//大舵机2.5%-12.5%满占空比调节 270度左右 PWM设置25-125
//一般舵机7%为中间值，4.5%-10%左右范围
void stepperMoterInit()
{
TIM5_Init();//左边的电机前四个
TIM8_Init();//用于手爪的吸力电机
TIM4_Init();//右边的电机前四个
TIM1_Init();
}
/********************************************
飞控主函数入口
功能：
1.初始化各个硬件
2.初始化系统参数
3.开定时器4等待数据中断到来
4.开定时器3串口广播实时姿态以及相关信息
********************************************/
int main(void)
{
//int i;
SystemClock_HSE(9); //系统时钟初始化，时钟源外部晶振HSE
//SystemClock_HSI(4); //系统时钟初始化，时钟源内部HSI
UART1_init(SysClock,115200); //串口1初始化
NVIC_INIT(); //中断初始化
STMFLASH_Unlock(); //内部flash解锁
LedInit(); //IO初始化
delay_init(SysClock); //滴答延时初始化
BT_PowerInit(); //蓝牙电源初始化完成，默认关闭
MotorInit(); //马达初始化
BatteryCheckInit(); //电池电压监测初始化
IIC_Init(); //IIC初始化
MPU6050_DMP_Initialize(); //初始化DMP引擎
//HMC5883L_SetUp(); //初始化磁力计HMC5883L
PID_INIT(); //PID参数初始化
ParameterRead(); //Flash参数读取
NRF24L01_INIT(); //NRF24L01初始化
SetRX_Mode(); //设无线模块为接收模式
PowerOn(); //开机等待
BT_on(); //蓝牙开
TIM3_Init(SysClock,10); //定时器3初始化，调试串口输出
TIM4_Init(SysClock,50); //定时器4初始化，定时采样传感器数据，更新PID输出
while (1); //等待数据更新中断到来
}
void main(void)
{
u16 trigpos;
u8 keycode;
SystemState = AutoRunMode;
// 现在还是使用软件触发
ADCState = Triggered; // ADCState = WaitTrigger;
CLK_Init(); // 主时钟初始化
TIM4_Init(); // TIM4 用于产生系统运行需要的定时信号
KEY_Init(); // 按键驱动初始化
KeyParse_Init(); // 按键处理模块初始化
LCD_Init(); // LCD驱动初始化
WDraw_Init(); // 波形显示模块初始化
TriggerInterruptInit(); // 外部触发中断初始化
ADC_Init(); // ADC采样程控模块初始化
DProc_Init(); // 数据处理模块初始化
enableInterrupts();
/* Infinite loop */
while (1)
{
if(flag_10ms_ok)
{
flag_10ms_ok = 0;
keycode = KEY_Scan();
switch(GET_KTYPE(keycode))
{
case KTYPE_NORMAL:
KeyParse(GET_KCODE(keycode));
default:
break;
}
}
switch(SystemState)
{
// to do
case AutoRunMode:
case ManualMode:
// 处理数据
if( ADCState == ADC_Buffer_Full )
{
trigpos = GetTriggerPostion(0, 64);
WDraw_DisplayUpdate(&ADC_Buffer[trigpos]);
ADCState = Triggered;
ADC_Index = 0;
}
break;
default:
break;
}
}
}
void ENC28J60_Reset(void)
{
ENC28J60_SPI2_Init(); //re-init SPI2
SPI2_SetSpeed(SPI_BaudRatePrescaler_4); //9MHz
TIM4_Init(1000,719);//setup a clock for ENC28J60
ENC28J60_RST_CLEAR(); //reset ENC28J60
ENC28J60_delayms(10);
ENC28J60_RST_SET(); //finish reset
ENC28J60_delayms(10);
}
//初始化IO 串口2
//pclk1:PCLK1时钟频率(Mhz)
//bound:波特率
void USART3_Init(u32 bound)
{
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); // GPIOB时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3,ENABLE);
USART_DeInit(USART3 ); //复位串口1
//USART3_TX PB.10
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; //PB.10
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化PB10
//USART3_RX PB.11
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//浮空输入
GPIO_Init(GPIOB, &GPIO_InitStructure); //初始化PB11
USART_InitStructure.USART_BaudRate = bound;//一般设置为9600;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式
USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //收发模式
USART_Init(USART3, &USART_InitStructure); //初始化串口 2
//波特率设置
// USART3->BRR=(pclk1*1000000)/(bound);// 波特率设置
//USART3->CR1|=0X200C; //1位停止,无校验位.
USART_DMACmd(USART3,USART_DMAReq_Tx,ENABLE); //使能串口3的DMA发送
UART_DMA_Config(DMA1_Channel7,(u32)&USART3->DR,(u32)USART3_TX_BUF);//DMA1通道7,外设为串口2,存储器为USART3_TX_BUF
USART_Cmd(USART3, ENABLE); //使能串口
#ifdef USART3_RX_EN //如果使能了接收
//使能接收中断
USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);//开启中断
NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2 ;//抢占优先级3
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //子优先级3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器
TIM4_Init(99,7199); //10ms中断
USART3_RX_STA=0; //清零
TIM4_Set(0); //关闭定时器4
#endif
}
/********************************************
飞控主函数入口
功能：
1.初始化各个硬件
2.初始化系统参数
3.开定时器4等待数据中断到来
4.开定时器3串口广播实时姿态以及相关信息
********************************************/
int main(void)
{
SystemClock(9); //系统时钟初始化
UART1_init(SysClock,115200); //串口1初始化
NVIC_INIT(); //中断初始化
STMFLASH_Unlock(); //内部flash解锁
LedInit(); //IO初始化
delay_init(SysClock); //滴答延时初始化
BT_PowerInit(); //蓝牙电源初始化完成，默认关闭
MotorInit(); //马达初始化
BatteryCheckInit(); //电池电压监测初始化
IIC_Init(); //IIC初始化
MPU6050_DMP_Initialize(); //初始化DMP引擎
PID_INIT(); //PID参数初始化
ParameterRead(); //Flash参数读取
NRF24L01_INIT(); //NRF24L01初始化
SetRX_Mode(); //设无线模块为接收模式
PowerOn(); //开机等待
BT_on(); //蓝牙开
TIM3_Init(36,2000); //定时器3初始化，调试串口输出
TIM4_Init(36,1000); //定时器4初始化，定时采样传感器数据，更新PID输出
while (1) //等待数据更新中断到来
{
// switch(UART1_Get_Char())//检测串口发送数据，做相应处理
// {
// case 'w':
// LedA_on;LedB_on;LedC_on;LedD_on;
// //TxBuf[0]++;
// //UART1_Put_Package(TxBuf);
// LedA_on;LedB_on;LedC_on;LedD_on;
// MotoPWM+=10;
// UART1_Put_Char(0x5a);
// break;
// case 's':
// LedA_off;LedB_off;LedC_off;LedD_off;
// UART1_Put_Char(0xaa);
// MotoPWM-=10;
// break;
// default :break;
// }
// MotorPwmFlash(MotoPWM,MotoPWM,MotoPWM,MotoPWM);
//
}
}
/*************************************************************************************
* 函数名称：main()
* 参数 ：void
* 返回值 ：void
* 描述 ：程序主入口main函数
*************************************************************************************/
int main(void)
{
u16 i,j;
u16 t=0;
/*****************************初始化****************************************/ //初始化系统时钟，设置时钟为168Mhz
// LED_Init();
SysTick_Init(168);
TIM4_Init();
// TIM3_init();//pwm
TIM5_PWM_Init();
TIM5_PWM_OUTPUT(40,20,10,50);
COM6_Init(115200);//串口6初始化
bsp_InitDAC();//这样初始化adc和dac不会出问题
bsp_InitADC();
bsp_InitDAC();
TFTLCD_Init();
Touch_Init();
//EXTI_Configuration();
GUI_Init(); //GUI 初始化
GUI_Clear();
Timer2_Init(20); //初始化LED的GPIO配置
WaveTaskCreat();
while(1)
{
if(Wave_updat == 1)
{
Get_Signal();
//Clculate_Signal();
}
Updata_signal();
GUI_Exec();
}
}
int main(void)
{
SystemClock_HSI(9); //系统时钟设置,9倍频，36M
LedInit(); //LED 初始化
Adc_Init(); //摇杆AD初始化
NRF24L01_Init(); //无线模块初始化
TX_Mode(); //发送模式
TIM4_Init(); //定时器初始化,定时周期为1ms，1ms发送一次摇杆AD值
KeyInit(); //按键初始化
TxBuf[30]=0xA5; //对应遥控器，该位写0xA5,保证飞机能在开机的时候能收到一个完整的32字节的数据包
GetAD(R_Mode);
/*******************************************************/
//以下为遥控解锁段
/*******************************************************/
while((Throttle>5)||(Roll>5))//解锁条件：油门拉到最低，方向打到最左解锁
{
GetAD(R_Mode);//得到各路AD值并显示
}
TxBuf[28]=0; //对应遥控器，该字节写0，使飞机跳过写参数那一步
TxBuf[27]=0xA5;//解锁飞机
TxBuf[31]=0xA5;//解锁成功，使能飞控
/*******************************************************/
//解锁完成
/*******************************************************/
Led1=1;
Led2=1;
Led3=1;
Led4=1;
Led5=0;
while(1)
{
GetAD(R_Mode); //得到各路AD值并显示
if(Key1==0){TxBuf[10]=0xA5;Led1=1; }//按键子程序，用于设置一键操作，如一键翻滚，一键返航等
else {TxBuf[10]=0;Led1=0;}
}
}
int main()
{
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
SystemInit();
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOA, &GPIO_InitStruct);
/*if((GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_0))==1)
{
TIM4_Init();
PWM_Init_TIM4_GPIO();
}*/
TIM4_Init();
PWM_Init_TIM4_GPIO();
while(1);
{
}
}
/********************************** 功能说明 ***********************************
* 移植 定时器
*******************************************************************************/
void vMBM_Timers_Init( uint16_t u_sec )
{
TIM4_Init( u_sec );
}
void main()
{
u16 tmp;
u8 tmp8, tmp8_A;
static tCANMsg RxMsgBuff;
CLK_Init(CLK_HSE);
disableInterrupts();
GPIO_Init();
TIM4_Init();
// TIM2_Init();
TIM1_Init();
ADC_Init();
/* Configure CAN - Interface */
CAN_Init(); // init CAN - interface
enableInterrupts();
CAN_Start();
CAN_TxMsg1.Length = 4;
CAN_TxMsg1.Xtd = false;
CAN_TxMsg1.rtr = false;
CAN_TxMsg1.ID = 0x280;
CAN_TxMsg1.Data[0] =0 ;
CAN_TxMsg1.Data[1] =0;
//PWM_SetFrequency(1);
do {
if ( IsCAN_MSG1_Send()) {
tmp = ADC_GetValue(ADC_REV_CHANEL);
tmp = tmp *24;
if ( tmp < 100 ) {
OIL_PRESS = false;
} else {
OIL_PRESS = true;
}
CAN_TxMsg1.Data[3] =(u8)(tmp >> 8) ;
CAN_TxMsg1.Data[2] =(u8)(tmp & 0x00FF);
CAN_Write(&CAN_TxMsg1);
}
if ( IsSpeedAdjustTime()) {
tmp = ADC_GetValue(ADC_SPEED_CHANEL);
tmp = tmp * 10;
tmp = tmp/ 34;
PWM_SetFrequency(tmp);
// 1023 = 300 Hz
}
/* if( CAN_GetMsg(&RxMsgBuff)== RET_OK){
if (RxMsgBuff.Xtd ){ // EID
tmp8 = (u8)(RxMsgBuff.timeStamp >>3) & 0xE0U;
if (RxMsgBuff.rtr) tmp8 |= 0x10;
tmp8 |= (RxMsgBuff.Length & 0x0F);
tmp8_A = (RxMsgBuff.ID>>24) & 0x001f;
tmp8_A |= (RxMsgBuff.FilterID << 5);
USART_SendBytesMessage (CAN_MSG_EXT_1, tmp8,(u8)((RxMsgBuff.timeStamp) & 0x00FF), tmp8_A ,(RxMsgBuff.ID>>16) & 0x00ffU);
USART_SendBytesMessage (CAN_MSG_EXT_2, (RxMsgBuff.ID>>8) & 0x00ffU,RxMsgBuff.ID & 0x00ffU,RxMsgBuff.Data[0], RxMsgBuff.Data[1] );
if (RxMsgBuff.Length > 2)
USART_SendBytesMessage (CAN_MSG_EXT_3, RxMsgBuff.Data[2], RxMsgBuff.Data[3], RxMsgBuff.Data[4], RxMsgBuff.Data[5]);
if (RxMsgBuff.Length > 6 )
USART_SendBytesMessage (CAN_MSG_EXT_4, RxMsgBuff.Data[6], RxMsgBuff.Data[7],0,0);
}else{ // standard ID
tmp8 = (u8)(RxMsgBuff.timeStamp >>3) & 0xE0U;
if (RxMsgBuff.rtr) tmp8 |= 0x10;
tmp8 |= (RxMsgBuff.Length & 0x0F);
tmp8_A = (RxMsgBuff.ID>>8) & 0x007f;
tmp8_A |= (RxMsgBuff.FilterID << 3);
USART_SendBytesMessage (CAN_MSG_STD_1, tmp8,(u8)((RxMsgBuff.timeStamp) & 0x00FF), tmp8_A ,RxMsgBuff.ID & 0x00ff);
if (RxMsgBuff.Length > 0)
USART_SendBytesMessage (CAN_MSG_STD_2, RxMsgBuff.Data[0], RxMsgBuff.Data[1], RxMsgBuff.Data[2], RxMsgBuff.Data[3]);
if (RxMsgBuff.Length > 4 )
USART_SendBytesMessage (CAN_MSG_STD_3, RxMsgBuff.Data[4], RxMsgBuff.Data[5], RxMsgBuff.Data[6], RxMsgBuff.Data[7]);
}
}*/
/** LED Flashing **/
if (GetLedState()) {
LED_ON;
} else {
LED_OFF;
}
} while (1);
}
/******************************************************************************
* Function name : main
* Description : Main testing loop
* Input param : None
* Return : None
* See also : None
*******************************************************************************/
void main (void) {
/* peripheral initialization */
#ifdef FAST_I2C_MODE
CLK->CKDIVR = 0x00; // sys clock / 1
#else
CLK->CKDIVR = 0x01; // sys clock / 2
#endif
// Set GPIO for LED uses
GPIOH->DDR |= 0x0F;
GPIOH->CR1 |= 0x0F;
// initialize timer 4 mandatory for timout and tick measurement
TIM4_Init();
// Initialize I2C for communication
I2C_Init();
// initialization of dummy field for test purpose
memcpy(Dummy, DUMMY_INIT, MAX_DUMMY);
#ifndef _COSMIC_
err_save= 0;
TIM4_tout= loop_count= 0;
#endif
// Enable all interrupts
enableInterrupts();
/* main test loop */
while(1) {
// switch on LED1 at the beginning of test
switch_on(LED1);
// write 1 data bytes with offset 8 from Dummy filed to slave memory
set_tout_ms(10);
I2C_WriteRegister(8, 1, &Dummy[8]);
// read 1 byte with offset 8 back from the image at slave memory
if(tout()) {
set_tout_ms(10);
I2C_ReadRegister(8, 1, &Dummy[8]);
}
// write 6 bytes with offset 2 from Dummy filed to slave memory
if(tout()) {
set_tout_ms(10);
I2C_WriteRegister(2, 6, &Dummy[2]);
}
// read 6 bytes with offset 2 back from the image at slave memory
if(tout()) {
set_tout_ms(10);
I2C_ReadRegister(2, 6, &Dummy[2]);
}
// write 1 byte with offset 9 from Dummy filed to slave memory
if(tout()) {
set_tout_ms(10);
I2C_WriteRegister(9, 1, &Dummy[9]);
}
// read 1 byte with offset 9 back from the image at slave memory
if(tout()) {
set_tout_ms(10);
I2C_ReadRegister(9, 1, &Dummy[9]);
}
// write 2 bytes with offset 0 from Dummy filed to slave memory
if(tout()) {
set_tout_ms(10);
I2C_WriteRegister(0, 2, &Dummy[0]);
}
// read 2 bytes with offset 0 back from the image at slave memory
if(tout()) {
set_tout_ms(10);
I2C_ReadRegister(0, 2, &Dummy[0]);
}
// if a timout error occures switch on LED2
if(!tout())
switch_on(LED2);
// switch off LED1 at the end of test
switch_off(LED1);
// check if dummy field is not corrupted => switch on LED 4 if test not successful
if(memcmp(Dummy, DUMMY_INIT, MAX_DUMMY) != 0)
switch_on(LED4);
delay(1);
}
}
int main(void)
{
static char ledsta;
/***********************************/
SystemClock_HSI(9); //系统时钟初始化，时钟源内部HSI
cycleCounterInit(); // Init cycle counter
SysTick_Config(SystemCoreClock / 1000); //SysTick开启系统tick定时器并初始化其中断，1ms
UART1_init(SysClock,uart1baudSet); //串口1初始化
NVIC_INIT(); //中断初始化
STMFLASH_Unlock(); //内部flash解锁
LoadParamsFromEEPROM(); //加载系统参数配置表
LedInit(); //IO初始化
Adc_Init(); //摇杆AD初始化
KeyInit(); //按键初始化
NRF24L01_INIT(); //NRF24L01初始化
SetTX_Mode(); //设无线模块为接收模式
controlClibra(); //遥控摇杆校准
#ifdef UART_DEBUG
TIM3_Init(SysClock,2000); //定时器初始化，1s为周期打印摇杆值
#endif
TIM4_Init(SysClock,TIME4_Preiod); //定时器4初始化，定时时间单位：(TIME4_Preiod)微秒
LedSet(led2,1);
LedSet(led3,1);
LoadRCdata(); //摇杆赋值
//RockerUnlockcrazepony(); //摆杆启动
Lockflag = 0; //解锁标志，1表示产生了一次按键操作，0表示该按键操作已经发送到飞控
LedSet(led2,0);
LedSet(led3,0);
while (1)
{
//10Hz loop
if(flag10Hz == 1) //10Hz
{
flag10Hz = 0;
/*status led*/
ledsta = !ledsta;
LedSet(signalLED,ledsta);
/*crazepony Lock*/
KeyLockcrazepony();
/*IMUcalibrate */
IMUcalibrate();
/*remote calibrate*/
Remotecalibrate();
}
//50Hz loop
if(flag50Hz == 1)
{
LoadRCdata();
flag50Hz = 0;
}
// 80Hz 12.5ms
if(flag80Hz)
{
flag80Hz = 0;
CommUAVUpload(MSP_SET_4CON);
}
}
}
void main()
{
u16 tmp;
u8 tmp8, tmp8_A,i;
bool result;
//RC => fcp
//CLK_Init(CLK_HSI); // internal RC as a clock source
CLK->CKDIVR = 0;
disableInterrupts();
GPIO_Init();
TIM4_Init();
enableInterrupts();
OK = 0;
FAIL = 0;
do {
if (START == 0) {
//nastavim 1 vystup do 0
OUT1_ODR = OUT_group1_BASE;
OUT2_ODR = OUT_group2_BASE;
SetTimeoutTime(10);
while (!IsTimeoutExpired());
// test zkratu na VCC - na zadnem vstupu nesmi byt 1
if ((IN1_IDR & IN_group1_BASE ) ||
(IN2_IDR & IN_group2_BASE )) {
FAIL = 1;// - neni klidovy stav
OK = 1;
} else {
result = true;
for (i = 0; i < TEST_PAIRS; ++i) {
SetTimeoutTime(10);
while (!IsTimeoutExpired());
result &= TestStep(i);
}
if (result) {
OK = 1;
FAIL = 0;
} else {
OK = 0;
FAIL = 1;
}
}
//SetTimeoutTime(7000);
//while (!IsTimeoutExpired());
while (!START);
OK = 0;
FAIL = 0;
SetTimeoutTime(2000);
while (!IsTimeoutExpired());
}
/** LED Flashing **/
if (GetLedState()) {
LED_ON;
//CAN_Write(&CAN_TxMsg);
} else {
LED_OFF;
}
} while (1);
}
/*
*berif: Initialize the encoding module
*param: None
*reval: None
*/
void Init_Encoder(void)
{
TIM2_Init(); //Timer
TIM3_Init(); //Counter(R)
TIM4_Init(); //Counter(L)
}
