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-rw-r--r--Year_3/LSM/ex_20190218.c147
1 files changed, 147 insertions, 0 deletions
diff --git a/Year_3/LSM/ex_20190218.c b/Year_3/LSM/ex_20190218.c
new file mode 100644
index 0000000..e43afd8
--- /dev/null
+++ b/Year_3/LSM/ex_20190218.c
@@ -0,0 +1,147 @@
+#include "stm32_unict_lib.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <time.h>
+
+int tmax;
+typedef enum {
+ SETUP,
+ RUN
+} status_t;
+
+status_t status = RUN;
+float real_root = 0;
+float new_want_root = 0;
+float want_root = 0;
+
+double rotation = 1;
+
+void
+init()
+{
+ GPIO_init(GPIOB);
+ GPIO_init(GPIOC);
+
+ GPIO_config_input(GPIOB, 10); /* X */
+ GPIO_config_EXTI(GPIOB, EXTI10);
+ EXTI_enable(EXTI10, FALLING_EDGE);
+
+ GPIO_config_input(GPIOB, 4); /* Y */
+ GPIO_config_EXTI(GPIOB, EXTI4);
+ EXTI_enable(EXTI4, FALLING_EDGE);
+
+ GPIO_config_output(GPIOB, 0); /* LED RED */
+ GPIO_config_output(GPIOC, 3); /* LED GREEN */
+
+ TIM_init(TIM2);
+ TIM_set(TIM2, 0);
+ TIM_on(TIM2);
+ TIM_config_timebase(TIM2, 8400, 840);
+ TIM_enable_irq(TIM2, IRQ_UPDATE);
+
+ ADC_init(ADC1, ADC_RES_12, ADC_ALIGN_RIGHT);
+ ADC_channel_config(ADC1, GPIOC, 1, 11);
+ ADC_channel_config(ADC1, GPIOC, 0, 10);
+ ADC_on(ADC1);
+
+ DISPLAY_init();
+ CONSOLE_init();
+}
+
+int
+main()
+{
+ init();
+ char s[5];
+ srand(time(NULL));
+
+ for (;;) {
+ if (status == RUN) {
+ ADC_sample_channel(ADC1, 10);
+ ADC_start(ADC1);
+ while (!ADC_completed(ADC1))
+ ;
+ float adc_read = ADC_read(ADC1);
+
+ adc_read = (2 * adc_read) / 4095;
+ real_root -= ((adc_read * 2) * (1.0 * rand()) / RAND_MAX - adc_read);
+
+ printf("%f %f %f\n", rotation, real_root, want_root);
+ sprintf(s, "%f", real_root);
+
+ DISPLAY_puts(0, s);
+ delay_ms(500);
+ } else {
+ ADC_sample_channel(ADC1, 11);
+ ADC_start(ADC1);
+ while (!ADC_completed(ADC1))
+ ;
+ float adc_read = ADC_read(ADC1);
+ new_want_root = (((180 + 180) * adc_read) / 4095) - 180;
+ sprintf(s, "%f", new_want_root);
+
+ DISPLAY_puts(0, s);
+ delay_ms(500);
+ }
+ }
+ return 0;
+}
+
+void
+EXTI4_IRQHandler(void)
+{
+ if (EXTI_isset(EXTI4)) {
+ if (status == SETUP) {
+ status = RUN;
+ want_root = new_want_root;
+ GPIO_write(GPIOB, 0, 0);
+ }
+ EXTI_clear(EXTI4);
+ }
+}
+
+void
+EXTI15_10_IRQHandler(void)
+{
+ if (EXTI_isset(EXTI10)) {
+ if (status == RUN) {
+ status = SETUP;
+ GPIO_write(GPIOB, 0, 1);
+ } else {
+ status = RUN;
+ GPIO_write(GPIOB, 0, 0);
+ }
+
+ EXTI_clear(EXTI10);
+ }
+}
+
+void
+TIM2_IRQHandler(void)
+{
+ if (TIM_update_check(TIM2)) {
+ rotation = (want_root - real_root) * 0.08;
+
+ if (rotation < -10) {
+ rotation = -10;
+ } else if (rotation > 10) {
+ rotation = 10;
+ }
+
+ real_root = real_root + rotation * 0.04;
+ if (real_root < -180) {
+ real_root = -180;
+ } else {
+ real_root = 180;
+ }
+
+ if (abs(want_root - real_root) <= 2) {
+ GPIO_write(GPIOC, 3, 1);
+ } else {
+ GPIO_write(GPIOC, 3, 0);
+ }
+
+ TIM_update_clear(TIM2);
+ }
+}