2] = (Usr.value) >> 8;
d[3] = (Usr.value) & 0x00ff;
writeLine(d);
}
/*Stepper*/
int c,j;
static int i=0;
i %= 4;
if(!Stp.action)
{
for (j=0; j<4; j++)
{
GPIO_WriteBit(GPIOA, 0x01<<i, 0);
}
}
else
{
if(Stp.direction)
{
for(c=1; c<5; c++)
{
GPIO_WriteBit(GPIOA, 0x01<<c, ((0x01<<c) >> (i+1)) & 0x01);
}
}
else
{
for(c=1; c<5; c++)
{
GPIO_WriteBit(GPIOA, 0x01<<c, ((0x01<<c) >> (4-i)) & 0x01);
}
}
}
i++;
}
/**
* @brief process string sent from PC.
*/
void wy_PcCMD_Handler(char *_p)
{
switch (*_p)
{
case 'M' : wy_M_Handler(_p); break;
case 'G' : wy_G_Handler( ); break;
case 'g' : wy_g_Handler(_p); break;
case 'B' : wy_B_Handler( ); break;
case 'b' : wy_b_Handler(_p); break;
case 'S' : wy_S_Handler(_p); break;
case 's' : wy_S_Handler(_p); break;
case 'C' : wy_C_Handler( ); break;
case 'c' : wy_c_Handler(_p); break;
case 'D' : wy_D_Handler( ); break;
case 'd' : wy_d_Handler(_p); break;
case 'R' : wy_R_Handler(_p); break;
case 'U' : wy_U_Handler( ); break;
case 'u' : wy_u_Handler(_p); break;
}
}
/**
* @brief toggle the running state of Usensor.
*/
void wy_U_Handler (void)
{
static int i=1;
Usr.action = i;
if(i)
{
SysTick_Config(SystemCoreClock/10);
}
i = !i;
}
/**
* @brief toggle the running state of Usensor.
*/
void wy_u_Handler (char *_p)
{
_p++;
Usr.action = *_p - 48;
}
/**
* @brief control the speed of stepper by using the string from PC.
*/
void wy_R_Handler (char *_p)
{
_p++;
if(*_p ==' ')
{
_p++;
}
int num = wy_Number_Builder(_p) ;
if (!num)
{
num=1;
}
num = 100/num;
SysTick_Config(SystemCoreClock/num);
}
/**
* @brief toggle the direction of stepper.
*/
void wy_D_Handler (void)
{
Stp.direction = ! Stp.direction;
}
/**
* @brief specify the running state of stepper.
*/
void wy_c_Handler (char *_p)
{
_p++;
Stp.action = *_p-48;
SysTick_Config(SystemCoreClock/100);
}
/**
* @brief toggle the running state of stepper.
*/
void wy_C_Handler (void)
{
Stp.action = ! Stp.action;
SysTick_Config(SystemCoreClock/100);
}
/**
* @brief specify the running state of Usensor.
*/
void wy_d_Handler (char *_p)
{
_p++;
Stp.direction = *_p - 48;
}
/**
* @brief control the position of servo by using the string from PC.
*/
void wy_S_Handler (char *_p)
{
_p++;
if(*_p ==' ')
{
_p++;
}
int num = wy_Number_Builder(_p);
TIM_SetCompare3(TIM4, num*11+1000);
}
/**
* @brief toggle the blue led.
*/
void wy_B_Handler(void)
{
static int i=0;
i=!i;
GPIO_WriteBit(GPIOC, GPIO_Pin_8, i);
}
/**
* @brief specify the on off state of the blue led.
*/
void wy_b_Handler (char *_p)
{
_p++;
GPIO_WriteBit(GPIOC, GPIO_Pin_8, *_p-48 );
}
/**
* @brief toggle the green led.
*/
void wy_G_Handler(void)
{
static int i=0;
i=!i;
GPIO_WriteBit(GPIOC, GPIO_Pin_9, i);
}
/**
* @brief specify the on off state of the green led.
*/
void wy_g_Handler (char *_p)
{
_p++;
GPIO_WriteBit(GPIOC, GPIO_Pin_9, *_p-48 );
}
/**
* @brief output the message to LCD.
*/
void wy_M_Handler(char *_p)
{
lcd_command(0x01);
delay_microsec(1520);
_p++;
if(*_p ==' ')
{
_p++;
}
while(*_p != '\0')
{
lcd_putchar(*_p);
_p++;
}
lcd_command(0x02);
delay_microsec(1520);
}
/**
* @brief send -100 as a char to PC request clearing the Line Edit
*/
void wy_UButton_Handler(void)
{
if(GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0))
{
char clr = -100;
writeLine(&clr);
}
}
/**
* @brief Using the status of the argument, generate the measured
* distance in microsecond and return it after processing.
*/
uint16_t wy_USensor_Handler(wy_USensor *_u)
{
uint16_t d;
TIM_SetCompare3(TIM3, _u->action);
if(_u->action)
{
if(GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_8))
{
TIM6->PSC = 23; // Set prescaler to 24 (PSC + 1)
TIM6->ARR = 0xffff;
TIM6->CNT = 0; //zero the counter
TIM6->EGR = TIM_EGR_UG;
TIM6->CR1 |= TIM_CR1_CEN; // start timer
}
while(GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_8));
TIM6->CR1 &= ~TIM_CR1_CEN; // stop timer
d = TIM6->CNT;
if(d>60000)
{
d = 0;
}
if( ((d-_u->value)>1000) | ((d-_u->value)<-1000) )
{
d = _u->value;
}
if( ((d-_u->value)> 5) )
{
d = (d + _u->value)/2;
}
if( ((d-_u->value)< -5) )
{
d = (d + _u->value)/2;
}
if(((d-_u->value)< 5) & ((d-_u->value)> -5))
{
d = _u->value;
}
if(d>60000)
{
d = 0;
}
return d;
}
else
{
return _u->value;
}
}
/**
* @brief return the integer built from the string specified.
*/
int wy_Number_Builder(char *_p)
{
int len=0;
int num=0;
while(*_p != '\0')
{
len++;
_p++;
}
if( len==0 )
{
num = 0;
}
else
{
if(len>2)
{
num = 100;
}
else
{
if(len==1)
{
_p--;
num = *_p - 48 ;
}
else
{
_p--;
num = *_p - 48 ;
_p--;
num += (*_p - 48) * 10 ;
}
}
}
return num;
}
/**
* @brief Initialization for everything used in this programme.
*/
void wy_Initialize(void)
{
/*RCC */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB , ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC , ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3 , ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4 , ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6 , ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7 , ENABLE);
/*GPIO*/
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
/*User Button*/
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*ECHO*/
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;//PB0<-->Trigger
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;//PA8<-->Echo
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 240 - 1;
TIM_TimeBaseStructure.TIM_Period = 10000 - 1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_OCInitTypeDef TIM_OCStructure;
TIM_OCStructInit(&TIM_OCStructure);
TIM_OCStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OC3Init(TIM3, &TIM_OCStructure);
TIM_Cmd(TIM3, ENABLE);
TIM_SetCompare3(TIM3, 0); //10usec PWM 0.1sec period
Usr.action = 0;
Usr.value = 0;
/*STEPPER*/
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2
|GPIO_Pin_3 | GPIO_Pin_4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
Stp.action = 0;
Stp.direction = 1;
SysTick_Config(SystemCoreClock/100);
/*LED*/
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/*LCD*/
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Pin = LCD_D7 | LCD_D6 | LCD_D5 | LCD_D4 |
LCD_EN | LCD_RS ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_WriteBit(GPIOC, LCD_EN, Bit_RESET);
delay_microsec(15000);
lcd_init_8_bit(0x30);
delay_microsec(4100);
lcd_init_8_bit(0x30);
delay_microsec(100);
lcd_init_8_bit(0x30);
lcd_init_8_bit(0x20);
lcd_command(0x28);
lcd_command(0x08);
lcd_command(0x01);
delay_microsec(1520);
lcd_command(0x06);
lcd_command(0x0c);
/*PWM */
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/*RXD */
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //PA9 <--->RXD
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*TXD */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; //PA10 <--->TXD
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*USART*/
USART_InitTypeDef USART_InitStructure;
USART_StructInit(&USART_InitStructure);
USART_InitStructure.USART_BaudRate = 9600;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(USART1, &USART_InitStructure);
USART_Cmd(USART1, ENABLE);
USART1->CR1 |= USART_CR1_RXNEIE; //enable Received data interrupt
/*NVIC*/
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/*TIM4*/
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = 24 - 1;
TIM_TimeBaseStructure.TIM_Period = 20000 - 1;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
/*CH3*/
TIM_OCStructInit(&TIM_OCStructure);
TIM_OCStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OC3Init(TIM4, &TIM_OCStructure);
TIM_Cmd(TIM4, ENABLE);
}
/**
* @brief USART handler.
*/
void USART1_IRQHandler(void)
{
//was it a receive interrupt?
if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET)
{
char c = (USART1->DR & 0xff);
if ((RXQ.end+1)%QUEUE_SIZE != RXQ.start)
{
RXQ.a[RXQ.end] = c;
RXQ.end = (RXQ.end + 1)%QUEUE_SIZE;
}
}
//was it a transmit interrupt?
if (USART_GetITStatus(USART1, USART_IT_TXE) != RESET)
{
if (TXQ.start != TXQ.end)
{
USART1->DR = TXQ.a[TXQ.start];
TXQ.start = (TXQ.start + 1)%QUEUE_SIZE;
}
else
{
USART1->CR1 &= ~USART_CR1_TXEIE; //disable interrupt
}
}
}
/**
* @brief output to PUTTY.
*/
void uart_putchar(char c)
{
if ((TXQ.end+1)%QUEUE_SIZE != TXQ.start)
{
TXQ.a[TXQ.end] = c;
TXQ.end = (TXQ.end + 1)%QUEUE_SIZE;
}
if (! (USART1->CR1&USART_CR1_TXEIE))
{ //ie the tx buffer is empty
USART1->CR1 |= USART_CR1_TXEIE; //enable transmit interrupt
}
}
void uart_putstring(char *s)
{
register int i = 0;
while (s[i] != '\0')
{
uart_putchar(s[i]);
i++;
}
}
/**
* @brief handle command by calling relevant functions.
*/
int canReadLine(void)
{
int i = RXQ.start;
while (i != RXQ.end)
{
if (RXQ.a[i] == '\n')
{
return 1;
}
i = (i + 1)%QUEUE_SIZE;
}
return 0;
}
/**
* @brief read the string from buffer and write into the char array specified.
*/
void readLine(char *s)
{
int i = 0;
s[i] = RXQ.a[RXQ.start];
RXQ.start = (RXQ.start + 1)%QUEUE_SIZE;
while (s[i] != '\n')
{
i++;
s[i] = RXQ.a[RXQ.start];
RXQ.start = (RXQ.start + 1)%QUEUE_SIZE;
}
s[i] = '\0';
}
/**
* @brief send the specified char array to UART .
*/
void writeLine(char *s)
{
uart_putstring(s);
uart_putchar('\n');
}
/**
* @brief by Peter.Refer to lecture note for more detail .
*/
static void set_RS(int mode)
{
GPIO_WriteBit(GPIOC, LCD_RS, mode);
}
/**
* @brief by Peter.Refer to lecture note for more detail .
*/
static void pulse_EN(void)
{
GPIO_WriteBit(GPIOC, LCD_EN, Bit_SET);
delay_microsec(1);
GPIO_WriteBit(GPIOC, LCD_EN, Bit_RESET);
delay_microsec(1);
}
/**
* @brief by Peter.Refer to lecture note for more detail .
*/
static void lcd_init_8_bit(unsigned char command)
{
set_RS(LCD_INSTRUCTION);
GPIO_WriteBit(GPIOC, LCD_D4, (command>>4) & 0x01);
GPIO_WriteBit(GPIOC, LCD_D5, (command>>5) & 0x01);
GPIO_WriteBit(GPIOC, LCD_D6, (command>>6) & 0x01);
GPIO_WriteBit(GPIOC, LCD_D7, (command>>7) & 0x01);
pulse_EN();
delay_microsec(37);
}
/**
* @brief by Peter.Refer to lecture note for more detail .
*/
void lcd_command(unsigned char command)
{
set_RS(LCD_INSTRUCTION);
GPIO_WriteBit(GPIOC, LCD_D4, (command>>4) & 0x01);
GPIO_WriteBit(GPIOC, LCD_D5, (command>>5) & 0x01);
GPIO_WriteBit(GPIOC, LCD_D6, (command>>6) & 0x01);
GPIO_WriteBit(GPIOC, LCD_D7, (command>>7) & 0x01);
pulse_EN();
GPIO_WriteBit(GPIOC, LCD_D4, command & 0x01);
GPIO_WriteBit(GPIOC, LCD_D5, (command>>1) & 0x01);
GPIO_WriteBit(GPIOC, LCD_D6, (command>>2) & 0x01);
GPIO_WriteBit(GPIOC, LCD_D7, (command>>3) & 0x01);
pulse_EN();
delay_microsec(37);
}
/**
* @brief by Peter.Refer to lecture note for more detail .
*/
void lcd_putchar(unsigned char c)
{
set_RS(LCD_DATA);
GPIO_WriteBit(GPIOC, LCD_D4, (c>>4) & 0x01);
GPIO_WriteBit(GPIOC, LCD_D5, (c>>5) & 0x01);
GPIO_WriteBit(GPIOC, LCD_D6, (c>>6) & 0x01);
GPIO_WriteBit(GPIOC, LCD_D7, (c>>7) & 0x01);
pulse_EN();
GPIO_WriteBit(GPIOC, LCD_D4, c & 0x01);
GPIO_WriteBit(GPIOC, LCD_D5, (c>>1) & 0x01);
GPIO_WriteBit(GPIOC, LCD_D6, (c>>2) & 0x01);
GPIO_WriteBit(GPIOC, LCD_D7, (c>>3) & 0x01);
pulse_EN();
delay_microsec(37);
}
/**
* @brief by Peter.Refer to lecture note for more detail .
*/
void delay_microsec(register unsigned short n)
{
if (n > 5) n -= 5;
else n = 1;
TIM7->PSC = 23;
TIM7->ARR = n;
TIM7->CNT = 0;
TIM7->EGR = TIM_EGR_UG;
TIM7->CR1 |= (TIM_CR1_OPM | TIM_CR1_CEN);
while (TIM7->CR1 & TIM_CR1_CEN);
}
/**
* @brief by Peter.Refer to lecture note for more detail .
*/
void delay_millisec(register unsigned short n)
{
if (n > 1) n--;
TIM7->PSC = 23999;
TIM7->ARR = n;
TIM7->CNT = 0;
TIM7->EGR = TIM_EGR_UG;
TIM7->CR1 |= (TIM_CR1_OPM | TIM_CR1_CEN);
while (TIM7->CR1 & TIM_CR1_CEN);
}
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