HBD N'Yui

/**
  ******************************************************************************
  * File Name          : main.c
  * Date               : 06/03/2015 23:17:34
  * Description        : Main program body
  ******************************************************************************
  *
  * COPYRIGHT(c) 2015 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 "stm32f4xx_hal.h"

/* USER CODE BEGIN Includes */
#include "math.h"
#define velocity  0.01f
#define char_pt  6+8
/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/
DAC_HandleTypeDef hdac;

TIM_HandleTypeDef htim14;

/* USER CODE BEGIN PV */

uint64_t count = 0;
float out_a = 0;
float out_b = 0;
float new_x[] = 			{-162,-162,-162,-112,-112,-112,-81,-56,-44,-43,-80,-92,-80,-43,	-24,-24,12,25,25,13,-24,45,45,82,94,94,82,48,	114,114,126,163,163,163,151,139,-127,-127,-89,-77,-77,-89,-127,-89,-77,-77,-89,-127,
-45,-45,-57,26,26,-11,-22,-22,-10,26,57,83,95,95,58,45,58,95,114,114,127,163,162,163,152,139,-18,-18,15,15,36,36,28,51,51,68,68,85,85,68,98,98,107,132,132,153,153,145,153,153,145,162,
-78,-99,-99,-90,-85,-78,-70,-66,-56,-56,-78
};
float new_y[] = 			{153,78,115,115,153,78,	127,127,115,77,77,90,102,102,	52,127,127,115,90,77,77,	52,127,127,115,90,77,77,127,90,77,77,127,65,53,53,22,-52,-52,-40,-27,-15,-15,-15,-3,9,22,22,
34,9,-3,22,-52,-52,-39,-15,-2,-2,-3,-3,-15,-53,-53,-40,-27,-27,-2,-39,-52,-52,-3,-64,-76,-76,-160,-109,-160,-109,-100,-117,-126,-109,-118,-134,-160,-109,-118,-134,-125,-151,-160,-159,-126,-100,-109,-126,-126,-160,-160,-160,
-128,-106,-100,-90,-90,-98,-90,-90,-100,-106,-128
};
uint16_t new_line[] = {1,0,1,0,1,0,1,0,0,0,0,0,0,0,1,0,0,0,0,0,0,1,0,0,0,0,0,0,1,0,0,0,1,0,0,0,1,0,0,0,0,0,0,1,0,0,0,0,
1,0,0,1,0,0,0,0,0,0,1,0,0,0,0,0,0,0,1,0,0,0,1,0,0,0,1,0,0,0,1,0,0,1,0,0,0,1,0,0,1,0,0,0,0,1,0,1,0,0,1,0,
1,0,0,0,0,0,0,0,0,0,0
};

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DAC_Init(void);
static void MX_TIM14_Init(void);

/* USER CODE BEGIN PFP */
void sampilng(void);
void dac_ch1(float data);
void dac_ch2(float data);

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

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();

  /* Configure the system clock */
  SystemClock_Config();

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DAC_Init();
  MX_TIM14_Init();

  /* USER CODE BEGIN 2 */
	
	HAL_DAC_Start(&hdac, DAC_CHANNEL_1);
	HAL_DAC_Start(&hdac, DAC_CHANNEL_2);
	HAL_TIM_Base_Start_IT(&htim14);
	
  /* USER CODE END 2 */

  /* USER CODE BEGIN 3 */
	
	
  /* Infinite loop */
  while (1)
  {
		HAL_Delay(1000);
  }
  /* USER CODE END 3 */

}

/** System Clock Configuration
*/
void SystemClock_Config(void)
{

  RCC_OscInitTypeDef RCC_OscInitStruct;
  RCC_ClkInitTypeDef RCC_ClkInitStruct;

  __PWR_CLK_ENABLE();

  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  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;
  HAL_RCC_OscConfig(&RCC_OscInitStruct);

  RCC_ClkInitStruct.ClockType = 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;
  HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);

}

/* DAC init function */
void MX_DAC_Init(void)
{

  DAC_ChannelConfTypeDef sConfig;

    /**DAC Initialization 
    */
  hdac.Instance = DAC;
  HAL_DAC_Init(&hdac);

    /**DAC channel OUT1 config 
    */
  sConfig.DAC_Trigger = DAC_TRIGGER_NONE;
  sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_ENABLE;
  HAL_DAC_ConfigChannel(&hdac, &sConfig, DAC_CHANNEL_1);

    /**DAC channel OUT2 config 
    */
  HAL_DAC_ConfigChannel(&hdac, &sConfig, DAC_CHANNEL_2);

}

/* TIM14 init function */
void MX_TIM14_Init(void)
{

  htim14.Instance = TIM14;
  htim14.Init.Prescaler = 83;
  htim14.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim14.Init.Period = 19;
  htim14.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  HAL_TIM_Base_Init(&htim14);

}

/** Configure pins as 
        * Analog 
        * Input 
        * Output
        * EVENT_OUT
        * EXTI
     PC3   ------> I2S2_SD
     PB10   ------> I2S2_CK
     PC7   ------> I2S3_MCK
     PA9   ------> USB_OTG_FS_VBUS
     PA10   ------> USB_OTG_FS_ID
     PA11   ------> USB_OTG_FS_DM
     PA12   ------> USB_OTG_FS_DP
     PC10   ------> I2S3_CK
     PC12   ------> I2S3_SD
     PB6   ------> I2C1_SCL
     PB9   ------> I2C1_SDA
*/
void MX_GPIO_Init(void)
{

  GPIO_InitTypeDef GPIO_InitStruct;

  /* GPIO Ports Clock Enable */
  __GPIOE_CLK_ENABLE();
  __GPIOC_CLK_ENABLE();
  __GPIOH_CLK_ENABLE();
  __GPIOA_CLK_ENABLE();
  __GPIOB_CLK_ENABLE();
  __GPIOD_CLK_ENABLE();

  /*Configure GPIO pin : PE3 */
  GPIO_InitStruct.Pin = GPIO_PIN_3;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
  HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);

  /*Configure GPIO pin : PC0 */
  GPIO_InitStruct.Pin = GPIO_PIN_0;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pin : PC3 */
  GPIO_InitStruct.Pin = GPIO_PIN_3;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pin : PA0 */
  GPIO_InitStruct.Pin = GPIO_PIN_0;
  GPIO_InitStruct.Mode = GPIO_MODE_EVT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pin : PB2 */
  GPIO_InitStruct.Pin = GPIO_PIN_2;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pin : PB10 */
  GPIO_InitStruct.Pin = GPIO_PIN_10;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF5_SPI2;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pins : PD12 PD13 PD14 PD15 
                           PD4 */
  GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15 
                          |GPIO_PIN_4;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

  /*Configure GPIO pins : PC7 PC10 PC12 */
  GPIO_InitStruct.Pin = GPIO_PIN_7|GPIO_PIN_10|GPIO_PIN_12;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF6_SPI3;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

  /*Configure GPIO pin : PA9 */
  GPIO_InitStruct.Pin = GPIO_PIN_9;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : PA10 PA11 PA12 */
  GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11|GPIO_PIN_12;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pin : PD5 */
  GPIO_InitStruct.Pin = GPIO_PIN_5;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);

  /*Configure GPIO pins : PB6 PB9 */
  GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_9;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  GPIO_InitStruct.Speed = GPIO_SPEED_LOW;
  GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

  /*Configure GPIO pin : PE1 */
  GPIO_InitStruct.Pin = GPIO_PIN_1;
  GPIO_InitStruct.Mode = GPIO_MODE_EVT_RISING;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */
void dac_ch1(float data)
{
	uint16_t buff = (data + 1.65f) * 1241.212f;
	HAL_DAC_SetValue(&hdac, DAC_CHANNEL_1, DAC_ALIGN_12B_R, buff);
}
void dac_ch2(float data)
{
	uint16_t buff = (data + 1.65f) * 1241.212f;
	HAL_DAC_SetValue(&hdac, DAC_CHANNEL_2, DAC_ALIGN_12B_R, buff);
}

void sampilng(void) 
{
	static float ux;
	static float uy;	
	static float x;
	static float y;
	static float x_prev;
	static float y_prev;
	static float distance;
	static uint32_t step;
	static uint32_t step_prev;
	static float d_distance;
	static uint16_t index;
	
	HAL_GPIO_WritePin(GPIOD, GPIO_PIN_15, GPIO_PIN_SET);
	
	count ++;
	if(step <= 0)
	{
		if (!new_line[index])
		{
			x_prev = x;
			y_prev = y;
		}else{
			x_prev = new_x[index]/100;
			y_prev = new_y[index]/100;
		index ++;
		}
		
		x = new_x[index]/100;
		y = new_y[index]/100;
		distance = sqrtf((x-x_prev)*(x-x_prev)  + (y-y_prev)*(y-y_prev));
		ux = (x-x_prev) / distance;
		uy = (y-y_prev) / distance;
		step = distance / velocity;
		step_prev = step;
		index ++;
	}else{
		step--;
		d_distance = (step_prev - step) * velocity ;
	}

	dac_ch1(x_prev+ux*d_distance);
	dac_ch2(y_prev+uy*d_distance);
	
	
	if (index >= 6+8+7+7+8+12+10+8+8+7+12+7+11) index = 0;
	
	HAL_GPIO_WritePin(GPIOD, GPIO_PIN_15, GPIO_PIN_RESET);
}


/* USER CODE END 4 */

#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,
    ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */

}

#endif

/**
  * @}
  */ 

/**
  * @}
*/ 

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/