int main(void)
{
delay_init(); //延时函数初始化
uart_init(115200);
TLV5616_Init();
TLV5616_SetOutput_Voltage(500);
IIC_Init(); //初始化ADS1115的I2C
KEY_Init();
Uc1701_Init();
clear_screen(0x55);
TIM2_Int_Init(14999,71);//15ms
TIM3_Int_Init(19999,71);//1Mhz的计数频率，计数到19999为20ms
TIM4_Int_Init(4999,71);//5ms
while(1)
{
delay_ms(2);
}
}
int main(void)
{
delay_init();
NVIC_Configuration(); /*设置NVIC中断分组2:2位抢占优先级，2位响应优先级*/
LED_Init();
MotorPin_Init(); /*舵机初始化信号线引脚*/
USART1_Config();
Init_TotalArray(); /*计算执行数组*/
Exti_Init();
TIM3_Int_Init(100,100);
TIM4_Int_Init(10000,7199); /*定时1S*/
//TIM_Cmd(TIM3, DISABLE); /*接收到指令之后，再打开TIM3*/
//while(!rece_flag);
while(1)
{ /*警告：外部中断ABCDEF的顺序不要颠倒*/
if(rece_flag==1)
{
if(rece_string[0]=='#')
{
TIM_Cmd(TIM3, DISABLE); /*先关闭TIM3，避免全局变量被修改*/
motor_speed=250;
SolvecubeArray_ToBufferArray();
}
change();
TIM_Cmd(TIM3, ENABLE); /*接收到指令之后，再打开TIM3*/
rece_flag=0;
}
if(flag_vpwm==1)
{
vpwm(); /*插补角度*/
flag_vpwm=0;
}
}
}
int main(void)
{
u16 sta , i=0;
int t = 200;
delay_init(); //延时函数初始化
LED_Init();
LED0 = 0;delay_ms(200); LED0 = 1;
LED1 = 0;delay_ms(200); LED1 = 1;
LED2 = 0;delay_ms(200); LED2 = 1;
LED3 = 0;delay_ms(200); LED3 = 1;
NVIC_Configuration(); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
uart_init(9600); //串口初始化为9600
EXTIX_Init( );
NRF24L01_Init(); //初始化NRF24L01
NRF24L01_RX_Mode();
while(NRF24L01_Check() == 1)//检查NRF24L01是否在位.
{
LED3=!LED3; printf("NRF ERROR!!\r\n");
delay_ms(100 );
}
printf("NRF okk!!\r\n");
sta=NRF24L01_Read_Reg(STATUS); //读取状态寄存器的值
NRF24L01_Write_Reg(WRITE_REG_NRF+STATUS,sta); //清除TX_DS或MAX_RT中断标志
NRF24L01_Write_Reg(FLUSH_RX,0xff);//清除RX FIFO寄存器
TIM2_PWM_Init(999,9); //PWM OUT
TIM3_Int_Init(0xffff,71); //做计时器用
IIC_Init();
InitMPU6050();
Init_HMC5883();
suanfa_GetOrigin(); //初始欧拉角
TIM4_Int_Init(49,7199); //PID调速中断 放在最后初始化，防止打断角度校准
LOCK = 1;
UN_LOCK = 0;
while(1){
if(LOCK)
{
lock();
LED0 = 0;delay_ms(500);LED0 = 1;
Power = 0;
Target_x = 0;
Target_y = 0;
}
if(UN_LOCK)
{
suanfa();
printf("%.2lf %.2lf %.2lf\r\n",EA.Roll,EA.Pitch,EA.Yaw);
// TIM_Cmd(TIM4, ENABLE);
Data_Receive_Anl();
}
// printf("--p\r\n");
}
}
