//初始化24L01的IO口
void NRF24L01_Configuration(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_NRF24L01_CE, ENABLE); //使能GPIO的时钟
GPIO_InitStructure.GPIO_Pin = NRF24L01_CE; //NRF24L01 模块片选信号
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIO_NRF24L01_CE, &GPIO_InitStructure);
RCC_APB2PeriphClockCmd(RCC_NRF24L01_CSN, ENABLE); //使能GPIO的时钟
GPIO_InitStructure.GPIO_Pin = NRF24L01_CSN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIO_NRF24L01_CSN, &GPIO_InitStructure);
Set_NRF24L01_CE; //初始化时先拉高
Set_NRF24L01_CSN; //初始化时先拉高
//配置NRF2401的IRQ
GPIO_InitStructure.GPIO_Pin = NRF24L01_IRQ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU ; //上拉输入
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIO_NRF24L01_IRQ, &GPIO_InitStructure);
GPIO_SetBits(GPIO_NRF24L01_IRQ,NRF24L01_IRQ);
SPI_Configuration(); //初始化SPI
Clr_NRF24L01_CE; //使能24L01
Set_NRF24L01_CSN; //SPI片选取消
}
/***************************************************************************
Declaration : void init_mcu (void)
Function : Initializes ATmega88 MCU
***************************************************************************/
void init_mcu (void)
{
#ifdef DEBUG
debug();
#endif
/* System Clocks Configuration */
RCC_Configuration();
/* Configure the GPIO ports */
GPIO_Configuration();
/* Configure EXTI Line9 to generate an interrupt on falling edge */
EXTI_Configuration();
/* SPI the GPIO ports */
SPI_Configuration();
/* USART Configuration as SPI */
USART1_Configuration();
/* TIM2 Configuration */
TIM2_Configuration();
/* TIM3 Configuration */
TIM3_Configuration();
/* TIM4 Configuration */
TIM4_Configuration();
/* Configure RTC clock source and prescaler */
RTC_Configuration();
/* NVIC configuration */
NVIC_Configuration();
}
/***********************************************************
* Function:
* Description:
* Input:
* Input:
* Output:
* Return:
* Others:
***********************************************************/
static void rt_thread_entry_sd_test( void* parameter )
{
FRESULT res;
char tempbuf[64];
rt_sem_take( &sem_dataflash, RT_TICK_PER_SECOND * FLASH_SEM_DELAY );
SPI_Configuration();
res = SD_Init();
if(0 == res)
{
rt_kprintf("\r\n SD CARD INIT OK!");
memset(tempbuf,0,sizeof(tempbuf));
SD_GetCID(tempbuf);
rt_kprintf("\r\n CID=");
printf_hex_data(tempbuf, 16);
SD_GetCSD(tempbuf);
rt_kprintf("\r\n SID=");
printf_hex_data(tempbuf, 16);
rt_kprintf("\r\n SD 容量=%d",SD_GetCapacity());
}
else
{
rt_kprintf("\r\n SD CARD INIT ERR = %d",res);
}
if(0 == f_mount(MMC, &fs))
{
rt_kprintf("\r\n f_mount SD OK!");
}
rt_sem_release(&sem_dataflash);
while( 1 )
{
rt_thread_delay( RT_TICK_PER_SECOND / 20 );
}
}
void AD7687_Configuration (void)
{
SPI_Configuration ();
// GPIO_Configuration ();
// while(1){
// AD7687_ResetConverPin ();
// STK_delay10ms (1);
// AD7687_SetConverPin ();
// STK_delay10ms (200);
// }
//PIT_Configuration ();
FTM_Configuration ();
}
void init(void)
{
SystemInit();
//Setup SystickTimer
if (SysTick_Config(SystemCoreClock / 1000)){ColorfulRingOfDeath();}
GPIO_Configuration();
#ifdef USE_MICROUSB
USBD_Init(&USB_OTG_dev,
USB_OTG_FS_CORE_ID,
&USR_desc,
&USBD_CDC_cb,
&USR_cb);
#endif
#ifdef USE_SDIO
UB_Fatfs_Init();
#endif
#ifdef USE_ADC
ADC_Configuration();
#endif
#ifdef USE_I2C
I2C_Configuration();
#endif
#ifdef USE_SPI
SPI_Configuration();
#endif
#ifdef USE_ENCODER
TIM_encoder_Configuration();
#endif
#ifdef USE_USART1
USART1_Configuration();
#endif
#ifdef USE_USART2
USART2_Configuration();
#endif
#ifdef USE_USART3
USART3_Configuration();
#endif
#ifdef USE_CAN
CAN_Configuration();
#endif
#ifdef USE_PWM
TIM_pwm_Configuration();
#endif
#ifdef USE_EXTI
EXTI_Configuration();
#endif
NVIC_Configuration();
}
int main(void)
{
int flag;
int i;
//only for sd testing
extern u8 sd_recv_buf[512];
extern u8 sd_send_buf[512];
u8 ret = 1;
// only for sd testing
RCC_Configuration();
RTC_Configuration();
GPIO_Configuration();
SPI_Configuration();
NVIC_Configuration();
USART_Configuration();
EXTI_cfg();
//only for sd testing
ret = MSD_Init();
ret = MSD_GetMediumCharacteristics();
MSD_EarseBlock(0,Mass_Block_Count);
//only for sd testing
//system start working
GPIO_SetBits(GPIOC,GPIO_Pin_14);
//wait for the moment that the device has been fxed into the rocket
// for (i=0;i<6*5;i++) {delay();} //delay 10 minutes
//self-testing
//first, test wireless data transmition
Timedisplay=0;
while (Timedisplay<10)
{
USART_SendData(USART3, 'A');
while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);
if ((USART_GetFlagStatus(USART3, USART_FLAG_RXNE) == SET)
&& (USART_ReceiveData(USART3)==66)) //except "B"
{
//static char Responce[]="Wireless data transmition test completed";
for (i=0;i<strlen(Responce);i++)
{
USART_SendData(USART3, Responce[i]);
while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);
}
break;
}
//USART_ClearFlag(USART3, USART_FLAG_RXNE);
}
if (Timedisplay==10)
{
GPIO_ResetBits(GPIOC,GPIO_Pin_14);
//Write into SD:ERROR in data transmition
//only for testing
for (i=0;i<strlen(errorDatatransmition);i++)
{
sd_send_buf[i]=errorDatatransmition[i];
}
ret = MSD_WriteBlock(sd_send_buf,0,512);
//only for testing
return(0);
}
//waiting for the continue order
for (i=0;i<4000;i++);
while (1)
{
if ((USART_GetFlagStatus(USART3, USART_FLAG_RXNE) == SET)
&& (USART_ReceiveData(USART3)==78)) //except "N"
{
break;
}
//USART_ClearFlag(USART3, USART_FLAG_RXNE);
}
//second,test GPS
Timedisplay=0;
flag=1;
while ((Timedisplay<60*5) &&
(!((USART_GetFlagStatus(USART3, USART_FLAG_RXNE) == SET)
&& (USART_ReceiveData(USART3)==71)))) //except "G"
{
if ((USART_GetFlagStatus(USART1, USART_FLAG_RXNE) == SET))
{
flag=1;
USART_SendData(USART3, USART_ReceiveData(USART1));
while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);
}
//USART_ClearFlag(USART1, USART_FLAG_RXNE);
}
if (flag==0)
{
GPIO_ResetBits(GPIOC,GPIO_Pin_14);
for (i=0;i<strlen(errorGPS);i++)
{
USART_SendData(USART3, errorGPS[i]);
while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);
}
//Write into SD:ERROR in GPS
for (i=0;i<strlen(errorGPS);i++)
{
sd_send_buf[i]=errorGPS[i];
}
ret = MSD_WriteBlock(sd_send_buf,1,512);
return(0);
}
//static char Responce2[]="GPS test completed";
for (i=0;i<strlen(Responce2);i++)
{
USART_SendData(USART3, Responce2[i]);
while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);
}
//waiting for the continue order
for (i=0;i<4000;i++);
while (1)
{
if ((USART_GetFlagStatus(USART3, USART_FLAG_RXNE) == SET)
&& (USART_ReceiveData(USART3)==78)) //except "N"
{
break;
}
//USART_ClearFlag(USART3, USART_FLAG_RXNE);
}
//third, test clock
USART_SendData(USART3, 'C');
while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);
Timedisplay=0;
flag=0;
while ((Timedisplay<20) &&
(!((USART_GetFlagStatus(USART3, USART_FLAG_RXNE) == SET)
&& (USART_ReceiveData(USART3)==69)))); //except "E"
if ((abs(Timedisplay-10)>2) &&
(USART_ReceiveData(USART3)==69))
{
GPIO_ResetBits(GPIOC,GPIO_Pin_14);
for (i=0;i<strlen(errorclock);i++)
{
USART_SendData(USART3, errorclock[i]);
while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);
}
//Write into SD:ERROR in timing
//only for testing
for (i=0;i<strlen(errorclock);i++)
{
sd_send_buf[i]=errorclock[i];
}
ret = MSD_WriteBlock(sd_send_buf,2,512);
//only for testing
return(0);
}
//static char Responce3[]="clock test completed";
for (i=0;i<strlen(Responce3);i++)
{
USART_SendData(USART3, Responce3[i]);
while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);
}
//static char Responce4[]="ALL test completed,wait for launching signal";
for (i=0;i<strlen(Responce4);i++)
{
USART_SendData(USART3, Responce4[i]);
while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);
}
while (!((USART_GetFlagStatus(USART3, USART_FLAG_RXNE) == SET)
&& (USART_ReceiveData(USART3)==76))); //except for "L"
//delay();
//static char Responce5[]="Go! Good Luck!";
for (i=0;i<strlen(Responce5);i++)
{
USART_SendData(USART3, Responce5[i]);
while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);
}
/* Enable the USART Receive interrupt: this interrupt is generated when the
USART1 receive data register is not empty */
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);
//USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);
Timedisplay=0;
while(1)
{
if (Timedisplay>=OPEN_Parachute)
{
GPIO_SetBits(GPIOC,GPIO_Pin_6);
//static char Responce6[]="The parachute is open@";
for (i=0;i<strlen(Responce6);i++)
{
USART_SendData(USART3, Responce6[i]);
while(USART_GetFlagStatus(USART3, USART_FLAG_TXE) == RESET);
}
}
}
return(0);
}
void vidInit(void)
{
SPI_Configuration();
TIMER_Configuration();
vidClearScreen();
}
int main(void)
{
int i;
Systick_Configuration();
LED_Configuration();
button_Configuration();
usart1_Configuration(9600);
SPI_Configuration();
TIM4_PWM_Init();
Encoder_Configration();
buzzer_Configuration();
ADC_Config();
//curSpeedX = 0;
//curSpeedW = 0;
//shortBeep(2000, 8000);
while(1) {
readSensor();
readGyro();
readVolMeter();
printf("LF %d RF %d DL %d DR %d aSpeed %d angle %d voltage %d lenc %d renc %d\r\n", LFSensor, RFSensor, DLSensor, DRSensor, aSpeed, angle, voltage, getLeftEncCount(), getRightEncCount());
displayMatrix("UCLA");
setLeftPwm(100);
setRightPwm(100);
delay_ms(1000);
}
//forwardDistance(4000,0,0,true);
//displayMatrix("Sped");
//targetSpeedX = 100;
//delay_ms(2000);
//
//targetSpeedX = 100;
//delay_ms(2000);
//printf("==============================================\n\r=======================================================\r\n");
//delay_ms(1000);
//displayMatrix("Wat");
//delay_ms(1000);
//displayMatrix("STOP");
//displayMatrix("GO");
turnRightAngle(LEFT);
targetSpeedW = 0;
delay_ms(1000);
turnRightAngle(RIGHT);
targetSpeedW = 0;
delay_ms(1000);
displayMatrix("STOP");
delay_ms(3000);
targetSpeedX = 0;
//
targetSpeedW = 10;
delay_ms(1000);
targetSpeedX = 0;
targetSpeedW = 0;
return 0;
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* System Clocks Configuration */
RCC_Configuration();
/* Configure the GPIO ports */
GPIO_Configuration();
/* Configure the SPI */
SPI_Configuration();
/* USARTy configuration ------------------------------------------------------*/
/* USARTy configured as follow:
- BaudRate = 115200 baud
- Word Length = 8 Bits
- One Stop Bit
- No parity
- Hardware flow control disabled (RTS and CTS signals)
- Receive and transmit enabled
- USART Clock Enabled
- USART CPOL: Clock is active High
- USART CPHA: Data is captured on the second edge
- USART LastBit: The clock pulse of the last data bit is output to
the SCLK pin
*/
USART_ClockInitStructure.USART_Clock = USART_Clock_Enable;
USART_ClockInitStructure.USART_CPOL = USART_CPOL_High;
USART_ClockInitStructure.USART_CPHA = USART_CPHA_2Edge;
USART_ClockInitStructure.USART_LastBit = USART_LastBit_Enable;
USART_ClockInit(USARTy, &USART_ClockInitStructure);
USART_InitStructure.USART_BaudRate = 115200;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No ;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(USARTy, &USART_InitStructure);
/* Configure the USARTy */
USART_Init(USARTy, &USART_InitStructure);
/* Enable the USARTy */
USART_Cmd(USARTy, ENABLE);
while(NbrOfDataToRead2--)
{
/* Write one byte in the USARTy Transmit Data Register */
USART_SendData(USARTy, TxBuffer1[TxCounter1++]);
/* Wait until end of transmit */
while(USART_GetFlagStatus(USARTy, USART_FLAG_TC) == RESET)
{
}
/* Wait the byte is entirtly received by SPIy */
while(SPI_I2S_GetFlagStatus(SPIy, SPI_I2S_FLAG_RXNE) == RESET)
{
}
/* Store the received byte in the RxBuffer2 */
RxBuffer2[RxCounter2++] = SPI_I2S_ReceiveData(SPIy);
}
/* Clear the USARTy Data Register */
USART_ReceiveData(USARTy);
while(NbrOfDataToRead1--)
{
/* Wait until end of transmit */
while(SPI_I2S_GetFlagStatus(SPIy, SPI_I2S_FLAG_TXE)== RESET)
{
}
/* Write one byte in the SPIy Transmit Data Register */
SPI_I2S_SendData(SPIy, TxBuffer2[TxCounter2++]);
/* Send a Dummy byte to generate clock to slave */
USART_SendData(USARTy, DYMMY_BYTE);
/* Wait until end of transmit */
while(USART_GetFlagStatus(USARTy, USART_FLAG_TC) == RESET)
{
}
/* Wait the byte is entirtly received by USARTy */
while(USART_GetFlagStatus(USARTy, USART_FLAG_RXNE) == RESET)
{
}
/* Store the received byte in the RxBuffer1 */
RxBuffer1[RxCounter1++] = USART_ReceiveData(USARTy);
}
/* Check the received data with the send ones */
TransferStatus1 = Buffercmp(TxBuffer1, RxBuffer2, TxBufferSize1);
/* TransferStatus = PASSED, if the data transmitted from USARTy and
received by SPIy are the same */
/* TransferStatus = FAILED, if the data transmitted from USARTy and
received by SPIy are different */
TransferStatus2 = Buffercmp(TxBuffer2, RxBuffer1, TxBufferSize2);
/* TransferStatus = PASSED, if the data transmitted from SPIy and
received by USARTy are the same */
/* TransferStatus = FAILED, if the data transmitted from SPIy and
received by USARTy are different */
while (1)
{
}
}
/*******************************************************************************
* Function Name : main
* Description : Main program.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
int SD_Test(void)
{
u16 i;
FIL file;
char data[512];
UINT number=0;
char *s="hello,lightjpu\n";
//Init_Device();
//RTC_Start();
SPI_Configuration();
res = f_mount(0, &fs);
//res = f_mkfs(0,0,0);
// if(res!=FR_OK)
// {
// while(1);
// }
res = f_open(&file, "data.txt", FA_CREATE_ALWAYS | FA_READ | FA_WRITE);
if(res!=FR_OK)
{
while(1);
}
for(i=0;i<512;i++)
{
data[i] = 0x38;
}
res = f_write(&file, data, 512, &number);
if(res!=FR_OK)
{
while(1);
}
while(1)
{
//if(fgets(data, sizeof(data), &file)==NULL)
//{
break;
//}
//prints(data);
}
f_close(&file);
// write_time = Time_GetUnixTime();
res = f_open(&file, "331.txt", FA_CREATE_ALWAYS | FA_WRITE);
for(i=0;i<3;i++)
{
res = f_write(&file, s, 14, &br);
if(br<14) //判断是否磁盘写满
{
break;
}
}
// write_time = Time_GetUnixTime() - write_time;
f_close(&file);
SD_PWR_OFF();
while(1)
{
/*
if(TimeDisplay)
{
current_time = Time_GetUnixTime();
time_now = Time_GetCalendarTime();
USART_SendData(USART1, 0x0c);
while(USART_GetFlagStatus(USART1, USART_FLAG_TC)==RESET);
printf("\r\nUNIX时间：%d", current_time);
printf("\t当前时间：%d-%d-%d %d %02d:%02d:%02d\t", time_now.tm_year, \
time_now.tm_mon+1, time_now.tm_mday, time_now.tm_wday+1,\
time_now.tm_hour, time_now.tm_min, time_now.tm_sec);
TimeDisplay = 0;
}
*/
}
}
void System_Configuration(void)
{
__disable_interrupt();
/* System Clocks Configuration */
RCC_Configuration();
/* NVIC configuration */
NVIC_Configuration();
/* Configure the GPIO ports */
GPIO_Configuration();
/* Unlock the Flash Program Erase controller */
FLASH_Unlock();
/* USART Configuration */
USART_Configuration(USART_DXL,Baudrate_DXL);
//dxl_initialize(USART_DXL,Baudrate_DXL);
zgb_initialize(0);
//USART_Configuration(USART_ZIGBEE,Baudrate_ZIGBEE);
//USART_Configuration(USART_PC,1000000);
//USART_Configuration(USART_PC,3000000);
USART_Configuration(USART_PC,Baudrate_PC);
/* ADC Configuration */
ADC_Configuration();
SysTick_Configuration();
Timer_Configuration();
SPI_Configuration();
Buzzer_Configuration();
GPIO_ResetBits(PORT_ENABLE_TXD, PIN_ENABLE_TXD); // TX Disable
GPIO_SetBits(PORT_ENABLE_RXD, PIN_ENABLE_RXD); // RX Enable
GPIO_SetBits(PORT_SIG_ACC_CS,PIN_SIG_ACC_CS);
GPIO_SetBits(PORT_SIG_GYRO_CS,PIN_SIG_GYRO_CS);
__enable_interrupt();
Gyro_Configuration();
ACC_Configuration();
}
/**
* @brief .
* @param None
* @retval None
*/
void ILI_Configuration (void)
{
GPIO_Configuration ();
SPI_Configuration ();
ILI_Initial ();
}