Laporan Akhir

[KEMBALI KE MENU SEBELUMNYA]

DAFTAR ISI

1. Prosedur

2. Hardware dan Diagram Blok

3. Rangkaian Simulasi dan Prinsip Kerja

4. Flowchart dan Listing Program

5. Video Demo

6. Kondisi

7. Video Simulasi

8. Download File

MODUL 3 PERCOBAAN 4

1. Prosedure [Kembali]

Buka aplikasi STM32CubeIDE lalu download driver STM NUCLEO
Setelah itu masukkan pin Input dan pin Output sesuai dengan gambar rangkaian di modul
Masukan program yang telah di buat sesuai kondisi pada kedua file tersebut
Rangkai komponen sesuai dengan gambar rangkaian di modul
Hubungkan laptop dengan rangkaian yang telah dirangkai
Selesai

2. Hardware dan Diagram Blok [Kembali]

Hardware

1. STM 32 NUCLEO G474RE

2. Push Button

3. OLED

4. Resistor

5. Motor Servo

6. Infrared Sensor

7. Breadboard

8. Jumper

3. Rangkaian Simulasi dan Prinsip Kerja [Kembali]

Rangkaian Simulasi

Prinsip Kerja

Sistem Parkir Otomatis 2 Pintu berbasis UART ini bekerja menggunakan dua mikrokontroler STM32 Nucleo yang saling berkomunikasi untuk mengatur proses kendaraan masuk dan keluar area parkir secara otomatis. Sistem dilengkapi sensor infrared (IR) yang berfungsi mendeteksi keberadaan kendaraan pada pintu masuk dan pintu keluar. Ketika kendaraan terdeteksi oleh sensor, mikrokontroler akan memproses data tersebut lalu mengirimkan informasi melalui komunikasi UART (Universal Asynchronous Receiver Transmitter) antar kedua STM32. Data yang dikirim berupa kondisi kendaraan masuk atau keluar sehingga sistem dapat menghitung jumlah slot parkir yang tersedia secara real-time.

Setelah data diterima, mikrokontroler utama akan memperbarui jumlah kapasitas parkir dan menampilkan informasi tersebut pada layar OLED. Jika kendaraan masuk, jumlah slot parkir akan berkurang, sedangkan jika kendaraan keluar maka jumlah slot akan bertambah. Pada saat sensor mendeteksi kendaraan, servo motor akan bergerak membuka palang pintu otomatis agar kendaraan dapat melewati gerbang. Setelah kendaraan melewati sensor, servo akan kembali menutup palang. Apabila kapasitas parkir sudah penuh, sistem akan menampilkan informasi “Parkir Penuh” pada OLED dan palang pintu masuk tidak akan terbuka sampai ada kendaraan keluar.

Komunikasi UART pada sistem ini memungkinkan pertukaran data serial secara sederhana dan stabil antara dua mikrokontroler dengan menghubungkan pin TX dan RX serta ground bersama. Dengan adanya komunikasi ini, sistem dapat bekerja secara sinkron dalam mengelola data kendaraan pada dua pintu parkir. Secara keseluruhan, sistem parkir otomatis ini mampu meningkatkan efisiensi pengelolaan parkir karena proses pencatatan kendaraan, penghitungan kapasitas, dan pengendalian palang dilakukan secara otomatis dan 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 define ------------------------------------------------------------*/ 
/* 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 */
/* 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); 
} 
void Update_Display(void) { 
char buf[25]; 
ssd1306_Fill(Black); 
// 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 */ 
 
  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 (SLAVE)\r\n");
      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); 
HAL_GPIO_WritePin(LED_GREEN_GPIO_Port, LED_GREEN_Pin, 
GPIO_PIN_RESET); 
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);
  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. Kondisi [Kembali]

Percobaan 4 Sistem Parkir Otomatis 2 Pintu

7. Analisa dan Pembahasan [Kembali]

8. Download File [Kembali]

Link Vidio Demo disini
Download Analisa disini
Download Datasheet IR Sensor disini
Download Datasheet LED disini
Download Datsheet STM32 Nucleo disini
Download Datasheet LED disini

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