Laporan Akhir 4 Modul 3

[KEMBALI KE MENU SEBELUMNYA] 



Laporan Akhir 1
Sistem Parkir Otomatis 2 Pintu

1. Prosedur [Kembali]
1. Buat dua project baru menggunakan board STM32 NUCLEO-G474RE, yaitu Nucleo 1 dan Nucleo 2. 
2. Pada Nucleo 1, konfigurasi pin dan peripheral dengan mengaktifkan TIM2 CH1 pada PA0 sebagai PWM Generation CH1 menggunakan Internal Clock, aktifkan I2C1 pada PA15 dan PB5, aktifkan USART1 mode Asynchronous pada PA9 dan PA10, serta aktifkan pin PA1 dan PA4 sebagai GPIO Input. 
3. Pada Nucleo 2, konfigurasi TIM2 CH1 pada PA0 sebagai PWM Generation CH1, aktifkan USART1 mode Asynchronous pada PA9 dan PA10, lalu aktifkan pin PA1 dan PA4 sebagai GPIO Input.
4. Generate code untuk kedua project setelah seluruh konfigurasi selesai dilakukan.
5. Pada project Nucleo 1, buat file header baru pada folder Inc berupa main.h, ssd1306_conf.h, ssd1306_fonts.h, dan ssd1306.h.
6. Pada project Nucleo 1, buat file source baru pada folder Src berupa main.c, ssd1306_fonts.c, dan ssd1306.c.

2. Hardware dan Diagram Blok [Kembali]

Hardware :

a). STM32 Nucleo G474RE 2 pcs








b). Infrared Sensor 


c). Motor Servo 2 pcs










d). Breadboard


 
 
e.) Jumper
f). Adaptor
g). OLED




Diagram Blok  :







3. Rangkaian Simulasi dan Prinsip Kerja [Kembali]

Rangkaian Simulasi
 






Prinsip Kerja : 


Sistem kontrol parkir otomatis dua pintu ini bekerja menggunakan dua buah mikrokontroler STM32 Nucleo G474RE yang berfungsi sebagai pengendali pintu masuk dan pintu keluar. Pada pintu masuk, sensor IR mendeteksi keberadaan kendaraan yang datang, kemudian data dibaca oleh Nucleo 1 untuk memeriksa ketersediaan slot parkir. Jika slot masih tersedia, servo akan membuka palang pintu masuk dan jumlah slot kosong pada OLED akan diperbarui menjadi berkurang. Namun apabila slot parkir penuh, OLED akan menampilkan informasi “parkir penuh” dan servo tetap dalam kondisi tertutup sehingga kendaraan tidak dapat masuk.

Pada pintu keluar, sensor IR kedua mendeteksi kendaraan yang keluar area parkir dan sinyal diproses oleh Nucleo 2. Setelah kendaraan terdeteksi, servo pintu keluar akan membuka palang agar kendaraan dapat keluar, kemudian sistem menambahkan kembali jumlah slot kosong dan memperbarui tampilan OLED. Kedua mikrokontroler saling berkomunikasi menggunakan UART untuk sinkronisasi data jumlah slot parkir sehingga informasi kapasitas parkir tetap sesuai kondisi aktual secara real-time.

4. Flowchart dan Listing Program [Kembali]


Flowchart :














Listing Program :
• Nucleo 1
/* USER CODE BEGIN Header */ /** ************************************************************ ****************** * @file : main.c * @brief : Master Parking System - STM32G474RE ************************************************************ ****************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------ ------------------*/ #include "main.h" /* Private includes ---------------------------------------- ------------------*/ /* USER CODE BEGIN Includes */ #define SSD1306_INCLUDE_FONT_7x10 #include "ssd1306.h" #include "ssd1306_fonts.h" #include #include /* USER CODE END Includes */ /* Private typedef ----------------------------------------- ------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------ ------------------*/
/* USER CODE BEGIN PD */ #define MAX_PARKIR 10 /* USER CODE END PD */ /* Private macro ------------------------------------------- ------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables --------------------------------------- ------------------*/ COM_InitTypeDef BspCOMInit; I2C_HandleTypeDef hi2c1; TIM_HandleTypeDef htim2; UART_HandleTypeDef huart1; // komunikasi ke slave (PC4/PC5) UART_HandleTypeDef huart2; // serial monitor via BSP COM1 (PA2/PA3) /* USER CODE BEGIN PV */ uint8_t sisa_parkir = MAX_PARKIR; uint8_t kendaraan_masuk = 0; uint8_t uart_rx_buffer[1]; /* USER CODE END PV */ /* Private function prototypes ----------------------------- ------------------*/ void SystemClock_Config(void); static void MX_GPIO_Init(void); static void MX_I2C1_Init(void); static void MX_TIM2_Init(void); static void MX_USART1_UART_Init(void); static void MX_USART2_UART_Init(void); /* USER CODE BEGIN PFP */ void Update_Display(void); void Servo_Buka(void); void Servo_Tutup(void);
/* USER CODE END PFP */ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ int main(void) { /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ MX_GPIO_Init(); MX_I2C1_Init(); MX_TIM2_Init(); MX_USART1_UART_Init(); MX_USART2_UART_Init(); /* USER CODE BEGIN 2 */ BSP_LED_Init(LED_GREEN); BSP_PB_Init(BUTTON_USER, BUTTON_MODE_EXTI); // Serial monitor via BSP COM1 (USART2 PA2/PA3) BspCOMInit.BaudRate = 115200; BspCOMInit.WordLength = COM_WORDLENGTH_8B; BspCOMInit.StopBits = COM_STOPBITS_1; BspCOMInit.Parity = COM_PARITY_NONE; BspCOMInit.HwFlowCtl = COM_HWCONTROL_NONE; if (BSP_COM_Init(COM1, &BspCOMInit) != BSP_ERROR_NONE) {
Error_Handler(); } ssd1306_Init(); HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1); htim2.Instance->CCR1 = 1000; // USART1 untuk komunikasi ke slave (PC4=TX, PC5=RX) HAL_UART_Receive_IT(&huart1, uart_rx_buffer, 1); printf("=== MASTER PARKING READY ===\r\n"); printf("Slot tersedia: %d/%d\r\n", sisa_parkir, MAX_PARKIR); Update_Display(); /* USER CODE END 2 */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ uint8_t ir = !HAL_GPIO_ReadPin(MASTER_IR_SENSOR_GPIO_Port, MASTER_IR_SENSOR_Pin); printf("IR: %d | Sisa: %d\r\n", ir, sisa_parkir); // DETEKSI MASUK if (ir && sisa_parkir > 0 && !kendaraan_masuk) { HAL_Delay(50); ir = !HAL_GPIO_ReadPin(MASTER_IR_SENSOR_GPIO_Port, MASTER_IR_SENSOR_Pin); if (ir) { Servo_Buka(); sisa_parkir--;
kendaraan_masuk = 1; Update_Display(); printf(">> MASUK! Sisa: %d/%d\r\n", sisa_parkir, MAX_PARKIR); HAL_UART_Transmit(&huart1, (uint8_t*)"M", 1, 100); } } // PARKIR PENUH if (ir && sisa_parkir == 0 && !kendaraan_masuk) { printf(">> PARKIR PENUH!\r\n"); BSP_LED_Toggle(LED_GREEN); HAL_Delay(200); } // KENDARAAN SUDAH LEWAT if (!ir && kendaraan_masuk) { HAL_Delay(50); ir = !HAL_GPIO_ReadPin(MASTER_IR_SENSOR_GPIO_Port, MASTER_IR_SENSOR_Pin); if (!ir) { Servo_Tutup(); kendaraan_masuk = 0; printf(">> Palang ditutup\r\n"); } } HAL_Delay(100); } /* USER CODE END 3 */ } /* USER CODE BEGIN 4 */ void Update_Display(void) { char buf[25]; ssd1306_Fill(Black);
ssd1306_SetCursor(2, 0); ssd1306_WriteString("SISTEM PARKIR", Font_7x10, White); ssd1306_SetCursor(2, 14); sprintf(buf, "Slot: %d/%d", sisa_parkir, MAX_PARKIR); ssd1306_WriteString(buf, Font_7x10, White); ssd1306_SetCursor(2, 28); if (sisa_parkir == 0) { ssd1306_WriteString(">> PENUH <<", Font_7x10, White); } else { ssd1306_WriteString(">> TERSEDIA <<", Font_7x10, White); } ssd1306_UpdateScreen(); } void Servo_Buka(void) { htim2.Instance->CCR1 = 2000; HAL_Delay(600); } void Servo_Tutup(void) { htim2.Instance->CCR1 = 1000; HAL_Delay(600); } // Terima dari slave via USART1 (PC5=RX) void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { if (huart->Instance == USART1) { if (uart_rx_buffer[0] == 'K') { if(sisa_parkir < MAX_PARKIR) sisa_parkir++; printf(">> KENDARAAN KELUAR (SL
printf(">> Sisa: %d/%d\r\n", sisa_parkir, MAX_PARKIR); Update_Display(); } HAL_UART_Receive_IT(&huart1, uart_rx_buffer, 1); } } /* USER CODE END 4 */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1 _BOOST); RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV4; RCC_OscInitStruct.PLL.PLLN = 85; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2; RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) Error_Handler(); 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_DIV1; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK) Error_Handler(); } static void MX_I2C1_Init(void) { hi2c1.Instance = I2C1; hi2c1.Init.Timing = 0x40B285C2; hi2c1.Init.OwnAddress1 = 0; hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; hi2c1.Init.OwnAddress2 = 0; hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK; hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE; if (HAL_I2C_Init(&hi2c1) != HAL_OK) Error_Handler(); if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK) Error_Handler(); if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK) Error_Handler(); } static void MX_TIM2_Init(void) { TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_OC_InitTypeDef sConfigOC = {0};
htim2.Instance = TIM2; htim2.Init.Prescaler = 169; htim2.Init.CounterMode = TIM_COUNTERMODE_UP; htim2.Init.Period = 19999; htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim2) != HAL_OK) Error_Handler(); sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK) Error_Handler(); 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 = 1000; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) Error_Handler(); HAL_TIM_MspPostInit(&htim2); } static void MX_USART1_UART_Init(void) { // USART1 - komunikasi ke slave (PC4=TX, PC5=RX) 9600 baud huart1.Instance = USART1; huart1.Init.BaudRate = 9600; 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; huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1; huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; if (HAL_UART_Init(&huart1) != HAL_OK) Error_Handler(); if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK) Error_Handler(); if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK) Error_Handler(); if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK) Error_Handler(); } static void MX_USART2_UART_Init(void) { // USART2 - serial monitor via BSP COM1 (PA2=TX, PA3=RX) huart2.Instance = USART2; huart2.Init.BaudRate = 115200; huart2.Init.WordLength = UART_WORDLENGTH_8B; huart2.Init.StopBits = UART_STOPBITS_1; huart2.Init.Parity = UART_PARITY_NONE; huart2.Init.Mode = UART_MODE_TX_RX; huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart2.Init.OverSampling = UART_OVERSAMPLING_16; huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; huart2.Init.ClockPrescaler = UART_PRESCALER_DIV1; huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; if (HAL_UART_Init(&huart2) != HAL_OK) Error_Handler(); if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK) Error_Handler(); if (HAL_UARTEx_SetRxFifoThreshold(&huart2, 
UART_RXFIFO_THRESHOLD_1_8) != HAL_OK) Error_Handler(); if (HAL_UARTEx_DisableFifoMode(&huart2) != HAL_OK) Error_Handler(); } static void MX_GPIO_Init(void) { GPIO_InitTypeDef GPIO_InitStruct = {0}; __HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOF_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); // IR sensor PA1 - aktif LOW → PULLUP GPIO_InitStruct.Pin = MASTER_IR_SENSOR_Pin; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_PULLUP; HAL_GPIO_Init(MASTER_IR_SENSOR_GPIO_Port, &GPIO_InitStruct); // USART1 TX=PC4, RX=PC5 untuk komunikasi ke slave GPIO_InitStruct.Pin = MASTER_TX_Pin | MASTER_RX_Pin; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Alternate = GPIO_AF7_USART1; HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); } void Error_Handler(void) { __disable_irq(); while (1) {} } #ifdef USE_FULL_ASSERT void assert_failed(uint8_t *file, uint32_t line) {} #endif

• Nucleo 2
/* USER CODE BEGIN Header */ /** ************************************************************** **************** * @file : main.c * @brief : Slave Parking System - STM32G474RE (Pintu Keluar) ************************************************************** **************** */ /* USER CODE END Header */ /* Includes -------------------------------------------------- ----------------*/ #include "main.h" /* Private includes ------------------------------------------ ----------------*/ /* USER CODE BEGIN Includes */ #include #include /* 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 ----------------------------------------- ----------------*/ COM_InitTypeDef BspCOMInit; TIM_HandleTypeDef htim2; UART_HandleTypeDef huart1; UART_HandleTypeDef huart2; /* USER CODE BEGIN PV */ uint8_t kendaraan_keluar = 0; uint8_t uart_rx_buffer[1]; /* USER CODE END PV */ /* Private function prototypes ------------------------------- ----------------*/ void SystemClock_Config(void); static void MX_GPIO_Init(void); static void MX_TIM2_Init(void); static void MX_USART1_UART_Init(void); static void MX_USART2_UART_Init(void); /* USER CODE BEGIN PFP */ void Servo_Buka(void); void Servo_Tutup(void); /* USER CODE END PFP */ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ int main(void) { /* USER CODE BEGIN 1 */ /* USER CODE END 1 */
HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ MX_GPIO_Init(); MX_TIM2_Init(); MX_USART1_UART_Init(); MX_USART2_UART_Init(); /* USER CODE BEGIN 2 */ BSP_LED_Init(LED_GREEN); BSP_PB_Init(BUTTON_USER, BUTTON_MODE_EXTI); BspCOMInit.BaudRate = 115200; BspCOMInit.WordLength = COM_WORDLENGTH_8B; BspCOMInit.StopBits = COM_STOPBITS_1; BspCOMInit.Parity = COM_PARITY_NONE; BspCOMInit.HwFlowCtl = COM_HWCONTROL_NONE; if (BSP_COM_Init(COM1, &BspCOMInit) != BSP_ERROR_NONE) { Error_Handler(); } HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1); htim2.Instance->CCR1 = 1000; // USART2 RX interrupt - terima dari master HAL_UART_Receive_IT(&huart1, uart_rx_buffer, 1); HAL_GPIO_WritePin(LED_GREEN_GPIO_Port, LED_GREEN_Pin, GPIO_PIN_RESET);
printf("=== SLAVE READY - Pintu Keluar ===\r\n"); /* USER CODE END 2 */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ uint8_t ir = !HAL_GPIO_ReadPin(SLAVE_IR_SENSOR_GPIO_Port, SLAVE_IR_SENSOR_Pin); printf("IR: %d\r\n", ir); // === DETEKSI KENDARAAN KELUAR === if (ir && !kendaraan_keluar) { HAL_Delay(50); ir = !HAL_GPIO_ReadPin(SLAVE_IR_SENSOR_GPIO_Port, SLAVE_IR_SENSOR_Pin); if (ir) { Servo_Buka(); // 1. buka palang kendaraan_keluar = 1; // 2. set flag HAL_UART_Transmit(&huart1, (uint8_t*)"K", 1, 100); // 3. kirim ke master HAL_GPIO_WritePin(LED_GREEN_GPIO_Port, LED_GREEN_Pin, GPIO_PIN_SET); printf(">> KELUAR! Kuota +1 dikirim ke master\r\n"); } } // === KENDARAAN SUDAH LEWAT === if (!ir && kendaraan_keluar) { HAL_Delay(50); ir = !HAL_GPIO_ReadPin(SLAVE_IR_SENSOR_GPIO_Port, 
SLAVE_IR_SENSOR_Pin); if (!ir) { Servo_Tutup(); kendaraan_keluar = 0; HAL_GPIO_WritePin(LED_GREEN_GPIO_Port, LED_GREEN_Pin, GPIO_PIN_RESET); printf(">> Palang ditutup, siap kendaraan berikutnya\r\n"); } } HAL_Delay(100); } /* USER CODE END 3 */ } /* USER CODE BEGIN 4 */ void Servo_Buka(void) { htim2.Instance->CCR1 = 2000; HAL_Delay(600); } void Servo_Tutup(void) { htim2.Instance->CCR1 = 1000; HAL_Delay(600); } // Terima info dari master via USART2 void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) { if (huart->Instance == USART1) { if (uart_rx_buffer[0] == 'M') { printf(">> INFO: KENDARAAN MASUK (MASTER)\r\n"); } 
HAL_UART_Receive_IT(&huart1, uart_rx_buffer, 1); } } /* USER CODE END 4 */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_B OOST); RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV4; RCC_OscInitStruct.PLL.PLLN = 85; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2; RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) Error_Handler(); 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_DIV1; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK) Error_Handler(); } static void MX_TIM2_Init(void) { TIM_ClockConfigTypeDef sClockSourceConfig = {0}; TIM_MasterConfigTypeDef sMasterConfig = {0}; TIM_OC_InitTypeDef sConfigOC = {0}; htim2.Instance = TIM2; htim2.Init.Prescaler = 169; htim2.Init.CounterMode = TIM_COUNTERMODE_UP; htim2.Init.Period = 19999; htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; if (HAL_TIM_Base_Init(&htim2) != HAL_OK) Error_Handler(); sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK) Error_Handler(); 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 = 1000; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; if (HAL_TIM_PWM_ConfigChannel(&htim2, &sConfigOC, TIM_CHANNEL_1) != HAL_OK) Error_Handler(); HAL_TIM_MspPostInit(&htim2);
} static void MX_USART1_UART_Init(void) { huart1.Instance = USART1; huart1.Init.BaudRate = 9600; 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; huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; huart1.Init.ClockPrescaler = UART_PRESCALER_DIV1; huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; if (HAL_UART_Init(&huart1) != HAL_OK) Error_Handler(); if (HAL_UARTEx_SetTxFifoThreshold(&huart1, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK) Error_Handler(); if (HAL_UARTEx_SetRxFifoThreshold(&huart1, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK) Error_Handler(); if (HAL_UARTEx_DisableFifoMode(&huart1) != HAL_OK) Error_Handler(); } static void MX_USART2_UART_Init(void) { huart2.Instance = USART2; huart2.Init.BaudRate = 115200; huart2.Init.WordLength = UART_WORDLENGTH_8B; huart2.Init.StopBits = UART_STOPBITS_1; huart2.Init.Parity = UART_PARITY_NONE; huart2.Init.Mode = UART_MODE_TX_RX; huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart2.Init.OverSampling = UART_OVERSAMPLING_16; huart2.Init.OneBitSampling
UART_ONE_BIT_SAMPLE_DISABLE; huart2.Init.ClockPrescaler = UART_PRESCALER_DIV1; huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; if (HAL_UART_Init(&huart2) != HAL_OK) Error_Handler(); if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK) Error_Handler(); if (HAL_UARTEx_SetRxFifoThreshold(&huart2, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK) Error_Handler(); if (HAL_UARTEx_DisableFifoMode(&huart2) != HAL_OK) Error_Handler(); } static void MX_GPIO_Init(void) { GPIO_InitTypeDef GPIO_InitStruct = {0}; __HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOF_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); __HAL_RCC_GPIOB_CLK_ENABLE(); // LED GREEN PB7 - output HAL_GPIO_WritePin(LED_GREEN_GPIO_Port, LED_GREEN_Pin, GPIO_PIN_RESET); GPIO_InitStruct.Pin = LED_GREEN_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(LED_GREEN_GPIO_Port, &GPIO_InitStruct); // IR sensor PA1 - aktif LOW → PULLUP GPIO_InitStruct.Pin = SLAVE_IR_SENSOR_Pin; GPIO_InitStruct.Mode = GPIO_MODE_INPUT; GPIO_InitStruct.Pull = GPIO_PULLUP; HAL_GPIO_Init(SLAVE_IR_SENSOR_GPIO_Port, &GPIO_InitStruct);
// USART2 PA2=TX, PA3=RX untuk komunikasi ke master GPIO_InitStruct.Pin = SLAVE_USART1_TX_Pin | SLAVE_USART1_RX_Pin; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Alternate = GPIO_AF7_USART1; HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); } void Error_Handler(void) { __disable_irq(); while (1) {} } #ifdef USE_FULL_ASSERT void assert_failed(uint8_t *file, uint32_t line) {} #endif 


5. Video Demo [Kembali]






6. Analisa [Kembali]










7. Download File [Kembali]

1. Download HTML [disini]

2. Download Vidio Rangkaian [Link Video 1] [Link Video 2] [Link Video 3]

3. Download Datasheet Mikrokontroller STM32 G474RE [disini]

4. Download Datasheet Sensor: 

5. Download library Komponen: 

6. Download Datasheet Motor Servo [disini]

7. Download listing program [disini]

8. Zip File [disini]

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