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/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "uart.h"
#include "control.h"
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
int main(void)
{
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
HAL_UART_Receive_IT(&huart2, (uint8_t*) &UART1_Data, 1);
/* USER CODE END 2 */
DWT_Delay_Init();
while (1)
{
if(UART_Buffer[0]!=0){
sprintf(copy,"%s\r\n", UART_Buffer);
cpystr(&chuoi[0],substr(©[0],0,0));
printf("%s\r\n",&chuoi[0]);
home=chuoi[0];
// ta=atoi(&n[0]);
cpystr(&chuoi[1],substr(©[1],7,7));
printf("%s\r\n",&chuoi[1]);
// svong=atoi(&chuoi[1]);
cpystr(&chuoi[2],substr(©[2],9,9));
printf("%s\r\n",&chuoi[2]);
// dir=atoi(&chuoi[2]);
HAL_Delay(700);
if(copy[0]>0&&chuoi[0]>0){
for(int h=0;h<100;h++){
copy[h]=0;
chuoi[h]=0;
}
for(int p=0;p<100;p++){
UART_Buffer[p]=0;
}
}
}
HAL_Delay(500);
//=====================================================================================================
if(home=='h'){
if(HAL_GPIO_ReadPin(STOP3_GPIO_Port,STOP3_Pin)==1&&HAL_GPIO_ReadPin(STOP2_GPIO_Port,STOP2_Pin)==1){
dc2(phai,1,100); // lui ve
}
else{
stopdc2();
}
if(HAL_GPIO_ReadPin(STOP3_GPIO_Port,STOP3_Pin)==1&&HAL_GPIO_ReadPin(STOP2_GPIO_Port,STOP2_Pin)==0){
dc2(phai,1,100); // lui ve
}
else{
stopdc2();
}
if(HAL_GPIO_ReadPin(STOP2_GPIO_Port,STOP2_Pin)==1&&HAL_GPIO_ReadPin(STOP3_GPIO_Port,STOP3_Pin)==0){
dc1(trai,1,100); // lui ve
}
else{
stopdc1();
}
if (HAL_GPIO_ReadPin(STOP2_GPIO_Port,STOP2_Pin)==0&&HAL_GPIO_ReadPin(STOP3_GPIO_Port,STOP3_Pin)==0){
stopdc1();
stopdc2();
home=0;
}
}
else{
stopdc1();
stopdc2();
}
//=================================================================================================================
if(home=='r'){
if(HAL_GPIO_ReadPin(STOP2_GPIO_Port,STOP2_Pin)==0 && HAL_GPIO_ReadPin(STOP3_GPIO_Port,STOP3_Pin)==0)
{
dc2(trai,7,40);
if(HAL_GPIO_ReadPin(STOP2_GPIO_Port,STOP2_Pin)==0){
for(int k =0 ; k<9 ;k ++){
vitriy(phai,20,50);
HAL_Delay(700);
}
dc2(trai,3,40);
for(int lo =0 ; lo<9 ;lo++){
vitriy(trai,20,50);
HAL_Delay(700);
}
dc2(trai,3,40);
for(int m =0 ; m<9 ;m ++){
vitriy(phai,20,50);
HAL_Delay(700);
}
for(int dd =0 ; dd<9 ;dd ++){
vitriy(trai,20,50);
}
if(HAL_GPIO_ReadPin(STOP2_GPIO_Port,STOP2_Pin)==0){
stopdc1();
dc2(phai,5,40);
dc2(phai,3,70);
dc2(phai,3,90);
runx(100,2200);
}
else{
stopdc2();
}
if(HAL_GPIO_ReadPin(STOP2_GPIO_Port,STOP2_Pin)==0&&HAL_GPIO_ReadPin(STOP3_GPIO_Port,STOP3_Pin)==0){
HAL_Delay(500);
stopdc2();
stopdc1();
home=0;
}
}
}
}
else{
stopdc1();
stopdc2();
}
//==========================================================================================
}
}
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the CPU, AHB and APB busses clocks
*/
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 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_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
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 */

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