/*=====================================================================================================*/
int main( void )
{
u32 i = PWM_MOTOR_MIN;
SystemInit();
GPIO_Config();
PWM_Config();
while(1) {
LED_G = ~LED_G;
while(KEY_WU == 1) {
PWM1 = i;
PWM2 = i;
PWM3 = i;
PWM4 = i;
PWM5 = i;
PWM6 = i;
PWM7 = i;
PWM8 = i;
PWM9 = i;
PWM10 = i;
PWM11 = i;
i++;
if(i>=PWM_MOTOR_MAX) {
i = PWM_MOTOR_MIN;
LED_R = ~LED_R;
}
Delay_1us(500);
}
Delay_10ms(10);
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
uint16_t pulse_width = 0;
/* TIM Configuration */
TIM_Config();
/* LED Configuration */
LED_Config();
/* PWM Configuration */
PWM_Config(MAX_PERIOD);
PWM_SetDC(1,100);
PWM_SetDC(2,100);
PWM_SetDC(3,100);
PWM_SetDC(4,100);
while (1)
{
/* PD12 to be toggled */
// GPIO_ToggleBits(GPIOD, GPIO_Pin_13);
PWM_SetDC(1,pulse_width++);
if (pulse_width > MAX_PERIOD / 10)
{
pulse_width = MAX_PERIOD / 20;
}
Delay(900000);
}
}
/*=====================================================================================================*/
int main( void )
{
u16 freq = PWM_FREQ_MIN;
u16 duty = PWM_DUTY_MAX_205k;
u8 state = STATE_FREQ;
GPIO_Config();
PWM_Config();
while(1) {
LED_G = ~LED_G;
if(KEY_WU == 1){
if(state == STATE_FREQ){
freq++;
if(freq>=PWM_FREQ_MIN){
freq = PWM_FREQ_MIN;
LED_R = ~LED_R;
}
FREQ = freq-1;
PWM1 = freq>>1;
}else if(state == STATE_DUTY){
duty++;
if(duty>= PWM_DUTY_MAX_205k){
duty = PWM_DUTY_MAX_205k;
state = STATE_FREQ;
}
PWM1 = duty;
}
Delay_1ms(10);
}else if(KEY_BO == 1){
/*=====================================================================================================*/
int main( void )
{
u32 i = PWM_MOTOR_MIN;
SystemInit();
GPIO_Config();
PWM_Config();
// PWM1 = PWM_MOTOR_MIN;
// PWM2 = PWM_MOTOR_MIN;
// PWM3 = PWM_MOTOR_MIN;
// PWM4 = PWM_MOTOR_MIN;
// PWM5 = PWM_MOTOR_MIN;
// PWM6 = PWM_MOTOR_MIN;
// PWM7 = PWM_MOTOR_MIN;
// PWM8 = PWM_MOTOR_MIN;
// PWM9 = PWM_MOTOR_MIN;
// PWM10 = PWM_MOTOR_MIN;
// PWM11 = PWM_MOTOR_MIN;
// PWM12 = PWM_MOTOR_MIN;
while(1) {
LED_G = ~LED_G;
while(KEY == 1) {
PWM1 = i;
PWM2 = i;
PWM3 = i;
PWM4 = i;
PWM5 = i;
PWM6 = i;
PWM7 = i;
PWM8 = i;
PWM9 = i;
PWM10 = i;
PWM11 = i;
PWM12 = i;
i++;
if(i>=PWM_MOTOR_MAX) {
i = PWM_MOTOR_MIN;
LED_R = ~LED_R;
}
Delay_100us(5);
}
Delay_100ms(1);
}
}
/************************MAIN*********************************************/
int main(void)
{
TIM_Config();
PWM_Config();
UART1_DMA_CONFIG(txbuffer,txsize,rxbuffer,rxsize,57600);
USART_config ();
Zero_state ();
if (SysTick_Config(SystemCoreClock / SysTick_interval)) // systick_interrupt occur every 0.1 ms (1000=1ms)
{/* Capture error */ while (1);}
while (1)
{
//control signal
X360_button ();
X360_Y1_Analog();
}
}
void init_platform(void) {
MP._Lspeed = 100;
MP._Rspeed = 100;
MP._state = 0;
MP._flags = 0;
MP._left_side._forward_pin = GPIO_Pin_11;
MP._left_side._backward_pin = GPIO_Pin_9;
MP._left_side._calibrate_speed = 0.945;
MP._left_side._state = 0;
MP._right_side._forward_pin = GPIO_Pin_10;
MP._right_side._backward_pin = GPIO_Pin_12;
MP._right_side._calibrate_speed = 1;
MP._right_side._state = 0;
MP._rotary_driver_state = 0;
MP.rotary_driver_ticks = 0;
MP.rotary_driver_target_ticks = 0;
//Orders
MP.completed_order = 0;
//Heading
MP.heading_state = PLATFORM_HEADING_YNEG;
MP.x_max = 664; //682
MP.y_max = 304;
MP.x_pos = 1;
MP.y_pos = 151;
//Adjust
MP.adjust_state = 0;
orderComplete=0;
timer=0;
//uint16_t pulse_width = 0;
/* TIM Configuration */
TIM_Config();
/* PWM Configuration */
PWM_Config(1000);
}
int main(void)
{
/* Init */
TIM_Config();
PWM_Config();
ENC_Config();
UART_DMA_CONFIG(txbuffer,txsize,rxbuffer,rxsize,57600);
USART_config ();
/* MPU 1 */
MPU6050_Status = TM_MPU6050_Init(&MPU6050_Data0, TM_MPU6050_Device_0, TM_MPU6050_Accelerometer_2G, TM_MPU6050_Gyroscope_250s);
Delay (200);
/* MPU2 */
//I2C_Config();
//MPU_Config(MPU_Adress);
//MPU_Wake(MPU_Adress);
if (SysTick_Config(SystemCoreClock / 1000))
{/* Capture error */ while (1);}
while (1);
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f30x.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f30x.c file
*/
if (SysTick_Config(SystemCoreClock / 1000))
{
/* Capture error */
while (1);
}
//All Init here
led_init();
usart_init();
TIM_Config();
PWM_Config();
EnableInterrupt();
while (1)
{
/*
if((asn % N_TIME_SLOT == TSLOT_ID) && (ts_enable_transmision == 1))
{
ts_enable_transmision = 0;
for(int i=0; i < 4; i++)
{
while (USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
USART_SendData(USART1, message[i]);
}
}*/
}
}
/*=====================================================================================================*/
int main( void )
{
uint32_t i = PWM_MOTOR_MIN;
GPIO_Config();
PWM_Config();
while(1) {
LED_G = !LED_G;
if(KEY_BO == 1) {
PWM1 = PWM_MOTOR_MIN;
PWM2 = PWM_MOTOR_MIN;
PWM3 = PWM_MOTOR_MAX;
PWM4 = PWM_MOTOR_MAX;
}
while(KEY_WU == 1) {
PWM1 = i;
PWM2 = i;
PWM3 = i;
PWM4 = i;
PWM5 = i;
PWM6 = i;
PWM7 = i;
PWM8 = i;
PWM9 = i;
PWM10 = i;
PWM11 = i;
i++;
if(i >= PWM_MOTOR_MAX) {
i = PWM_MOTOR_MIN;
LED_R = !LED_R;
}
Delay_100us(5);
}
Delay_100ms(1);
}
}
int main(void)
{
//uint16_t kezdet, vege;
vSemaphoreCreateBinary(xADCSemaphore);
RCC_Config();
IO_Init();
UART_Config();
PWM_Config();
DMA_Config();
I2C_Config();
NVIC_Config();
DebugTimerInit();
xTaskCreate(prvInitTask,(signed char*)"INIT", configMINIMAL_STACK_SIZE,NULL,TASK_INIT_PRIORITY,NULL);
vTaskStartScheduler();
while (1)
{
}
}
/*=====================================================================================================*/
int main( void )
{
GPIO_Config();
PWM_Config();
ADC_Config();
TIM_Config();
while(1) {
if(KEY_WU==1){
while(KEY_WU==1);
Kp+=1;
if(Kp>=20) Kp = 0;
Delay_10ms(2);
}
if(KEY_BO==1){
while(KEY_BO==1);
Kd+=0.1;
if(Kd>=5) Kd = 0;
Delay_10ms(2);
}
}
}
/**
* @brief Main thread of computation running in superloop to update sensor data and transmit
* and also subsequently run logic for PWM LED display and double tap detection
* @param void
*/
int main(void){
/* INITIALIZE SYSTEM CLOCK AND PERIPHERALS */
HAL_Init();
SystemClock_Config();
SPI_Init1();
MEMS_Config();
MEMS_Config_IT();
ADC_Config();
LED_Config();
PWM_Config();
/* CONFIG FOR PWM */
#ifdef LED_SPEED_SLOWER
speed = 1500;
#endif
#ifdef LED_SPEED_SLOW
speed = 1000;
#endif
#ifdef LED_SPEED_MEDIUM
speed = 800;
#endif
#ifdef LED_SPEED_FAST
speed = 400;
#endif
#ifdef LED_SPEED_FASTER
speed = 200;
#endif
#ifdef LED_ALL_ON
speed = 100;
#endif
/* CONFIG FOR DOUBLE TAP */
counter2 = 0;
thresh1 = 1300;
assert1 = 0;
assert2 = 0;
assertFall = 0;
assertRise2 = 0;
assertDoubleTap = 0;
/* BEGIN SUPERLOOP */
while(1){
/* SET SAMPLING DELAY FOR SENSORS */
if(interrupt != 0){
interrupt = 0;
get_readings();
}
/* TRANSMIT SENSOR DATA TO MASTER */
HAL_SPI_Transmit(&SpiHandle_2, txBuffer, 4, 10000);
/* LOGIC FOR IMPLEMENTING PWM DISPLAY LED */
pwm_display();
/* LOGIG FOR IMPLEMENTING DOUBLE TAP DETECTION */
double_tap();
}
}
void Pulse_Config (void) {
// Run timer config and initialise pulses to 50:50 duty cycle
TIM3_Config();
PWM_Config(TIM3_ARR);
}
uint8_t Servo::attach(int ulPin, int min, int max, int freq)
{
uint32_t ulValue=0;
bpwm = 0;
#ifdef USE_BoardToPin
if(ulPin > BoardToPin_MAX_COUNT) return 0;
if(ulPin > 5 && ulPin < 10) { // BPWM pins - 6, 7, 8, 9
bpwm = 1;
}
if(ulPin > 17 && ulPin < 22) { // PWM at analog pins - A0, A1, A2, A3
ulPin = ulPin + 8;
}
if(BoardToPinInfo[ulPin].type!=PWM_TYPE) return 0;
ulPin=BoardToPinInfo[ulPin].num;
if(bpwm) {
if(ulPin > BPWM_MAX_COUNT || BPWM_Desc[ulPin].P == NULL) return 0;
}
else {
if(ulPin > PWM_MAX_COUNT || PWM_Desc[ulPin].P == NULL) return 0;
}
#else
return 0;
#endif
if(bpwm)
{
BPWM_Config(BPWM_Desc[ulPin]); // Set Mutifunction pins
BPWM_ConfigOutputChannel(BPWM_Desc[ulPin].P, BPWM_Desc[ulPin].ch, BPWM_Desc[ulPin].freq, ulValue); // Config BPWMs
BPWM_EnableOutput(BPWM_Desc[ulPin].P, (1 << BPWM_Desc[ulPin].ch)); //Enable BPWM output
BPWM_Start(BPWM_Desc[ulPin].P, (1 << BPWM_Desc[ulPin].ch)); //Start BPWM
}
else
{
PWM_Config(PWM_Desc[ulPin]); // Set Mutifunction pins
PWM_ConfigOutputChannel(PWM_Desc[ulPin].P, PWM_Desc[ulPin].ch, PWM_Desc[ulPin].freq, ulValue); // Config PWMs
PWM_EnableOutput(PWM_Desc[ulPin].P, (1 << PWM_Desc[ulPin].ch)); //Enable PWM output
PWM_Start(PWM_Desc[ulPin].P, (1 << PWM_Desc[ulPin].ch)); //Start PWM
}
Servo_MAX = max;
Servo_MIN = min;
Servo_Pin = ulPin;
Servo_Freq = freq;
/*
#if defined(__M451__)
if(ulValue==100)
{
int32_t pin=PWM_Desc[ulPin].pintype.num;
GPIO_Config(GPIO_Desc[pin]);
GPIO_SetMode(GPIO_Desc[pin].P, GPIO_Desc[pin].bit, GPIO_MODE_OUTPUT);
(GPIO_Desc[pin].P)->DOUT |= GPIO_Desc[pin].bit;
pinEnabled[ulPin]= 0;
fixValue[ulPin]=ulValue;
//return 0;
}
#elif defined(__NUC240__)
if(ulValue==0)
{
int32_t pin=PWM_Desc[ulPin].pintype.num;
GPIO_Config(GPIO_Desc[pin]);
GPIO_SetMode(GPIO_Desc[pin].P, GPIO_Desc[pin].bit, GPIO_PMD_OUTPUT);
(GPIO_Desc[pin].P)->DOUT &= ~GPIO_Desc[pin].bit;
pinEnabled[ulPin]= 0;
fixValue[ulPin]=ulValue;
//return 0;
}
#elif defined(__NANO100__) | defined(__NANO1X2__)
if(ulValue==0)
{
int32_t pin=PWM_Desc[ulPin].pintype.num;
GPIO_Config(GPIO_Desc[pin]);
GPIO_SetMode(GPIO_Desc[pin].P, GPIO_Desc[pin].bit, GPIO_PMD_OUTPUT);
(GPIO_Desc[pin].P)->DOUT &= ~GPIO_Desc[pin].bit;
pinEnabled[ulPin]= 0;
fixValue[ulPin]=ulValue;
//return 0;
}
#elif defined(__NUC131__)
if(ulValue==0)
{
uint32_t pin = PWM_Desc[ulPin].pintype.num;
GPIO_Config(GPIO_Desc[pin]);
GPIO_SetMode(GPIO_Desc[pin].P, GPIO_Desc[pin].bit, GPIO_PMD_OUTPUT);
(GPIO_Desc[pin].P)->DOUT &= ~GPIO_Desc[pin].bit;
pinEnabled[ulPin]= 0;
fixValue[ulPin]=ulValue;
//return 0;
}
#endif
if (!pinEnabled[ulPin]){
//Set Mutifunction pins
PWM_Config(PWM_Desc[ulPin]);
//Config PWMs
PWM_ConfigOutputChannel(PWM_Desc[ulPin].P,PWM_Desc[ulPin].ch,50,0);
//Enable PWM output
PWM_EnableOutput(PWM_Desc[ulPin].P,(1<<PWM_Desc[ulPin].ch));
//Start PWM
PWM_Start(PWM_Desc[ulPin].P,(1<<PWM_Desc[ulPin].ch));
pinEnabled[ulPin] = 1;
}
//Config PWMs
if(fixValue[ulPin]!=ulValue)
{
PWM_ConfigOutputChannel(PWM_Desc[ulPin].P,PWM_Desc[ulPin].ch,50,ulValue);
fixValue[ulPin]=ulValue;
}
*/
}
//***************************************************************************************
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f4xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f4xx.c file
*/
/* Initialize Leds mounted on STM32F4-Discovery board */
STM_EVAL_LEDInit(LED4);
STM_EVAL_LEDInit(LED3);
STM_EVAL_LEDInit(LED5);
STM_EVAL_LEDInit(LED6);
init_USART1(9600); // initialize USART1 @ 9600 baud
char hello[] = "Init complete! Hello World!/n";
USART_puts_chars(USART1, hello); // just send a message to indicate that it works
/* ADC3 configuration *******************************************************/
/* - Enable peripheral clocks */
/* - DMA2_Stream0 channel2 configuration */
/* - Configure ADC Channel12 pin as analog input */
/* - Configure ADC3 Channel12 */
ADC3_CH12_DMA_Config();
/* Start ADC3 Software Conversion */
ADC_SoftwareStartConv(ADC3);
DMA_ITConfig(DMA2_Stream0,DMA_IT_TC,ENABLE);
/* TIM Configuration */
TIM_Config();
PWM_Config();
/* Setup SysTick Timer for 1 msec interrupts.
------------------------------------------
1. The SysTick_Config() function is a CMSIS function which configure:
- The SysTick Reload register with value passed as function parameter.
- Configure the SysTick IRQ priority to the lowest value (0x0F).
- Reset the SysTick Counter register.
- Configure the SysTick Counter clock source to be Core Clock Source (HCLK).
- Enable the SysTick Interrupt.
- Start the SysTick Counter.
2. You can change the SysTick Clock source to be HCLK_Div8 by calling the
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8) just after the
SysTick_Config() function call. The SysTick_CLKSourceConfig() is defined
inside the misc.c file.
3. You can change the SysTick IRQ priority by calling the
NVIC_SetPriority(SysTick_IRQn,...) just after the SysTick_Config() function
call. The NVIC_SetPriority() is defined inside the core_cm4.h file.
4. To adjust the SysTick time base, use the following formula:
Reload Value = SysTick Counter Clock (Hz) x Desired Time base (s)
- Reload Value is the parameter to be passed for SysTick_Config() function
- Reload Value should not exceed 0xFFFFFF
*/
if (SysTick_Config(SystemCoreClock / (6250)))
{
/* Capture error */
while (1);
}
set_PWM_duty( 75, LEFT_LED_880);
static uint8_t duty_cycle = 0;
while (1)
{
/* Toggle LED3 and LED6 */
//STM_EVAL_LEDToggle(LED3);
//Delay(100);
STM_EVAL_LEDToggle(LED4);
Delay(100);
STM_EVAL_LEDToggle(LED6);
Delay(100);
STM_EVAL_LEDToggle(LED5);
Delay(100);
}
}
void main(void)
{
/* Clock configuration -----------------------------------------*/
CLK_Config();
/* GPIO configuration ------------------------------------------*/
GPIO_Config_Init();
UART1_Config();
UART3_Config();
PWM_Config();
TIM2_Config();
TIM3_Config();
TIM4_Config();
I2C_RTC_Init();
/* Enable general interrupts */
enableInterrupts();
//【秒, 分, 时, 日, 星期, 月, 年】
uint8_t time[] = {00, 12, 10, 1, 1, 6, 15};
//Set_RT8563(time, 2, 7);
ResetNetMode();
#if 0
uint8_t Alarm[5][3] = {1, 16, 31, 1, 16, 33, 1, 16, 35};
uint8_t Time[7] = {0};
uint8_t AlarmState = 0;
uint8_t AlarmDelay = 1;
unsigned int NET_AUTO_SEND = 0;
#endif
while (1)
{
#if 0
Delay(1000);
Send_BAT_Voltage(Get_BAT_Value());
UART3_SendString("\n", 1);
AQI2PM25(Get_DS_Value());
#endif
if(DeviceStatus.Time_30ms == 1)
{
TouchKey_Read();
DeviceStatus.Time_30ms = 0;
}
if(DeviceStatus.Time_100ms == 1)
{
if(UART1_GetFlagStatus(UART1_FLAG_IDLE) == SET)
{
if(DataSize != 0)
{
DataResolve(RxRecvBuffer, DataSize);
NetProcess();
DataSize = 0;
}
}
DeviceStatus.Time_100ms = 0;
}
if(DeviceStatus.Time_1_s == 1)
{
Get_RT8563(time, 2, 7);
#if 0
ArrayCopy((uint8_t *)&NetMode.SendData, time, 7);
UART3_SendString((uint8_t *)&NetMode.SendData, 7);
if(NetMode.Status & NET_CONNECT)
{
NET_LED_FLASH;
NET_AUTO_SEND++;
if(NET_AUTO_SEND == 10)//自动发送数据
{
NetSendDataLength();
NET_AUTO_SEND = 0;
}
}
else NET_AUTO_SEND = 0;
#endif
DeviceStatus.Time_1_s = 0;
}
if(DeviceStatus.Time_30_s == 1)
{
NetModeErrorFix();
DeviceStatus.Time_30_s = 0;
}
#if 0
GetTime(Time);
if(ArrayCMP(Alarm, Time, 3) == 0 && AlarmState == 0)
{
GPIO_WriteHigh(GPIOF, GPIO_PIN_5);
FAN_SPEED_HIGH; //高速
Alarm[2] += AlarmDelay;
AlarmState = 1;
}
else if(ArrayCMP(Alarm, Time, 3) == 0 && AlarmState == 1)
{
GPIO_WriteLow(GPIOF, GPIO_PIN_5);
FAN_SPEED_OFF;
AlarmState = 0;
Alarm[2] -= AlarmDelay;
}
#endif
}
}
