2024.7.30 수업날
< ADC_IT >
STM32cubeide 진행 과정
main.c 소스코드
/* 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 "main.h"
#include "adc.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//int _write(int file, unsigned char* p, int len)
//{
// HAL_StatusTypeDef status = HAL_UART_Transmit(&huart2, p, len, 100);
// return (status == HAL_OK ? len : 0);
//}
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
#ifdef __GNUC__
/* With GCC, small printf (option LD Linker->Libraries->Small printf
set to 'Yes') calls __io_putchar() */
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHARPROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */
PUTCHAR_PROTOTYPE
{
/* Place your implementation of fputc here */
/* e.g. write a character to the EVAL_COM1 and Loop until the end of transmission */
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 0xFF);
return ch;
}
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
volatile uint16_t adcValue;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef *hadc)
{
adcValue = HAL_ADC_GetValue(&hadc1);
}
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* 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_TIM4_Init();
MX_ADC1_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_IT(&hadc1);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
printf("adc -> value : %4d \r\n", adcValue);
HAL_Delay(1000);
/* 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 = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** 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.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 100;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
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_3) != 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 */
__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 */
먼저 Debug 결과를 확인하기 위해 Duebug 아이콘을 클릭하고 좌측의 Live Expressions를 클릭하여 확인하고 싶은 Expression을 표에 작성한다.
다음으로 아래와 같은 아이콘을 클릭하여 코드를 실행시킨 후 결과를 확인하면 된다.
아래 사진은 가변저항 가운데 핀과 연결해야할 부분이다.
가변저항의 양 끝 핀에는 stm32보드의 3.3V와 GND에 연결해야한다. 극성은 상관없다.
< ADC_DMA >
STM32cubeide 진행 과정
main.c 소스코드
/* 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 "main.h"
#include "adc.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//
//int _write(int file, unsigned char* p, int len)
//{
// HAL_StatusTypeDef status = HAL_UART_Transmit(&huart2, p, len, 100);
// return (status == HAL_OK ? len : 0);
//}
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
#ifdef __GNUC__
/* With GCC, small printf (option LD Linker->Libraries->Small printf
set to 'Yes') calls __io_putchar() */
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHARPROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */
PUTCHAR_PROTOTYPE
{
/* Place your implementation of fputc here */
/* e.g. write a character to the EVAL_COM1 and Loop until the end of transmission */
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 0xFF);
return ch;
}
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
volatile uint16_t adcValue[2];
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
//void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef *hadc)
//{
// adcValue = HAL_ADC_GetValue(&hadc1);
//}
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* 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_DMA_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART2_UART_Init();
MX_I2C1_Init();
/* USER CODE BEGIN 2 */
HAL_ADC_Start_DMA(&hadc1, adcValue, 2); // channel 2EA
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
printf("adc1 -> value : %4d\r\n", adcValue[0]);
printf("adc2 -> value : %4d\r\n", adcValue[1]);
HAL_Delay(500);
/* 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 = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** 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.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 100;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
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_3) != 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 */
__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 */
이번에도 debug를 확인한다.
조이스틱은 x, y 축을 사용해서 값을 받기 때문에 adcValue가 2개가 필요하다.
조이스틱에는 총 5개의 핀이 있는데 VRX, VRY를 연결하는 핀이 있어서 stm32 보드의 두 핀과 연결해야한다.
상단의 두개의 핀에는 stm32 보드의 GND, 5V와 연결한다.
SW는 스위치인데 아직 사용하지 않으므로 연결하지 않는다.
< ADC_I2C >
STM32cubeide 진행 과정
ADC_DMA와 과정은 동일하고, I2C1을 추가로 설정한다.
이번에는 I2C 통신을 사용하여 LCD에 ADC_DMA에서 했던 값이 표시되는 코드를 작성해본다.
그 전에 LCD가 잘 작동되는지 확인하기 위하여 임의의 문구가 나타나도록 테스트 한다.
I2C_lcd.c 소스코드
/*
* I2C_lcd.c
*
* Created on: Jul 30, 2024
*/
#include "I2C_lcd.h"
extern I2C_HandleTypeDef hi2c1;
void lcd_command(uint8_t command)
{
uint8_t high_nibble;
uint8_t low_nibble;
uint8_t i2c_buffer[4];
high_nibble = command & 0xf0;
low_nibble = (command << 4) & 0xf0;
i2c_buffer[0] = high_nibble | 0x04 | 0x08; // en=1, rs=0, rw=0, backlight=1
i2c_buffer[1] = high_nibble | 0x00 | 0x08; // en=0, rs=0, rw=0, backlight=1
i2c_buffer[2] = low_nibble | 0x04 | 0x08; // en=1, rs=0, rw=0, backlight=1
i2c_buffer[3] = low_nibble | 0x00 | 0x08; // en=0, rs=0, rw=0, backlight=1
while(HAL_I2C_Master_Transmit(&hi2c1, I2C_LCD_ADDRESS, i2c_buffer, 4, 100)!=HAL_OK)
{
}
return;
}
void lcd_data(uint8_t data)
{
uint8_t high_nibble;
uint8_t low_nibble;
uint8_t i2c_buffer[4];
high_nibble = data & 0xf0;
low_nibble = (data << 4) & 0xf0;
i2c_buffer[0] = high_nibble | 0x05 | 0x08; // en=1, rs=0, rw=0, backlight=1
i2c_buffer[1] = high_nibble | 0x01 | 0x08; // en=0, rs=0, rw=0, backlight=1
i2c_buffer[2] = low_nibble | 0x05 | 0x08; // en=1, rs=0, rw=0, backlight=1
i2c_buffer[3] = low_nibble | 0x01 | 0x08; // en=0, rs=0, rw=0, backlight=1
while(HAL_I2C_Master_Transmit(&hi2c1, I2C_LCD_ADDRESS, i2c_buffer, 4, 100)!=HAL_OK)
{
}
return;
}
void i2c_lcd_init(void)
{
HAL_Delay(50);
lcd_command(0x33);
HAL_Delay(5);
lcd_command(0x32);
HAL_Delay(5);
lcd_command(0x28); // function set
HAL_Delay(5);
lcd_command(DISPLAY_ON);
HAL_Delay(5);
lcd_command(0x06); // entry mode set
HAL_Delay(5);
lcd_command(CLEAR_DISPLAY);
HAL_Delay(2);
}
void lcd_string(char *str)
{
while(*str)lcd_data(*str++);
}
void move_cursor(uint8_t row, uint8_t column)
{
lcd_command(0x80 | row<<6 | column);
}
I2C_lcd.h 소스코드
/*
* I2C_lcd.h
*
* Created on: Jul 30, 2024
*/
#ifndef INC_I2C_LCD_H_
#define INC_I2C_LCD_H_
#include "top.h"
#define I2C_LCD_ADDRESS (0x27<<1)
#define BACKLIGHT 0x08
#define DISPLAY_ON 0x0C
#define DISPLAY_OFF 0x08
#define CLEAR_DISPLAY 0x01
#define RETURN_HOME 0x02
void lcd_command(uint8_t command);
void lcd_data(uint8_t data);
void i2c_lcd_init(void);
void lcd_string(char *str);
void move_cursor(uint8_t row, uint8_t column);
#endif /* INC_I2C_LCD_H_ */
main.c 테스트 소스코드
/* 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 "main.h"
#include "adc.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "I2C_lcd.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//int _write(int file, unsigned char* p, int len)
//{
// HAL_StatusTypeDef status = HAL_UART_Transmit(&huart2, p, len, 100);
// return (status == HAL_OK ? len : 0);
//}
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
#ifdef __GNUC__
/* With GCC, small printf (option LD Linker->Libraries->Small printf
set to 'Yes') calls __io_putchar() */
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHARPROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */
PUTCHAR_PROTOTYPE
{
/* Place your implementation of fputc here */
/* e.g. write a character to the EVAL_COM1 and Loop until the end of transmission */
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 0xFF);
return ch;
}
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
volatile uint16_t adcValue[2];
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* 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_DMA_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART2_UART_Init();
MX_I2C1_Init();
/* USER CODE BEGIN 2 */
i2c_lcd_init();
// test code
move_cursor(0, 0);
lcd_string("Hello test !!");
move_cursor(1, 0);
lcd_string("Good LCD !!!");
HAL_ADC_Start_DMA(&hadc1, adcValue, 2); // channel 2EA
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
uint8_t temp[50];
uint8_t temp1[50];
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 = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** 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.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 100;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
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_3) != 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 */
__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 */
PB7, PB6에 I2C1이 설정되어 있으므로
LCD 뒤에 있는 pcf8574의 SDA, SCL에 연결한다.
main.c 소스코드
/* 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 "main.h"
#include "adc.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "I2C_lcd.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//int _write(int file, unsigned char* p, int len)
//{
// HAL_StatusTypeDef status = HAL_UART_Transmit(&huart2, p, len, 100);
// return (status == HAL_OK ? len : 0);
//}
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
#ifdef __GNUC__
/* With GCC, small printf (option LD Linker->Libraries->Small printf
set to 'Yes') calls __io_putchar() */
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHARPROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */
PUTCHAR_PROTOTYPE
{
/* Place your implementation of fputc here */
/* e.g. write a character to the EVAL_COM1 and Loop until the end of transmission */
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 0xFF);
return ch;
}
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
volatile uint16_t adcValue[2];
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
//void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef *hadc)
//{
// adcValue = HAL_ADC_GetValue(&hadc1);
//}
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* 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_DMA_Init();
MX_TIM4_Init();
MX_ADC1_Init();
MX_USART2_UART_Init();
MX_I2C1_Init();
/* USER CODE BEGIN 2 */
i2c_lcd_init();
// test code
// move_cursor(0, 0);
// lcd_string("Hello test !!");
// move_cursor(1, 0);
// lcd_string("Good LCD !!!");
HAL_ADC_Start_DMA(&hadc1, adcValue, 2); // channel 2EA
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
uint8_t temp[50];
uint8_t temp1[50];
while (1)
{
sprintf(temp, "ADC_1 : %4d", adcValue[0]);
sprintf(temp1, "ADC_2 : %4d", adcValue[1]);
move_cursor(0, 2);
lcd_string(temp);
move_cursor(1, 2);
lcd_string(temp1);
HAL_Delay(100);
printf("adc1 -> value : %4d\r\n", adcValue[0]);
printf("adc2 -> value : %4d\r\n", adcValue[1]);
HAL_Delay(500);
/* 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 = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** 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.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 100;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
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_3) != 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 */
__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 */
조이스틱과 LCD를 함께 연결할때는 아래의 핀에 연결한다.
조이스틱은 극성과 사용하지 않는 핀을 제외하고 PA6, PA7에 연결하고
LCD는 PB6, PB7에 연결한다.
< UART_BT(BLUETOOTH) >
STM32cubeide 진행 과정
main.c 소스코드
/* 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 "main.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* 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 */
uint8_t rxData;
uint8_t rxData1;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if(huart->Instance == USART2)
{
HAL_UART_Receive_IT(&huart2, &rxData, sizeof(rxData));
HAL_UART_Transmit_IT(&huart6, &rxData, sizeof(rxData));
}
if(huart->Instance == USART6)
{
HAL_UART_Receive_IT(&huart6, &rxData1, sizeof(rxData1));
HAL_UART_Transmit_IT(&huart2, &rxData1, sizeof(rxData1));
}
}
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* 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_USART2_UART_Init();
MX_USART6_UART_Init();
/* USER CODE BEGIN 2 */
HAL_UART_Receive_IT(&huart2, &rxData, sizeof(rxData));
HAL_UART_Receive_IT(&huart6, &rxData1, sizeof(rxData));
/* 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 = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** 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.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 100;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
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_3) != 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 */
__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 */
블루투스 모듈 뒷면은 아래와 같다.
블루투스 모듈과 stm32 보드를 연결할때는
PC6이 Tx이므로 블루투스모듈에는 Rx에 연결해야하고
PC7이 Rx이므로 블루투스모듈에는 Tx에 연결해야한다.
UART_BT를 빌드시키고 실행시킨다음, 블루투스 모듈을 앱과 연동하면 블루투스 연결이된다.
먼저 블루투스 모듈의 이름을 지정하여 구분하기 편하도록 한다. 이름을 지정하는 방법은 아래의 링크를 참조하면 된다.
[아두이노] HC-06 블루투스 이름 변경 (AT Command) (tistory.com)
다음으로 스마트폰의 구글 플레이스토어에서 아래의 앱을 설치한다.
지정한 이름의 블루투스 모듈을 선택하여 연결하면 블루투스 모듈과 comportmaster와 통신을 주고받을 수 있다.
연결에 실패했다고 뜨면, 다시 연결하면 된다.
파란색 글씨가 스마트폰에서 전송한 것이고
초록색 글씨가 comportmaster에서 전송한 것이다.
< ULTRASONIC >
STM32cubeide 진행 과정
delay.c 소스코드
/*
* delay.c
*
* Created on: Jul 30, 2024
*/
#include "delay.h"
void delay_us(uint16_t us)
{
__HAL_TIM_SET_COUNTER(&htim11, 0); // 호출하면 0부터 시작(초기화)
while((__HAL_TIM_GET_COUNTER(&htim11)) < us); // us보다 작으면 while안에서 머물고, 그렇지 않으면 밖으로 나옴
}
delay.h 소스코드
/*
* delay.h
*
* Created on: Jul 30, 2024
*/
#ifndef INC_DELAY_H_
#define INC_DELAY_H_
#include "stm32f4xx_hal.h"
#include "tim.h"
void delay_us(uint16_t us);
#endif /* INC_DELAY_H_ */
main.c 소스코드
/* 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 "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "delay.h"
#include <stdio.h>
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define TRIG_PORT GPIOA
#define TRIG_PIN GPIO_PIN_5
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
#ifdef __GNUC__
/* With GCC, small printf (option LD Linker->Libraries->Small printf
set to 'Yes') calls __io_putchar() */
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHARPROTOTYPE int fputc(int ch, FILE *f)
#endif /* __GNUC__ */
PUTCHAR_PROTOTYPE
{
/* Place your implementation of fputc here */
/* e.g. write a character to the EVAL_COM1 and Loop until the end of transmission */
HAL_UART_Transmit(&huart2, (uint8_t *)&ch, 1, 0xFF);
return ch;
}
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
uint16_t IC_VALUE1 = 0; // rising edge
uint16_t IC_VALUE2 = 0; // falling edge
uint16_t echoTime = 0; // falling time - rising time
uint8_t captureFlag = 0; // capture ?
uint16_t distance = 0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
{
if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)
{
if(captureFlag == 0)
{
IC_VALUE1 = HAL_TIM_ReadCapturedValue(&htim3, TIM_CHANNEL_1);
captureFlag = 1;
__HAL_TIM_SET_CAPTUREPOLARITY(&htim3, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_FALLING);
}
else if(captureFlag == 1)
{
IC_VALUE2 = HAL_TIM_ReadCapturedValue(&htim3, TIM_CHANNEL_1);
__HAL_TIM_SET_COUNTER(&htim3, 0);
if(IC_VALUE2 > IC_VALUE1)
{
echoTime = IC_VALUE2 - IC_VALUE1;
}
else if(IC_VALUE1 > IC_VALUE2) // if overflow
{
echoTime = (0xffff - IC_VALUE1) + IC_VALUE2;
}
distance = echoTime/58;
captureFlag = 0;
__HAL_TIM_SET_CAPTUREPOLARITY(&htim3, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING);
__HAL_TIM_DISABLE_IT(&htim3, TIM_IT_CC1);
}
}
}
void HCSR04_read() // trig func
{
HAL_GPIO_WritePin(TRIG_PORT, TRIG_PIN, 1);
delay_us(10);
HAL_GPIO_WritePin(TRIG_PORT, TRIG_PIN, 0);
__HAL_TIM_ENABLE_IT(&htim3, TIM_IT_CC1);
}
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* 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_TIM3_Init();
MX_TIM11_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
HAL_TIM_Base_Start(&htim11); // for delay func
HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_1); // for ultrasonic
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
HCSR04_read();
printf("distance : %3d cm\r\n", distance);
HAL_Delay(500);
/* 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 = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** 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.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLM = 4;
RCC_OscInitStruct.PLL.PLLN = 100;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 4;
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_3) != 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 */
__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 */
PA5를 Output으로 설정했으므로 초음파 센서의 Trig에 연결하고,
PA6은 초음파센서의 Eco에 연결한다.
ADC(가변저항, 조이스틱), ADC_LCD, Bluetooth, Ultrasonic 끝!
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