STM32F4xx Interfacing with accelerometer MPU 6050.

Step 1: Initialization

1. Initialize HAL Library: Initialize the Hardware Abstraction Layer (HAL) library.
2. Configure System Clock: Set up the system clock.
3.
4. Initialize GPIO: Initialize General Purpose Input/Output (GPIO) for I2C
communication.
5. Initialize I2C: Set up I2C communication with the MPU6050.
6. Initialize UART: Set up UART for displaying data.
7. Initialize MPU6050: Configure the MPU6050 to start collecting data.

Step 2: MPU6050 Configuration

1. Check MPU6050 Connection: Read the WHO_AM_I register to verify

communication.
2. Wake Up MPU6050: Write to the PWR_MGMT_1 register to wake up the sensor.
3. Set Data Rate: Write to the SMPLRT_DIV register to set the sample rate.
4. Configure Accelerometer: Write to the ACCEL_CONFIG register to set the
accelerometer range.
5. Configure Gyroscope: Write to the GYRO_CONFIG register to set the gyroscope
range.

Step 3: Read and Display Data

1. Read Accelerometer Data: Read the accelerometer data registers.

2. Read Gyroscope Data: Read the gyroscope data registers.
3. Process Data: Convert raw data to readable format.
4. Display Data: Send the processed data over UART to a display or terminal.
5. Repeat: Continuously read and display data at regular intervals.

Flowchart
Flowchart
+---------------------------------+
| Start |
+---------------------------------+
| Initialize HAL Library |
+---------------------------------+
| Configure System Clock |
+---------------------------------+
| Initialize GPIO |
+---------------------------------+
| Initialize I2C |
+---------------------------------+
| Initialize UART |
+---------------------------------+
| Initialize MPU6050 |
| - Check WHO_AM_I Register |
| - Wake Up MPU6050 |
| - Set Data Rate |
| - Configure Accelerometer |
| - Configure Gyroscope |
+---------------------------------+
| Read Accelerometer Data |
+---------------------------------+
| Read Gyroscope Data |
+---------------------------------+
| Process Data |
| - Convert Raw Data |
+---------------------------------+
| Display Data via UART |
+---------------------------------+
| Delay |
+---------------------------------+
| Repeat |
Algorithm for Interfacing STM32F4xx with Ultrasonic Sensor HC-
SR04

Step-by-Step Algorithm

1. Initialize HAL Library

 Initialize the HAL library.

2. Configure System Clock

 Set up the system clock.

3. Initialize GPIO

 Initialize GPIO pins for Trigger and Echo.

 Configure Trigger pin as output.
 Configure Echo pin as input.
 4. Initialize Timer

 Set up a timer to measure the duration of the Echo signal.

5. Send Trigger Pulse

 Set the Trigger pin high for 10 microseconds to send a pulse.

6. Wait for Echo Response

 Wait for the Echo pin to go high (start time).

 Start the timer.
 Wait for the Echo pin to go low (end time).
 Stop the timer.

7. Calculate Distance

 Calculate the duration of the Echo signal.

 Use the duration to calculate the distance to the object.

8. Display Distance

 Display the calculated distance (e.g., via UART or on an LCD).

Flowchart
+-----------------------------------------+
| Start |
+-----------------------------------------+
|
v
+-----------------------------------------+
| Initialize HAL Library |
+-----------------------------------------+
|
v
+-----------------------------------------+
| Configure System Clock |
+-----------------------------------------+
|
v
+-----------------------------------------+
| Initialize GPIO |
| - Trigger as Output (PA0) |
| - Echo as Input (PA1) |
+-----------------------------------------+
|
v
+-----------------------------------------+
| Initialize Timer |
+-----------------------------------------+
|
v
+-----------------------------------------+
| Send Trigger Pulse |
| - Set Trigger High for 10 us |
| - Set Trigger Low |
+-----------------------------------------+
|
v
+-----------------------------------------+
| Measure Echo Pulse Duration |
| - Wait for Echo to go High |
| - Start Timer |
| - Wait for Echo to go Low |
| - Stop Timer |
+-----------------------------------------+
|
v
+-----------------------------------------+
| Calculate Distance |
| - Distance = (Duration * 0.034) / 2 |
+-----------------------------------------+
|
v
+-----------------------------------------+
| Display Distance (e.g., via UART) |
+-----------------------------------------+
|
v
+-----------------------------------------+
| Wait for 1 second |
+-----------------------------------------+
|
v
+-----------------------------------------+
| Repeat |
+-----------------------------------------+
|
 v
+-----------------------------------------+
| End |

Speed Control By PWM

1. PWM Signal Generation:
  The STM32F4xx microcontroller generates a PWM signal on a specific
GPIO pin using its built-in timer.
 The frequency of the PWM signal is set to a suitable value (e.g., 1 kHz to
20 kHz) to avoid audible noise and ensure smooth motor operation.
 The duty cycle of the PWM signal is adjusted to control the motor speed.
For example, a 50% duty cycle means the signal is on for half the time and
off for the other half.

2. Signal Amplification by Motor Driver:

 The PWM signal is fed into a motor driver circuit, such as an H-bridge or
MOSFET-based driver. The motor driver amplifies the PWM signal to
provide enough current and voltage to the motor.
 The motor driver effectively switches the motor on and off according to
the PWM signal, regulating the average power delivered to the motor.

3. Motor Speed Control:

 The average power delivered to the motor determines its speed. A higher
duty cycle means more power and a faster motor speed.
 For example, if the PWM duty cycle is 75%, the motor receives power for
75% of each cycle, making it run faster than it would at a 25% duty cycle.

Direction control by pwm signal

control the direction of a DC motor by changing the polarity of the PWM signal. The polarity of the
PWM signal refers to whether the signal is positive or negative. A positive polarity signal will cause the
motor to rotate in one direction, and a negative polarity signal will cause the motor to rotate in the
opposite direction.

1. START

2. Initialize the PWM peripheral.

3. Set the PWM frequency to 100 Hz.

4. Set the PWM duty cycle to 50%.

5. Connect the PWM output to the motor./ Reverse the polarity of the PWM signal
6. Start the PWM signal.

7. Wait for 5 seconds.

8. Stop the PWM signal. 9. END

CAN is a communication protocol that connects all devices can communicate

with each other. CAN stands for Controller Area Network. This technology
developed by Bosch Automotive company to reduce cabling loads and make
systems separates from each other. Because if there is a problem in any sensor,
this problem will harm all system.
The development of CAN began when more and more electronic devices were
implemented into modern motor vehicles.
Examples include engine management systems, ABS, gear control, lighting
control, air conditioning, and airbags. All this means more safety and more
comfort.

This was usually done by point to point wiring. The requirement is that a cable
network with a length of up to several miles. High speed, real-time
communication, Error detecting mechanism and retransmission of faulty
massages.

APPLICATIONS – Automotive: CAN bus is used in most modern vehicles to

communicate between electronic control units (ECUs).
Industrial automation: CAN bus is used in industrial automation to communicate
between sensors, actuators, and controllers.
Medical devices: CAN bus is used in medical devices to communicate between
different components. Building automation: CAN bus is used in building
automation to communicate between sensors, actuators, and controllers.
Transportation: CAN bus is used in transportation systems, such as trains and
buses, to communicate between different components.
CAN Bus Frame Structure

A CAN frame consists of several fields, each serving a specific purpose to ensure reliable
communication. Here is a breakdown of each field:

1. Start of Frame (SOF):

 Marks the beginning of the frame. It is a single dominant bit.

2. Identifier:

 Indicates the priority of the message. Lower values have higher priority.
 In standard format, it is 11 bits long.
 In extended format, it is 29 bits long (11 bits + 18 additional bits).

3. Control Field:

 Contains information about the frame, including:

 IDE (Identifier Extension): 1 bit, indicates if the frame is in
standard (0) or extended (1) format.
 RTR (Remote Transmission Request): 1 bit, distinguishes data
frames (0) from remote frames (1).
 DLC (Data Length Code): 4 bits, indicates the length of the data
field (0-8 bytes).

4. Data Field:

 Contains the actual data being transmitted. It can be from 0 to 8 bytes (0-
64 bits).

5. CRC Field:

 A Cyclic Redundancy Check used for error detection. It includes:

 CRC Sequence: 15 bits for error-checking.
  CRC Delimiter: 1 recessive bit.

6. ACK Field:

 Contains the acknowledgment information:

 ACK Slot: 1 recessive bit, overwritten as dominant by receiving
nodes if no errors are detected.
 ACK Delimiter: 1 recessive bit.

7. End of Frame (EOF):

 Marks the end of the frame. It is 7 recessive bits long.

8. Intermission (IFS - Interframe Space):

 A gap between consecutive frames. It is 3 recessive bits long.

SOF – Start of Frame, Identifier – Tells the content of message and priority,
RTR – Remote Transmission Request,
DLC – Data Length Code,
CRC – “Cyclic Redundant Check” sum, IDE – Identifier extension, Data – holds up
to 8 bytes of data, ACK –Acknowledge,
EOF – End of Frame,
IFS –intermission Frame Space.

Features of CAN Bus

1. High Reliability:
 Robust communication even in noisy environments.
2. Multi-Master Capability:
 Multiple nodes can initiate communication without a central master
controller.
3. Priority-Based Arbitration:
 Messages with higher priority get transmitted first, ensuring critical data is
sent promptly.
4. Error Detection and Handling:
 Multiple error-checking mechanisms, including CRC, acknowledgment, and
bit stuffing, ensure data integrity.
5. Efficient Use of Bandwidth:
 Short messages (up to 8 bytes) ensure quick transmission and high bus
efficiency.
6. Flexibility and Scalability:
 Easy to add or remove nodes without affecting the overall system.
7. Real-Time Communication:
 Supports timely data transfer, essential for real-time applications.
 8. Low Cost:
 Reduces wiring and component costs due to its simplicity and efficiency.
9. Wide Application Range:
 Used in automotive, industrial automation, medical equipment, and more.

Sequence of Transmitting and Receiving a Character on CAN Bus

1. Prepare the Message:

 The sender node creates the message, setting up the header (identifier)
and the data payload (character to be sent).
2. Transmit the Message:
 The sender node sends the message onto the CAN bus.
3. Message Reception by All Nodes:
 All nodes connected to the CAN bus receive the message.
4. Check Message Header:
 Each node examines the message header to determine if the message is
intended for it.
5. Decode Data Payload:
 The intended receiver node, if it finds the message relevant, reads and
decodes the data payload.
6. Acknowledge the Message:
 The receiver node sends an acknowledgment back to the sender to
confirm successful reception of the message.