int main(void)
{
RCC_Configuration(); //配置RCC
initDesireAngles();
TIMER4_Enable(); //定时器4
TIMER4_Configuration(); //配置中断
USART1_GPIO_Config(); //配置GPIO
USART1_NVIC_Config(); //配置中断
USART1_Configuration(); //配置串口1
USART2_GPIO_Config();
USART2_Configuration();
I2C_GPIO_Config(); //配置IIC使用端口
Delayms(10); //延时
Init_MPU6050(); //初始化MPU6050
PWM_Configuration();
while(1)
{
}
//回车
}
void Init(void)
{
//时钟配置
RCC_Configuration();
NVIC_Configuration();
delay_init(72);
//串口配置
USART1_Configuration();
USART2_Configuration();
USART3_Configuration();
UART4_Configuration();
UART5_Configuration();
USART_ITEnable();
//PWM配置
PWMTIM_Configuration(72000/5,0); //不分频。PWM频率=Freq
//指南针配置
COMPASS_Init();
//舵机配置
SERVOS_Init();
//设置到初始值
PWM_Configuration(MOTOR_Speed);
s3010_SeTAngle(SERVOS_Angle);
}
int main(void)
{
// Hardware Init
delay_init(); //ÑÓʱº¯Êý³õʼ»¯
pwr_init();
#ifdef YANMING3
charger_init();
if (check_standby_flag() == SUCCESS && check_charging() != CHARGING) {
Key_GPIO_Config();
exti_key_init();
#ifdef DEBUG_POWER_OFF_WAKE_UP
Screen_Init();
OLED_Clear();
OLED_Display_On();
draw_about_mesage();
#endif
check_standby_wakeup_button_press();
// If we boot up from standby by pressing 5 times, the system will reboot again without
// this code block.
}
#endif
// OLED Init
Screen_Init();
OLED_Clear();
//
low_switch_power_init();
TIMx_Int_DeInit();
EXTIX_DeInit();
// Key
Key_GPIO_Config();
// PID related code
ADC1_Configuration();
PWM_Configuration();
VoltagePID_Init();
TIMx_Int_Init();
rtc_init();
// Our Init
system_init();
#ifndef YANMING3
//iwdg_init();
#endif
while(1) {
#ifndef YANMING3
//iwdg_feed();
#endif
task_schedule();
}
}
/**
* @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_stm32f10x_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f10x.c file
*/
LED_Configuration();
SysTick_Configuration();
USART_Configuration();
Buzzer_Configuration();
LED_Interrupt();//¿ªÆô¶¨Ê±Æ÷ÖжÏ
PWM_Configuration();
LED_Set(0x00);
/* Infinite loop */
while (1)
{
// Set_Speed(1,50,0);
// Set_Speed(2,50,0);
// Buzzer_ON();
// delay_ms(1000);
// Set_Speed(1,50,1);
// Set_Speed(2,50,1);
// Buzzer_ON();
// delay_ms(1000);
switch(instruction)
{
case 'a':
Set_Speed(1,50,1);
Set_Speed(2,50,1);
break;
case 'b':
Set_Speed(1,50,1);
Set_Speed(2,50,0);
break;
case 'c':
Set_Speed(1,50,0);
Set_Speed(2,50,1);
break;
case 'd':
Set_Speed(1,50,0);
Set_Speed(2,50,0);
break;
case 's':
Set_Speed(1,0,0);
Set_Speed(2,0,0);
break;
case 'z':
Buzzer_ON();
break;
case 'y':
Buzzer_OFF();
break;
default: break;
}
}
}
int main()
{
int x0 = 9;
int y0 = 7;
double MOTOR_Speed_Previous = MOTOR_Speed;
double SERVOS_Angle_Previous = SERVOS_Angle;
Init(); //加载
//串行口
USART_sendBuf(USART1, "STM32 USART TEST\r\n");
DelayMs(100);
//主循环
while(1)
{
if(state==0) {
//应用控制数据到电机和舵机
if(MOTOR_Speed != MOTOR_Speed_Previous)
{
PWM_Configuration(MOTOR_Speed);
MOTOR_Speed_Previous = MOTOR_Speed;
continue;
}
if(SERVOS_Angle != SERVOS_Angle_Previous)
{
s3010_SeTAngle(SERVOS_Angle);
SERVOS_Angle_Previous = SERVOS_Angle;
continue;
}
ULTRASONIC_Read();
COMPASS_Read();
sprintf((char*)buf, "ULTRASONIC_Dist1:%f\r\n", ULTRASONIC_Dist1);
USART_sendBuf(USART1, buf);
sprintf((char*)buf, "ULTRASONIC_Dist2:%f\r\n", ULTRASONIC_Dist2);
USART_sendBuf(USART1, buf);
sprintf((char*)buf, "ULTRASONIC_Dist3:%f\r\n", ULTRASONIC_Dist3);
USART_sendBuf(USART1, buf);
sprintf((char*)buf, "COMPASS_Angle:%f\r\n", COMPASS_Angle);
USART_sendBuf(USART1, buf);
}
if(state==1) {
USART_sendBuf(USART1, "STM32 POWER ON\r\n");
ULTRASONIC_Read();
COMPASS_Read();
//Calculate x0,y0 here
//x0 = ULTRASONIC_Dist3;
//y0 = ULTRASONIC_Dist1;
//End of calculation
sprintf((char*)buf, "%d\n", x0);
USART_sendBuf(USART2,buf);
USART_sendBuf(USART1,buf);
sprintf((char*)buf, "%d\n", y0);
USART_sendBuf(USART2,buf);
USART_sendBuf(USART1,buf);
state = 2;
}
if(state==2) {
DelayMs(50);
if(num == total_num * 2 + 1){
USART_sendBuf(USART1, "DATA TRANSFER COMPLETE\r\n");
state=3;
}
}
if(state==3) {
//Add PID here
DelayMs(50);
}
}
}