main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "i2s.h"
#include "spi.h"
#include "usb_host.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "ADNS3080.h"

uint8_t txdata[1]={0x02};
uint8_t rxdatab[7];
uint8_t rxdataj[7];
uint8_t txbuff[1]={0x50};
uint8_t buff[7]={0x00,0x00,0x00,0x00,0x00,0x00,0x00};
uint8_t motion_burst[7];
volatile HAL_StatusTypeDef state;
int szamlalob=0; //össz megtet út
int szamlaloj=0; //össz megtet út
float sdXb=0;
float sdXj=0;
float sebessegb=0; // pillanatnyi sebbeség
float sebessegj=0; // pillanatnyi sebbeség
float dXb=0; // a valós elmozdulás
float dYb=0;
float dXj=0;
float dYj=0; // a valós elmozdulás
float datab[7]; // a tömb ahova a nyers adatot be helyezem
float dataj[7]; // a tömb ahova a nyers adatot be helyezem
signed char xb=0; // a nyers adat amivel számolok
signed char yb=0;
signed char xj=0;
signed char yj=0; // a nyers adat amivel számolok
float sumb=0;
float sumj=0;
int i=0;
int j=0;
float uart_txdatab[4]; //az eredmény tömb ahol az adatokat felhasználom
float uart_txdataj[4]; //az eredmény tömb ahol az adatokat felhasználom
/*
uint8_t Rxdata[8];
uint8_t incr_X;
uint8_t incr_Y;

uint16_t CPI;
uint8_t uartTxBuffer[7];
*/
/* 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);
void MX_USB_HOST_Process(void);

/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void my_delay(void){
	for(i=0;i<200;i++){
			}
}
void szamlalasb(void){
	//az adatok a tömbe helyezése
					ADNS3080MotionDatab.Motion=rxdatab[0];
		 	  	 	ADNS3080MotionDatab.DeltaX=rxdatab[1];
		 	  	 	ADNS3080MotionDatab.DeltaY=rxdatab[2];
		 	  	 	ADNS3080MotionDatab.SQUAL=rxdatab[3];
		 	  	 	ADNS3080MotionDatab.ShutterUpper=rxdatab[4];
		 	  	 	ADNS3080MotionDatab.ShutterLower=rxdatab[5];
		 	  	 	ADNS3080MotionDatab.MaximumPixel=rxdatab[6];
		            	//a tömböl ki veszem a x és y elmozdulást
		 	  		xb=rxdatab[1];
		           	yb=rxdatab[2];


		 	  	 	dXb=((xb*0.00635)*15.748031496062); // az dXb átalakitás valós elmozdulásra
		 	  	 	dYb=((yb*0.00635)*15.748031496062); // az dYb átalakitás valós elmozdulásra
		 	  	 	uart_txdatab[0]=dXb;
		 	  	 	uart_txdatab[1]=dYb;
		 	  	 	sdXb=dXb;

		 	  	 	if(rxdatab[0]==128){
		 	  	 		for(i=0;i<13;i++){
		 	  	 		sumb+=dXb;
		 	  	 			}
							if (i==13){
								sebessegb=(sumb/100);
								sumb=0;
								i=0;
							}


		 	  	 		//sebessegb=((sdXb/100)/0.075);          // a pillanatnyi sebbeség kiszámítása
		 	  	 	//az összes megtett út kiszámítása
		 	  		if(dXb<0){
		 		  		sdXb*=-1;
		 				  }
		 	 		 szamlalob+=sdXb;
		 	  	 	}else dXb=0;

		 		//a kíszámítot adatok tömbe helyezése aminek az értéket késöbb a robot felhasználja

		 			uart_txdatab[2]=szamlalob;
		 	 		uart_txdatab[3]=sebessegb;

}
void szamlalasj(void){
	//az adatok a tömbe helyezése
		 	  	 	ADNS3080MotionDataj.Motion=rxdataj[0];
		 	  	 	ADNS3080MotionDataj.DeltaX=rxdataj[1];
		 	  	 	ADNS3080MotionDataj.DeltaY=rxdataj[2];
		 	  	 	ADNS3080MotionDataj.SQUAL=rxdataj[3];
		 	  	 	ADNS3080MotionDataj.ShutterUpper=rxdataj[4];
		 	  	 	ADNS3080MotionDataj.ShutterLower=rxdataj[5];
		 	  	 	ADNS3080MotionDataj.MaximumPixel=rxdataj[6];
		 	  	 //a tömböl ki veszem a x és y elmozdulást
		 	  		xj=rxdataj[1];
		           	yj=rxdataj[2];


		 	  	 	dXj=((xj*0.00635)*14.316392269148);	// az dXb átalakitás valós elmozdulásra
		 	  	 	dYj=((yj*0.00635)*14.316392269148);	// az dYb átalakitás valós elmozdulásra							// a pillanatnyi sebbeség kiszámítás
		 	  	 	uart_txdataj[0]=dXj;
		 	  	 	uart_txdataj[1]=dYj;
		 	  	 	sdXj=dXj;

		 	  	 	if(rxdataj[0]==128){
		 	  	 	for(j=0;j<13;j++){
		 	  	 		 	  	sumj+=dXj;
		 	  	 		 	  	 }
		 	  	 			if (j==13){
		 	  	 					sebessegj=(sumj/100);
		 	  	 					sumj=0;
		 	  	 					j=0;
		 	  	 			}

		 	  	 		//sebessegj=((sdXj/100)/0.075);         // a pillanatnyi sebbeség kiszámítása
		 	  	 			//az összes megtett út kiszámítása
		 	  		if(dXj<0){
		 		  		sdXj*=-1;
		 				  }
		 	 		 szamlaloj+=sdXj;
		 	 		}else dXj=0;
		 		//a kíszámítot adatok tömbe helyezése aminek az értéket késöbb a robot felhasználja

		 	 		uart_txdataj[2]=szamlaloj;
		 	 		uart_txdataj[3]=sebessegj;

}
void erzekelob(void){
	//ADNS-3080 bal oldali érzékelő

		 	  	     HAL_GPIO_WritePin(GPIOE, GPIO_PIN_15, GPIO_PIN_RESET);
		 	  	 	 HAL_SPI_Transmit(&hspi2, txbuff, 1, 10);
		 	  	 	 HAL_Delay(75);
		 	  	 	 HAL_SPI_Receive(&hspi2, rxdatab, 7, 10);
		 	  	 	 HAL_GPIO_WritePin(GPIOE, GPIO_PIN_15, GPIO_PIN_SET);
}
void erzekeloj(void){
	//ADNS-3080 jobb oldali érzékelő

	 	HAL_GPIO_WritePin(GPIOE, GPIO_PIN_13, GPIO_PIN_RESET);
	 	HAL_SPI_Transmit(&hspi2, txbuff, 1, 10);
	 	HAL_Delay(150);
	 	HAL_SPI_Receive(&hspi2, rxdataj, 7, 10);
	 	HAL_GPIO_WritePin(GPIOE, GPIO_PIN_13, GPIO_PIN_SET);
}

/* 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 */
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_I2S3_Init();
  MX_SPI1_Init();
  MX_SPI2_Init();
  MX_USB_HOST_Init();
  /* USER CODE BEGIN 2 */
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_11, 1);
  HAL_Delay(5);
  HAL_GPIO_WritePin(GPIOB, GPIO_PIN_11, 0);
  SROM_download();
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {

	  	  	  	  erzekelob();      //az érzékelőnek küldött és kapott
	 	  	 	 szamlalasb();	 	// az adat feldolgozás és ki iratás
	 	  	 	 erzekeloj();		//az érzékelőnek küldött és kapott
	 	  	 	szamlalasj();       // az adat feldolgozás és ki iratás

    /* USER CODE END WHILE */
    MX_USB_HOST_Process();

    /* 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};
  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};

  /** Configure the main internal regulator output voltage 
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  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;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses 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_5) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_I2S;
  PeriphClkInitStruct.PLLI2S.PLLI2SN = 192;
  PeriphClkInitStruct.PLLI2S.PLLI2SR = 2;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != 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****/