/* USER CODE BEGIN Header */

/**
*********************************************************************
*********
* @file : main.c
* @brief : Main program body
*********************************************************************
*********
* @attention
*
* Project: Color Sorting using STM32F103C8T6
* Description: Sorts objects by color (Red, Green, Blue) using
TCS3200 sensor,
* displays count on LCD, moves objects with servos, and controls
conveyor speed.
*
*********************************************************************
*********
*/
/* USER CODE END Header */
/* Includes
------------------------------------------------------------------*/
#include "main.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
---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;

I2C_HandleTypeDef hi2c1;

TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;
/* USER CODE BEGIN PV */
uint32_t red_count = 0, green_count = 0, blue_count = 0;
char lcd_buffer[16];
/* USER CODE END PV */

/* Private function prototypes

-----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_ADC1_Init(void);
static void MX_I2C1_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM2_Init(void);
static void MX_TIM4_Init(void);
/* USER CODE BEGIN PFP */
uint16_t Read_Potentiometer(void);
void Motor_SetSpeed(uint16_t speed);
void Servo_SetAngle(uint8_t servo, uint16_t angle);
uint16_t TCS3200_ReadColor(void);
/* 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_ADC1_Init();
MX_I2C1_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */
lcd_init();
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
HAL_TIM_Base_Start(&htim1);

Servo_SetAngle(1, 0); // Servo 1 về0 độ

Servo_SetAngle(2, 0); // Servo 2 về0 độ

uint16_t pwm_value = 500; // Tốc độ động cơ mặc định

Motor_SetSpeed(pwm_value);

HAL_GPIO_WritePin(GPIOA, GPIO_PIN_6, GPIO_PIN_SET); // IN1 = 1

HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_RESET); // IN2 = 0
(Chạy thuận)

/* USER CODE END 2 */

/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
uint16_t adc_read = Read_Potentiometer();
pwm_value = (adc_read * 500 / 4095); // Map 0-4095 thành 0-500
Motor_SetSpeed(pwm_value);

uint16_t color = TCS3200_ReadColor();

switch (color) {
case 1: // Đỏ
red_count++;
lcd_clear();
snprintf(lcd_buffer, 16, "Red: %u", red_count);
lcd_send_string(lcd_buffer);
Servo_SetAngle(2, 90); // Servo 2 gạt trái
HAL_Delay(500);
Servo_SetAngle(2, 0);
HAL_Delay(200);
break;
case 2: // Xanh lá
green_count++;
lcd_clear();
snprintf(lcd_buffer, 16, "Green: %u", green_count);
lcd_send_string(lcd_buffer);
Servo_SetAngle(1, 90); // Servo 1 gạt phải
HAL_Delay(500);
Servo_SetAngle(1, 0);
HAL_Delay(200);
break;
case 3: // Xanh dương
blue_count++;
lcd_clear();
snprintf(lcd_buffer, 16, "Blue: %u", blue_count);
lcd_send_string(lcd_buffer);
HAL_Delay(200);
break;
default:
static uint8_t lcd_updated = 0;
if (!lcd_updated) {
lcd_clear();
lcd_send_string("Waiting...");
lcd_updated = 1;
}
break;
}
/* 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};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

/** Initializes the RCC Oscillators according to the specified

parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
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_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();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV2;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}

/**
* @brief ADC1 Initialization Function
* @param None
* @retval None
*/
static void MX_ADC1_Init(void)
{

/* USER CODE BEGIN ADC1_Init 0 */

/* USER CODE END ADC1_Init 0 */

ADC_ChannelConfTypeDef sConfig = {0};

/* USER CODE BEGIN ADC1_Init 1 */

/* USER CODE END ADC1_Init 1 */

/** Common config

*/
hadc1.Instance = ADC1;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}

/** Configure Regular Channel

*/
sConfig.Channel = ADC_CHANNEL_0;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */

/* USER CODE END ADC1_Init 2 */

/**
* @brief I2C1 Initialization Function
* @param None
* @retval None
*/
static void MX_I2C1_Init(void)
{

/* USER CODE BEGIN I2C1_Init 0 */

/* USER CODE END I2C1_Init 0 */

/* USER CODE BEGIN I2C1_Init 1 */

/* USER CODE END I2C1_Init 1 */

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();
}
/* USER CODE BEGIN I2C1_Init 2 */

/* USER CODE END I2C1_Init 2 */

/**
* @brief TIM1 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM1_Init(void)
{

/* USER CODE BEGIN TIM1_Init 0 */

/* USER CODE END TIM1_Init 0 */

TIM_ClockConfigTypeDef sClockSourceConfig = {0};

TIM_MasterConfigTypeDef sMasterConfig = {0};

/* USER CODE BEGIN TIM1_Init 1 */

/* USER CODE END TIM1_Init 1 */

htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 65535;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) !=
HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */

/* USER CODE END TIM1_Init 2 */

/**
* @brief TIM2 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM2_Init(void)
{

/* USER CODE BEGIN TIM2_Init 0 */

/* USER CODE END TIM2_Init 0 */

TIM_MasterConfigTypeDef sMasterConfig = {0};

TIM_OC_InitTypeDef sConfigOC = {0};

/* USER CODE BEGIN TIM2_Init 1 */

/* USER CODE END TIM2_Init 1 */

htim2.Instance = TIM2;
htim2.Init.Prescaler = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 65535;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) !=
HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) !=
HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */

/* USER CODE END TIM2_Init 2 */

HAL_TIM_MspPostInit(&htim2);

/**
* @brief TIM4 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM4_Init(void)
{

/* USER CODE BEGIN TIM4_Init 0 */

/* USER CODE END TIM4_Init 0 */

TIM_MasterConfigTypeDef sMasterConfig = {0};

TIM_OC_InitTypeDef sConfigOC = {0};

/* USER CODE BEGIN TIM4_Init 1 */

/* USER CODE END TIM4_Init 1 */

htim4.Instance = TIM4;
htim4.Init.Prescaler = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 65535;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) !=
HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) !=
HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) !=
HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */

/* USER CODE END TIM4_Init 2 */

HAL_TIM_MspPostInit(&htim4);

/**
* @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(GPIOA, GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET);

/*Configure GPIO pin Output Level */

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_10|
GPIO_PIN_11, GPIO_PIN_RESET);

/*Configure GPIO pins : PA6 PA7 */

GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

/*Configure GPIO pins : PB0 PB1 PB10 PB11 */

GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_10|GPIO_PIN_11;
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);

/*Configure GPIO pin : PA8 */

GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

/* USER CODE BEGIN MX_GPIO_Init_2 */

/* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

uint16_t Read_Potentiometer(void)
{
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, HAL_MAX_DELAY);
uint16_t adc_value = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);
return adc_value;
}

void Motor_SetSpeed(uint16_t speed)

{
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, speed);
}

void Servo_SetAngle(uint8_t servo, uint16_t angle)

{
uint32_t pulse;
if (angle > 180) angle = 180;
pulse = 1000 + (angle * 4000 / 180);
if (servo == 1) {
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, pulse);
} else if (servo == 2) {
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_4, pulse);
}
}

uint32_t Measure_Frequency(void)
{
uint32_t count = 0;
HAL_TIM_Base_Start(&htim1);
__HAL_TIM_SET_COUNTER(&htim1, 0);
HAL_Delay(100);
count = __HAL_TIM_GET_COUNTER(&htim1);
HAL_TIM_Base_Stop(&htim1);
return count * 10;
}

uint16_t TCS3200_ReadColor(void)
{
uint32_t red_freq, green_freq, blue_freq;

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET);

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_SET);

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET);
HAL_Delay(100);
red_freq = Measure_Frequency();

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET);

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET);
HAL_Delay(100);
green_freq = Measure_Frequency();
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET);
HAL_Delay(100);
blue_freq = Measure_Frequency();

if (red_freq > green_freq && red_freq > blue_freq) {

return 1;
} else if (green_freq > red_freq && green_freq > blue_freq) {
return 2;
} else if (blue_freq > red_freq && blue_freq > green_freq) {
return 3;
}
return 0;
}
/* 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 */
/* USER CODE BEGIN Header */
/**
*********************************************************************
*********
* @file : main.c
* @brief : Main program body
*********************************************************************
*********
* @attention
*
* Project: Color Sorting using STM32F103C8T6
* Description: Sorts objects by color (Red, Green, Blue) using
TCS3200 sensor,
* displays count on LCD, moves objects with servos, and controls
conveyor speed.
*
*********************************************************************
*********
*/
/* USER CODE END Header */
/* Includes
------------------------------------------------------------------*/
#include "main.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
---------------------------------------------------------*/
ADC_HandleTypeDef hadc1;

I2C_HandleTypeDef hi2c1;

TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim4;

/* USER CODE BEGIN PV */

uint32_t red_count = 0, green_count = 0, blue_count = 0;
char lcd_buffer[16];
/* USER CODE END PV */
/* Private function prototypes
-----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_ADC1_Init(void);
static void MX_I2C1_Init(void);
static void MX_TIM1_Init(void);
static void MX_TIM2_Init(void);
static void MX_TIM4_Init(void);
/* USER CODE BEGIN PFP */
uint16_t Read_Potentiometer(void);
void Motor_SetSpeed(uint16_t speed);
void Servo_SetAngle(uint8_t servo, uint16_t angle);
uint16_t TCS3200_ReadColor(void);
/* 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_ADC1_Init();
MX_I2C1_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_TIM4_Init();
/* USER CODE BEGIN 2 */
lcd_init();
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_4);
HAL_TIM_Base_Start(&htim1);

Servo_SetAngle(1, 0); // Servo 1 về0 độ

Servo_SetAngle(2, 0); // Servo 2 về0 độ

uint16_t pwm_value = 500; // Tốc độ động cơ mặc định

Motor_SetSpeed(pwm_value);

HAL_GPIO_WritePin(GPIOA, GPIO_PIN_6, GPIO_PIN_SET); // IN1 = 1

HAL_GPIO_WritePin(GPIOA, GPIO_PIN_7, GPIO_PIN_RESET); // IN2 = 0
(Chạy thuận)

/* USER CODE END 2 */

/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
uint16_t adc_read = Read_Potentiometer();
pwm_value = (adc_read * 500 / 4095); // Map 0-4095 thành 0-500
Motor_SetSpeed(pwm_value);

uint16_t color = TCS3200_ReadColor();

switch (color) {
case 1: // Đỏ
red_count++;
lcd_clear();
snprintf(lcd_buffer, 16, "Red: %u", red_count);
lcd_send_string(lcd_buffer);
Servo_SetAngle(2, 90); // Servo 2 gạt trái
HAL_Delay(500);
Servo_SetAngle(2, 0);
HAL_Delay(200);
break;
case 2: // Xanh lá
green_count++;
lcd_clear();
snprintf(lcd_buffer, 16, "Green: %u", green_count);
lcd_send_string(lcd_buffer);
Servo_SetAngle(1, 90); // Servo 1 gạt phải
HAL_Delay(500);
Servo_SetAngle(1, 0);
HAL_Delay(200);
break;
case 3: // Xanh dương
blue_count++;
lcd_clear();
snprintf(lcd_buffer, 16, "Blue: %u", blue_count);
lcd_send_string(lcd_buffer);
HAL_Delay(200);
break;
default:
static uint8_t lcd_updated = 0;
if (!lcd_updated) {
lcd_clear();
lcd_send_string("Waiting...");
lcd_updated = 1;
}
break;
}
/* 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};
RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

/** Initializes the RCC Oscillators according to the specified

parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
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_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();
}
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV2;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief ADC1 Initialization Function
* @param None
* @retval None
*/
static void MX_ADC1_Init(void)
{

/* USER CODE BEGIN ADC1_Init 0 */

/* USER CODE END ADC1_Init 0 */

ADC_ChannelConfTypeDef sConfig = {0};

/* USER CODE BEGIN ADC1_Init 1 */

/* USER CODE END ADC1_Init 1 */

/** Common config

*/
hadc1.Instance = ADC1;
hadc1.Init.ScanConvMode = ADC_SCAN_DISABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = 1;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
Error_Handler();
}

/** Configure Regular Channel

*/
sConfig.Channel = ADC_CHANNEL_0;
sConfig.Rank = ADC_REGULAR_RANK_1;
sConfig.SamplingTime = ADC_SAMPLETIME_1CYCLE_5;
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN ADC1_Init 2 */

/* USER CODE END ADC1_Init 2 */

/**
* @brief I2C1 Initialization Function
* @param None
* @retval None
*/
static void MX_I2C1_Init(void)
{

/* USER CODE BEGIN I2C1_Init 0 */

/* USER CODE END I2C1_Init 0 */

/* USER CODE BEGIN I2C1_Init 1 */

/* USER CODE END I2C1_Init 1 */

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();
}
/* USER CODE BEGIN I2C1_Init 2 */

/* USER CODE END I2C1_Init 2 */

/**
* @brief TIM1 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM1_Init(void)
{

/* USER CODE BEGIN TIM1_Init 0 */

/* USER CODE END TIM1_Init 0 */

TIM_ClockConfigTypeDef sClockSourceConfig = {0};

TIM_MasterConfigTypeDef sMasterConfig = {0};

/* USER CODE BEGIN TIM1_Init 1 */

/* USER CODE END TIM1_Init 1 */

htim1.Instance = TIM1;
htim1.Init.Prescaler = 0;
htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
htim1.Init.Period = 65535;
htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim1.Init.RepetitionCounter = 0;
htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) !=
HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM1_Init 2 */

/* USER CODE END TIM1_Init 2 */

/**
* @brief TIM2 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM2_Init(void)
{

/* USER CODE BEGIN TIM2_Init 0 */

/* USER CODE END TIM2_Init 0 */

TIM_MasterConfigTypeDef sMasterConfig = {0};

TIM_OC_InitTypeDef sConfigOC = {0};

/* USER CODE BEGIN TIM2_Init 1 */

/* USER CODE END TIM2_Init 1 */

htim2.Instance = TIM2;
htim2.Init.Prescaler = 0;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 65535;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_PWM_Init(&htim2) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) !=
HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) !=
HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */
/* USER CODE END TIM2_Init 2 */
HAL_TIM_MspPostInit(&htim2);

/**
* @brief TIM4 Initialization Function
* @param None
* @retval None
*/
static void MX_TIM4_Init(void)
{

/* USER CODE BEGIN TIM4_Init 0 */

/* USER CODE END TIM4_Init 0 */

TIM_MasterConfigTypeDef sMasterConfig = {0};

TIM_OC_InitTypeDef sConfigOC = {0};

/* USER CODE BEGIN TIM4_Init 1 */

/* USER CODE END TIM4_Init 1 */

htim4.Instance = TIM4;
htim4.Init.Prescaler = 0;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 65535;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_PWM_Init(&htim4) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim4, &sMasterConfig) !=
HAL_OK)
{
Error_Handler();
}
sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_3) !=
HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_PWM_ConfigChannel(&htim4, &sConfigOC, TIM_CHANNEL_4) !=
HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM4_Init 2 */

/* USER CODE END TIM4_Init 2 */

HAL_TIM_MspPostInit(&htim4);

/**
* @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(GPIOA, GPIO_PIN_6|GPIO_PIN_7, GPIO_PIN_RESET);

/*Configure GPIO pin Output Level */

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_10|
GPIO_PIN_11, GPIO_PIN_RESET);

/*Configure GPIO pins : PA6 PA7 */

GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

/*Configure GPIO pins : PB0 PB1 PB10 PB11 */

GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_10|GPIO_PIN_11;
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);

/*Configure GPIO pin : PA8 */

GPIO_InitStruct.Pin = GPIO_PIN_8;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

/* USER CODE BEGIN MX_GPIO_Init_2 */

/* USER CODE END MX_GPIO_Init_2 */

}

/* USER CODE BEGIN 4 */

uint16_t Read_Potentiometer(void)
{
HAL_ADC_Start(&hadc1);
HAL_ADC_PollForConversion(&hadc1, HAL_MAX_DELAY);
uint16_t adc_value = HAL_ADC_GetValue(&hadc1);
HAL_ADC_Stop(&hadc1);
return adc_value;
}

void Motor_SetSpeed(uint16_t speed)

{
__HAL_TIM_SET_COMPARE(&htim2, TIM_CHANNEL_1, speed);
}

void Servo_SetAngle(uint8_t servo, uint16_t angle)

{
uint32_t pulse;
if (angle > 180) angle = 180;
pulse = 1000 + (angle * 4000 / 180);
if (servo == 1) {
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_3, pulse);
} else if (servo == 2) {
__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_4, pulse);
}
}

uint32_t Measure_Frequency(void)
{
uint32_t count = 0;
HAL_TIM_Base_Start(&htim1);
__HAL_TIM_SET_COUNTER(&htim1, 0);
HAL_Delay(100);
count = __HAL_TIM_GET_COUNTER(&htim1);
HAL_TIM_Base_Stop(&htim1);
return count * 10;
}

uint16_t TCS3200_ReadColor(void)
{
uint32_t red_freq, green_freq, blue_freq;

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET);

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_SET);

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET);
HAL_Delay(100);
red_freq = Measure_Frequency();

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_SET);

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET);
HAL_Delay(100);
green_freq = Measure_Frequency();

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_2, GPIO_PIN_RESET);

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET);
HAL_Delay(100);
blue_freq = Measure_Frequency();

if (red_freq > green_freq && red_freq > blue_freq) {

return 1;
} else if (green_freq > red_freq && green_freq > blue_freq) {
return 2;
} else if (blue_freq > red_freq && blue_freq > green_freq) {
return 3;
}
return 0;
}
/* 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 */