RobotHardware-UESTC/Hardware/RobotSensor/Core/Src/main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include <stdio.h>
#include "main.h"
#include "usart.h"
#include "i2c.h"
#include "usb_device.h"
#include "usbd_customhid.h"

#define pb_printf(format,...) printf("" __FILE__ ":%d - " format "\r\n", __LINE__, ##__VA_ARGS__)

/* External variables --------------------------------------------------------*/
extern USBD_HandleTypeDef hUsbDeviceFS;
uint8_t report[64];      

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void UsbSendPackageReport(Sensor_t* pack, uint8_t* report);
static void MX_GPIO_Init(void);

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
	HC_I2C_Init();
  MX_USART3_UART_Init();
  MX_USB_DEVICE_Init();

	Sensor_t data;
	memset(&data, 0, sizeof(data));
  while (1)
  {
		HC_I2C_Write();
		for(int i = 0; i < 12; i++){
			GPIO_PinState pinStateA1 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_1);
			GPIO_PinState pinStateA2 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_2);
			GPIO_PinState pinStateA3 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_3);
			GPIO_PinState pinStateA4 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_4);
			HAL_Delay(10);
			GPIO_PinState pinStateAD1 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_1);
			GPIO_PinState pinStateAD2 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_2);
			GPIO_PinState pinStateAD3 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_3);
			GPIO_PinState pinStateAD4 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_4);
			
			if(pinStateA1 == pinStateAD1 && pinStateA1 == GPIO_PIN_RESET){
				data.p[0] = 1;
			}else{
				data.p[0] = 0;
			}
			if(pinStateA2 == pinStateAD2 && pinStateA2 == GPIO_PIN_RESET){
				data.p[1] = 1;
			}else{
				data.p[1] = 0;
			}
			if(pinStateA3 == pinStateAD3 && pinStateA3 == GPIO_PIN_RESET){
				data.p[2] = 1;
			}else{
				data.p[2] = 0;
			}
			if(pinStateA4 == pinStateAD4 && pinStateA4 == GPIO_PIN_RESET){
				data.p[3] = 1;
			}
			else{
				data.p[3] = 0;
			}
			UsbSendPackageReport(&data, report);
			pb_printf("Dist = %f mm, collision %d,%d,%d,%d\n", data.dist, pinStateAD1,pinStateAD2,pinStateAD3,pinStateAD4);
		}
		data.dist = HC_I2C_Read();
		HAL_Delay(30);
		for(int i = 0; i < 3; i++){
			HAL_Delay(10);
      UsbSendPackageReport(&data, report);
		}
  }
  /* USER CODE END 3 */
}

//void ReadCollisionGPIO(uint8_t* info){
//	GPIO_PinState pinStateA1 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_1);
//	GPIO_PinState pinStateA2 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_2);
//	GPIO_PinState pinStateA3 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_3);
//	GPIO_PinState pinStateA4 = HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_4);
//}


/**
  * @brief  把UWB的测距包信息拷贝到缓存中并发送
  * @date   2024/04/17
  * @author Zhanli. 719901725@qq.com
  * @retval None
  */
void UsbSendPackageReport(Sensor_t* pack, uint8_t* report){
	memset(report, 0, 64);
  memcpy(report, pack, sizeof(Sensor_t));
  // USB发送报文
	USBD_CUSTOM_HID_SendReport(&hUsbDeviceFS, report, 64);
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  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_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USB;
  PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_PLL_DIV1_5;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();
  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0|GPIO_PIN_1, GPIO_PIN_RESET);

  /*Configure GPIO pins : PA1 PA2 PA3 PA4 */
  GPIO_InitStruct.Pin = GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3|GPIO_PIN_4;
  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

  /*Configure GPIO pins : PB0 PB1 */
  GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

/* 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 */
  __disable_irq();
  while (1)
  {
  }
  /* 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,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */