Desarrollo de un robot equilibrista 03

18 febrero, 2018

Empezamos a trabajar con el STM32. Lo primero que haré será crear un proyecto de manera automática con STM32CubeMX, que he configurado de esta manera:

Estos son los pines que vamos a utilizar:

  • Led: salida de led de la placa de evaluación
  • RCC_OSC32IN / RCC_OSC32_OUT: cristal de 32KHz de la placa de evaluación
  • RCC_OSC_IN / RCC_OSC_OUT: cristal de 8MHz de la placa de evaluación
  • MPU6050_INT: señal de entrada con interrupción externa para cuando el MPU6050 nos avise de algún evento
  • MOT1_STEP / MOT1_DIR / MOT2_STEP / MOT2_DIR: 4 pines de salida para controlar los 2 motores
  • GPIO_Input: entrada de propósito general
  • USART1_RX / USART1_TX: comunicaciones USART con el ESP8266
  • I2CSCL / I2CDAT: comunicaciones I2C con el MPU6050
  • SYS_JTCK-SWCLK / SYS_JTMS-SWDIO: comunicaciones JTAG

Y este es el código que hemos generado:

/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
** This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* COPYRIGHT(c) 2018 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 "main.h"
#include "stm32f1xx_hal.h"

/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/
I2C_HandleTypeDef hi2c1;

UART_HandleTypeDef huart1;

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_USART1_UART_Init(void);
static void MX_I2C1_Init(void);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
* @brief The application entry point.
*
* @retval None
*/

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_USART1_UART_Init();
MX_I2C1_Init();
/* USER CODE BEGIN 2 */

/* USER CODE END 2 */

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

/* USER CODE END WHILE */

/* USER CODE BEGIN 3 */

}
/* USER CODE END 3 */

}

/**
* @brief System Clock Configuration
* @retval None
*/

void SystemClock_Config(void)
{

RCC_OscInitTypeDef RCC_OscInitStruct;
RCC_ClkInitTypeDef RCC_ClkInitStruct;

/**Initializes the CPU, AHB and APB busses clocks
*/

RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = 16;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}

/**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_HSI;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}

/**Configure the Systick interrupt time
*/

HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);

/**Configure the Systick
*/

HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);

/* SysTick_IRQn interrupt configuration */
HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
}

/* I2C1 init function */
static void MX_I2C1_Init(void)
{

hi2c1.Instance = I2C1;
hi2c1.Init.ClockSpeed = 100000;
hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
hi2c1.Init.OwnAddress1 = 0;
hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
hi2c1.Init.OwnAddress2 = 0;
hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
if (HAL_I2C_Init(&hi2c1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}

}

/* USART1 init function */
static void MX_USART1_UART_Init(void)
{

huart1.Instance = USART1;
huart1.Init.BaudRate = 115200;
huart1.Init.WordLength = UART_WORDLENGTH_8B;
huart1.Init.StopBits = UART_STOPBITS_1;
huart1.Init.Parity = UART_PARITY_NONE;
huart1.Init.Mode = UART_MODE_TX_RX;
huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart1.Init.OverSampling = UART_OVERSAMPLING_16;
if (HAL_UART_Init(&huart1) != HAL_OK)
{
_Error_Handler(__FILE__, __LINE__);
}

}

/** Configure pins as
* Analog
* Input
* Output
* EVENT_OUT
* EXTI
*/

static void MX_GPIO_Init(void)
{

GPIO_InitTypeDef GPIO_InitStruct;

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

/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);

/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6, GPIO_PIN_RESET);

/*Configure GPIO pin : PC13 */
GPIO_InitStruct.Pin = GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

/*Configure GPIO pin : PA1 */
GPIO_InitStruct.Pin = GPIO_PIN_1;
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

/*Configure GPIO pins : PA3 PA4 PA5 PA6 */
GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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);

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
* @brief This function is executed in case of error occurrence.
* @param file: The file name as string.
* @param line: The line in file as a number.
* @retval None
*/

void _Error_Handler(char *file, int line)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
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,
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****/
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