int main(void)
{
u16 i,rxlen;
u16 lenx;
u8 key=0XFF;
u8 upload=0;
delay_init(); //延时函数初始化
uart_init(38400); //串口初始化为9600
USART2_Init(38400); //初始化串口2
LED_Init(); //初始化与LED连接的硬件接口
KEY_Init(); //初始化与LED连接的硬件接口
LCD_Init(); //初始化LCD
POINT_COLOR=RED;
LCD_ShowString(30,20,200,16,16,"ALIENTEK STM32 ^_^");
LCD_ShowString(30,40,200,16,16,"NE0-6M GPS TEST");
LCD_ShowString(30,60,200,16,16,"ATOM@ALIENTEK");
LCD_ShowString(30,80,200,16,16,"KEY0:Upload NMEA Data SW");
LCD_ShowString(30,100,200,16,16,"NMEA Data Upload:OFF");
if(Ublox_Cfg_Rate(1000,1)!=0) //设置定位信息更新速度为1000ms,顺便判断GPS模块是否在位.
{
LCD_ShowString(30,120,200,16,16,"NEO-6M Setting...");
while((Ublox_Cfg_Rate(1000,1)!=0)&&key) //持续判断,直到可以检查到NEO-6M,且数据保存成功
{
USART2_Init(9600); //初始化串口2波特率为9600(EEPROM没有保存数据的时候,波特率为9600.)
Ublox_Cfg_Prt(38400); //重新设置模块的波特率为38400
USART2_Init(38400); //初始化串口2波特率为38400
Ublox_Cfg_Tp(1000000,100000,1); //设置PPS为1秒钟输出1次,脉冲宽度为100ms
key=Ublox_Cfg_Cfg_Save(); //保存配置
}
LCD_ShowString(30,120,200,16,16,"NEO-6M Set Done!!");
delay_ms(500);
LCD_Fill(30,120,30+200,120+16,WHITE);//清除显示
}
while(1)
{
delay_ms(1);
if(USART2_RX_STA&0X8000) //接收到一次数据了
{
rxlen=USART2_RX_STA&0X7FFF; //得到数据长度
for(i=0;i<rxlen;i++)USART1_TX_BUF[i]=USART2_RX_BUF[i];
USART2_RX_STA=0; //启动下一次接收
USART1_TX_BUF[i]=0; //自动添加结束符
GPS_Analysis(&gpsx,(u8*)USART1_TX_BUF);//分析字符串
Gps_Msg_Show(); //显示信息
if(upload)printf("\r\n%s\r\n",USART1_TX_BUF);//发送接收到的数据到串口1
}
key=KEY_Scan(0);
if(key==KEY0_PRES)
{
upload=!upload;
POINT_COLOR=RED;
if(upload)LCD_ShowString(30,100,200,16,16,"NMEA Data Upload:ON ");
else LCD_ShowString(30,100,200,16,16,"NMEA Data Upload:OFF");
}
if((lenx%500)==0)LED0=!LED0;
lenx++;
}
}
int main(void) {
DD_SERVO_Out;
OCR1AH = 0x05;
OCR1AL = 0xDC;
ICR1H = 0xFF;
ICR1L = 0xFF;
TCCR1C = 0;
TCCR1A = 0x82;
TCCR1B = 0x1A;
int xxx=0;
gamura_init();
USART_Init();
USART2_Init();
Task_01__Task_Stop;
Task_02__Task_Stop;
//Task_02__Task_Start;
Task_03__Task_Stop;
Task_04__Task_Stop;
Task_05__Task_Stop;
Task_06__Task_Start;
while (1) {
Task_02();
Task_01();
//Task_04();
Task_05();
Task_06();
//Task_03();
}
}
void
board_init(void)
{
printf("\n\n");
printf("BWCT FSB-A920-1\n");
printf("http://www.bwct.de\n");
printf("\n");
#if defined(SDRAM_128M)
printf("AT92RM9200 180MHz 128MB\n");
#else
printf("AT92RM9200 180MHz 64MB\n");
#endif
printf("Initialising USART0\n");
USART0_Init();
printf("Initialising USART1\n");
USART1_Init();
printf("Initialising USART2\n");
USART2_Init();
printf("Initialising USART3\n");
USART3_Init();
printf("Initialising TWI\n");
EEInit();
printf("Initialising DS1672\n");
DS1672_Init();
printf("Initialising Ethernet\n");
printf("MAC %x:%x:%x:%x:%x:%x\n", mac[0],
mac[1], mac[2], mac[3], mac[4], mac[5]);
EMAC_Init();
EMAC_SetMACAddress(mac);
printf("Initialising SD-card\n");
sdcard_init();
}
int main(void)
{
USART2_Init(9600);
NVIC_Configuration();
I2C_LowLevel_Init(I2C1);
// Tick every 1 ms
if (SysTick_Config(SystemCoreClock / 1000)) while (1);
printf("Ready\n\r");
if (bmp180_check_presence()) {
printf("Sensor is present\n\r");
} else {
printf("Sensor is NOT present\n\r");
while(1){}
}
CalibrationData data;
data.oss = 3;
bmp180_get_calibration_data(&data);
bmp180_get_uncompensated_temperature(&data);
bmp180_get_uncompensated_pressure(&data);
bmp180_calculate_true_temperature(&data);
bmp180_calculate_true_pressure(&data);
bmp180_get_absolute_altitude(&data);
while(1)
{
}
}
/*******************************************************************************
*Function:系统初始化
*parm:none
*description:
*******************************************************************************/
void board_init(void)
{
delay_init();
LED_Init(); //LED灯初始化
USART_Configuration(115200);//串口通信初始化
USART2_Init(9600);
}
/*******************************************************************************
* Function Name : main
* Description : Main program.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
int main(void)
{
RCC_Configuration(); // Configure the system clocks
GPIO_Configuration();
NVIC_Configuration(); // NVIC Configuration
USART1_Init();
USART2_Init();
Timer_Configuration();
WIZ_SPI_Init();
WIZ_Config(); // network config
// LED3 and LED4 On!
LED3_onoff(ON);
LED4_onoff(ON);
// Start Application
printf("\r\n\r\n----------------------------------- \r\n");
printf("SMTP Client using W5200\r\n");
printf("----------------------------------- ");
Main_Menu();
while(1) {
}
}
void BSP_Init()
{
NVIC_Configuration();
#if USING_SRAM_AS_HEAP > 0
FSMC_SRAM_Init();
#endif
#if WATCHDOG_ENABLE > 0
WATCHDOG_setTimeOut(15); //如果15秒仍未启动完成，那么就复位
WATCHDOG_enable(); //调试时要屏蔽
#endif
_init_alloc(HEAP_BASE, HEAP_TOP);
USART1_Init();
USART2_Init();
USART3_Init();
#ifdef STM32F10X_CL
UART4_Init();
UART5_Init();
#endif //STM32F10X_CL
Delay_ms(10);
}
/**
* @brief 使用esp8266模块和EDP协议向ONENET平台发送开发板四个LED指示灯的实时状态，并通过平台或者开发板按键控制LED。
**/
int main(void)
{
//SystemInit();
LED_Init(); //LED指示灯初始化函数
KEY_Init(); //按键初始化函数
USART1_Init(); //USART1串口初始化函数
USART2_Init(); //USART2串口初始化函数
while(1)
{
LED_Switch(LED_ON,LED_R|LED_G|LED_Y|LED_B); //点亮开发板四个指示灯，表示程序进入主流程
ESP8266_Init(); //ESP8266初始化
ESP8266_DevLink(DEVICEID,APIKEY,20); //和平台建立设备连接
LED_Switch(LED_OFF,LED_R|LED_G|LED_Y|LED_B); //熄灭开发板四个指示灯，表示程序完成设备连接，进入数据发送循环
while(1)
{
if(!(ESP8266_CheckStatus(30))) //检测ESP8266模块连接状态
{
ESP8266_SendDat(); //向平台发送数据
}
else
{
break;
}
}
}
}
int main(void)
{
unsigned int nCount;
unsigned char vEncoder[20]="--------------------";
int i;
RCC_Configuration();
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
NVIC_Configuration();
EXTI_Configuration();
USART1_Init();
USART2_Init();
USART3_Init();
UART4_Init();
UART5_Init();
SPI2_Init();
SysTick_Init();
//init_NRF24L01();
RX_Mode();
//nRF24L01_ISR();
while(1)
{
//Serial_PutString("While ");
}
}
int main(void)
{
SysTick_Init();
RCC_Init();
USART2_Init();
InitRF();
Tag_Init();
//send_alive_cmd_to_master();
IWDG_Init();
while(1)
{
if(sysTime1ms % 50 == 0)
{
Feed_IWDG();
}
usart_msg_handle();
if(tag_check_flag)
{
Tag_state_check();
tag_check_flag = 0;
}
SendWakeMsg();
}
}
int main(void) {
/* SystemInit() called by "startup_stm32f40xx.S" */
/* Init PWM */
PWM_Pins_Init();
/* Init timer */
TIMER_Init();
/* Init SVPWM */
SVPWM_Init();
/* Init 16kHz Interrupt */
INT_TIM2_Config();
/* Init ADC1 Channel 0 & ADC2 Channel1 */
ADC123_Init();
/* Configure Encoder with Tim8 on GPIOC 6 & 7 */
configureEncoder();
/* Enable USART2 */
USART2_Init();
GPIO_SetBits(GPIOB, GPIO_Pin_10);
while (1) {
}
}
int main(void)
{
USART1_Init();
USART2_Init();
mDelay(1000);
Hal_I2C_Init();
/*初始化8266，并连接CWJAP配置的AP，与MQTT_CIPSTART配置的服务器建立TCP连接*/
ESP8266_Init((int8_t *)MQTT_CIPSTART, (int8_t *)CWJAP);
/*进入MQTT协议测试主循环*/
MQTT_Loop();
}
int main(void)
{
u8 key,fontok=0;
Stm32_Clock_Init(9); //系统时钟设置
delay_init(72); //延时初始化
uart_init(72,115200); //串口1初始化
LCD_Init(); //初始化液晶
LED_Init(); //LED初始化
KEY_Init(); //按键初始化
usmart_dev.init(72); //usmart初始化
USART2_Init(36,115200); //初始化串口2
TP_Init(); //初始化触摸屏
mem_init(SRAMIN); //初始化内部内存池
exfuns_init(); //为fatfs相关变量申请内存
f_mount(0,fs[0]); //挂载SD卡
key=KEY_Scan(0);
if(key==KEY_RIGHT) //强制校准
{
LCD_Clear(WHITE); //清屏
TP_Adjust(); //屏幕校准
TP_Save_Adjdata();
LCD_Clear(WHITE); //清屏
}
fontok=font_init(); //检查字库是否OK
if(fontok||key==KEY_DOWN)//需要更新字库
{
LCD_Clear(WHITE); //清屏
POINT_COLOR=RED; //设置字体为红色
LCD_ShowString(60,50,200,16,16,"ALIENTEK STM32");
while(SD_Initialize()) //检测SD卡
{
LCD_ShowString(60,70,200,16,16,"SD Card Failed!");
delay_ms(200);
LCD_Fill(60,70,200+60,70+16,WHITE);
delay_ms(200);
}
LCD_ShowString(60,70,200,16,16,"SD Card OK");
LCD_ShowString(60,90,200,16,16,"Font Updating...");
key=update_font(20,110,16,0);//从SD卡更新
while(key)//更新失败
{
LCD_ShowString(60,110,200,16,16,"Font Update Failed!");
delay_ms(200);
LCD_Fill(20,110,200+20,110+16,WHITE);
delay_ms(200);
}
LCD_ShowString(60,110,200,16,16,"Font Update Success!");
delay_ms(1500);
LCD_Clear(WHITE);//清屏
}
sim900a_test();
}
void Config_Init()
{
//初始化LED
LED_Init();
//初始化串口引脚
USART2_Init();
USART6_Init();
//初始化屏幕引脚
LCD_GPIOInit();
//配置uart
USART_Config();
}
void OVC3860::Init(unsigned long _ulRCCPort, GPIO_TypeDef * _ulPort, uint16_t _ulPin)
{
ulRCCPort = _ulRCCPort;
ulPort = _ulPort;
ulPin = _ulPin;
configMode = false;
RCC_APB2PeriphClockCmd(ulRCCPort, ENABLE);
GPIO_InitTypeDef PORT;
PORT.GPIO_Pin = ulPin;
PORT.GPIO_Mode = GPIO_Mode_Out_PP;
PORT.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(ulPort,&PORT);
USART2_Init(115200); //ovc3860 uart init
USART2_SetTX(false); //shutdown TX, required to prevent ovc3860 to get its power through uart.
GPIO_WriteBit(ulPort, ulPin, Bit_RESET); // set low
}
void simpleTest(void) {
uint8_t summ = 0;
uint8_t i;
for (i = 0; i < 14; i++) {
s_testingSequence[i] = i;
summ += s_testingSequence[i];
}
s_testingSequence[14] = summ;
trace_printf("summ [%x]\n\r", summ);
USART_HandleTypeDef usart;
USART2_Init(&usart, 9600);
HELP_dumpUsartProps(&usart);
while (1) {
HAL_StatusTypeDef status = HAL_USART_Transmit(&usart, s_testingSequence, 15, 0xFF);
trace_printf("tr [%d]\n\r", status);
System_delayMsDummy(100);
}
}
void Sys_Init(void)
{
u8 key,fontok=0;
Stm32_Clock_Init(9); //系统时钟设置
delay_init(72); //延时初始化
uart_init(72,115200); //串口1初始化
LCD_Init(); //初始化液晶
LED_Init(); //LED初始化
KEY_Init(); //按键初始化
USART2_Init(36,115200); //初始化串口2
mem_init(); //初始化内部内存池
exfuns_init(); //为fatfs相关变量申请内存
f_mount(fs[0],"0:",1); //挂载SD卡
key = KEY_Scan(0);
fontok = font_init(); //检查字库是否OK
if(fontok||key == KEY1_PRES)//需要更新字库 (KEY1按下或字库丢失）
{
LCD_Clear(WHITE); //清屏
POINT_COLOR=RED; //设置字体为红色
LCD_ShowString(70,50,200,16,16,"GSM TEST");
while(SD_Initialize()) //检测SD卡
{
LCD_ShowString(60,70,200,16,16,"SD Card Failed!");
delay_ms(200);
LCD_Fill(60,70,200+60,70+16,WHITE);
delay_ms(200);
}
LCD_ShowString(60,70,200,16,16,"SD Card OK");
LCD_ShowString(60,90,200,16,16,"Font Updating...");
key = update_font(20,110,16); //更新字库
while(key) //更新失败
{
LCD_ShowString(60,110,200,16,16,"Font Update Failed!");
delay_ms(200);
LCD_Fill(20,110,200+20,110+16,WHITE);
delay_ms(200);
}
LCD_ShowString(60,110,200,16,16,"Font Update Success!");
delay_ms(1500);
LCD_Clear(WHITE);//清屏
}
}
/************************
函数功能：GPS初始化
输入参数：串口波特率
************************/
void GPS_Init(uint32_t baudrate)
{
OS_ERR err;
GPS_Set_PID();
USART2_Init(baudrate); //初始化串口2
OSTaskCreate((OS_TCB *)&GPS_MainTaskTCB,
(CPU_CHAR *)"GPS_MainTask",
(OS_TASK_PTR )GPS_MainTask,
(void *)0,
(OS_PRIO )PRIO_GPS ,
(CPU_STK *)&GPS_MainTaskStk[0],
(CPU_STK_SIZE )GPS_MainTaskStk[APP_CFG_TASK_START_STK_SIZE / 10],
(CPU_STK_SIZE )APP_CFG_TASK_START_STK_SIZE,
(OS_MSG_QTY )0,
(OS_TICK )0,
(void *)0,
(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
(OS_ERR *)&err);
}
//配置NMEA输出信息格式
//baudrate:波特率,4800/9600/19200/38400/57600/115200/230400
//返回值:0,执行成功;其他,执行失败(这里不会返回0了)
u8 Ublox_Cfg_Prt(u32 baudrate)
{
_ublox_cfg_prt *cfg_prt=(_ublox_cfg_prt *)USART2_TX_BUF;
cfg_prt->header=0X62B5; //cfg header
cfg_prt->id=0X0006; //cfg prt id
cfg_prt->dlength=20; //数据区长度为20个字节.
cfg_prt->portid=1; //操作串口1
cfg_prt->reserved=0; //保留字节,设置为0
cfg_prt->txready=0; //TX Ready设置为0
cfg_prt->mode=0X08D0; //8位,1个停止位,无校验位
cfg_prt->baudrate=baudrate; //波特率设置
cfg_prt->inprotomask=0X0007;//0+1+2
cfg_prt->outprotomask=0X0007;//0+1+2
cfg_prt->reserved4=0; //保留字节,设置为0
cfg_prt->reserved5=0; //保留字节,设置为0
Ublox_CheckSum((u8*)(&cfg_prt->id),sizeof(_ublox_cfg_prt)-4,&cfg_prt->cka,&cfg_prt->ckb);
while(DMA1_Channel7->CNDTR!=0); //等待通道7传输完成
UART_DMA_Enable(DMA1_Channel7,sizeof(_ublox_cfg_prt)); //通过dma发送出去
delay_ms(200); //等待发送完成
USART2_Init( baudrate); //重新初始化串口2
return Ublox_Cfg_Ack_Check();//这里不会反回0,因为UBLOX发回来的应答在串口重新初始化的时候已经被丢弃了.
}
//初始化ATK-HC05模块
//返回值:0,成功;1,失败.
u8 HC05_Init(void)
{
u8 retry=10,t;
u8 temp=1;
RCC->APB2ENR|=1<<2; //使能PORTA时钟
RCC->APB2ENR|=1<<4; //使能PORTC时钟
GPIOA->CRL&=0XFFF0FFFF; //PA4,输入
GPIOA->CRL|=0X00080000;
GPIOA->ODR|=1<<4; //PA4上拉
GPIOC->CRL&=0XFFF0FFFF; //PC4,推挽输出
GPIOC->CRL|=0X00030000;
GPIOC->ODR|=1<<4; //PC4输出1
USART2_Init(36,115200); //初始化串口2为:9600,波特率.
while(retry--)
{
HC05_KEY=1; //KEY置高,进入AT模式
delay_ms(10);
u2_printf("AT\r\n"); //发送AT测试指令
HC05_KEY=0; //KEY拉低,退出AT模式
for(t=0;t<10;t++) //最长等待50ms,来接收HC05模块的回应
{
if(USART2_RX_STA&0X8000)break;
delay_ms(5);
}
if(USART2_RX_STA&0X8000) //接收到一次数据了
{
temp=USART2_RX_STA&0X7FFF; //得到数据长度
USART2_RX_STA=0;
if(temp==4&&USART2_RX_BUF[0]=='O'&&USART2_RX_BUF[1]=='K')
{
temp=0;//接收到OK响应
break;
}
}
}
if(retry==0)temp=1; //检测失败
return temp;
}
int main(void)
{
int scope1dt,scope1t,scope1s,scope1d,scope1j;
int scope2dt,scope2t,scope2s,scope2d,scope2j;
char znakr;
char znak;
GPIO_InitTypeDef GPIO_str;
uint8_t ii;
uint8_t i = 0;
/* SysTick end of count event each 0,01ms 0,00001*/// 0,01ms -100000
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 100000);
/* Accelerometer Configuration */
Acc_Config();
Demo_GyroConfig();
ii = SystemCoreClock; /* This is a way to read the System core clock */
CONF_TIMERS();
CONF_PWMIN();
confI2C();
while(1)
I2C_start();
/////////// Przyciski
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
GPIO_str.GPIO_Pin= GPIO_Pin_4 | GPIO_Pin_5;
GPIO_str.GPIO_Mode=GPIO_Mode_IN;
GPIO_str.GPIO_PuPd=GPIO_PuPd_UP;
GPIO_str.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOB,&GPIO_str);
ii = 0;
USART2_Init(115200);
GPIO_SetBits(GPIOD, GPIO_Pin_0);
LEFT =3400;
RIGHT=3400;
FRONT=3400;
REAR=3400;
//delay_ms(4000);
while (1)
{
esf=SystemCoreClock/360/(TIM2->CCR2);
esd = (TIM2->CCR1*100);///(TIM2->CCR2);
throttle=(int)(esd*32.0/156.0-1236.0);
esf3=SystemCoreClock/360/(TIM3->CCR2);
if(throttle>6600)
throttle=3400;
esd3 = (TIM3->CCR1*100);///(TIM3->CCR2);
pitch_zadany=(float)(-6.0*esd3/1800.0+100.0)+0.0;
if(pitch_zadany>40 || pitch_zadany<-40)
pitch_zadany=0;
esd4 = (TIM4->CCR1*100);
roll_zadany=(float)(-6.0*esd4/1800.0+100.0);
if(roll_zadany>40 || roll_zadany<-40)
roll_zadany=0;
//esd5 =(TIM8->CCR2*100)/TIM8->CCR1;
//yaw_zadany=(float)(-6.0*esd5/1800.0+100.0);
//if(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_5)==0)
//flaga=0;
//IMU///////////////////////////////////////////////////////
Acc_ReadData(AccBuffer);
for(i=0;i<3;i++)
AccBuffer[i] /= 100.0f;
acc_x=AccBuffer[0];
acc_y=AccBuffer[1];
acc_z=AccBuffer[2];
Demo_GyroReadAngRate(Buffer);
gyr_x=Buffer[0];
gyr_y=Buffer[1];
gyr_z=Buffer[2];
MadgwickAHRSupdateIMU( -gyr_y*0.01745, gyr_x*0.01745, gyr_z*0.01745, acc_x, acc_y, acc_z);
roll=180/PI*atan2(2*(q2*q3+q0*q1),1-2*(q1*q1+q2*q2));//(q0*q0-q1*q1-q2*q2+q3*q3));
pitch=180/PI*asin(-2*(q1*q3-q0*q2));
yaw=180/PI*atan2(2*(q1*q2+q0*q3),(1-2*(q3*q3+q2*q2)));
scope1=PIDY*1000;//niebieski
scope2=yaw*1000;//czerwony
if(scope1>0)
znak='+';
else
znak='-';
if(scope2>0)
znakr='+';
else
znakr='-';
scope1=abs(scope1);
scope2=abs(scope2);
CZAS_S=(float)CZAS/100000.0;
CZAS=0;
scope1dt=scope1/10000;
scope1t=scope1/1000-scope1dt*10;
scope1s=scope1/100-scope1dt*100-scope1t*10;
scope1d=scope1/10-scope1dt*1000-scope1t*100-scope1s*10;
scope1j=scope1-scope1dt*10000-scope1t*1000-scope1s*100-scope1d*10;
scope2dt=scope2/10000;
scope2t=scope2/1000-scope2dt*10;
scope2s=scope2/100-scope2dt*100-scope2t*10;
scope2d=scope2/10-scope2dt*1000-scope2t*100-scope2s*10;
scope2j=scope2-scope2dt*10000-scope2t*1000-scope2s*100-scope2d*10;
printf("%c%d%d%d%d%d %c%d%d%d%d%d\r\n",znak,scope1dt,scope1t,scope1s,scope1d,scope1j,znakr,scope2dt,scope2t,scope2s,scope2d,scope2j);
/*PIDY=-PIDyawrate(yaw_zadany, yaw);
rollratezadane=PIDroll(roll_zadany, roll);
PIDR=PIDrollrate(rollratezadane, -gyr_y);
speedLeft=(int)((float)throttle+PIDR-PIDY);//throttle+PIDR;
speedRight=(int)((float)throttle-PIDR-PIDY);
pitchratezadane=PIDpitch(pitch_zadany, pitch);
PIDP=PIDpitchrate(pitchratezadane, gyr_x);//float PIDpitchrollrate(float zadana, float aktualna)
speedFront=(int)((float)throttle-PIDP+PIDY);
speedRear=(int)((float)throttle+PIDP+PIDY);
*/
if(speedFront>speedmax)
speedFront=speedmax;
else if(speedFront<speedmin)
speedFront=speedmin;
else
;
if(speedRear>speedmax)
speedRear=speedmax;
else if(speedRear<speedmin)
speedRear=speedmin;
else
;
if(speedLeft>speedmax)
speedLeft=speedmax;
else if(speedLeft<speedmin)
speedLeft=speedmin;
else
;
if(speedRight>speedmax)
speedRight=speedmax;
else if(speedRight<speedmin)
speedRight=speedmin;
else
;
if(throttle>3450)
{
LEFT =(int)speedLeft;
RIGHT=(int)speedRight;
FRONT=3400;//(int)speedFront;
REAR=3400;//(int)speedRear;
}
else
{
LEFT =3400;
RIGHT=3400;
FRONT=3400;
REAR=3400;
}
}
return 0;
}
u8 ISO9141Init(u16 * uartSpeed)
{
u8 c, keyword;
int i;
u16 time, t2;
USART2_Deinit();
// wyslanie adresu 0x01 z predkoscia 5 bit/sek, 7O1
//bit nieparzystosci rowny 0 gdy w wysylanym slowie jest nieparzysta liczba jedynek
TXD2(0); //bit startu
timer1=200;
while (timer1);
TXD2(1); //najmlodszy bit adresu urzadzenia
timer1=200;
while (timer1);
TXD2(0); // 6 bitow adresu urzadzenia + bit nieparzystosci
timer1=1400;
while (timer1);
TXD2(1); //bit stopu
timer1=200;
while (timer1);
// bez oczekiwania po ustawieniu 1 na txd wykrywa³ zbocze opadajace od razu
// przypuszczalnie przeladowywala sie pojemnosc w transceiverze
timer1=1000; // 1 sec
if (0 == (*uartSpeed))
{
while ((GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_3)) && timer1); //waiting for start bit
if (0 == timer1)
{
return 0xff;
}
TIM_SetCounter(TIM3, 0);
t2 = timer1;
for (i=0; i<4; i++)
{
while ((0 == GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_3)) && timer1); //waiting for rising edge
if (0 == timer1)
{
return 0xff;
}
while ((GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_3)) && timer1); //waiting for falling edge
if (0 == timer1)
{
return 0xff;
}
}
while ((0 == GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_3)) && timer1); //waiting for rising edge
if (0 == timer1)
{
return 0xff;
}
time = TIM_GetCounter(TIM3);
if (time > 900)
{
*uartSpeed = 9600;
}
else
{
*uartSpeed = 10400;
}
USART2_Init(*uartSpeed);
timer1=2; //2ms
while (timer1);
c=USART2_GetData(); //flush buffer
}
else
{
USART2_Init(*uartSpeed);
c=USART2_GetData(); //flush buffer
while (!USART2_DataAvailable() && timer1);
if (0 == timer1)
{
return 0xff;
}
c = USART2_GetData(); //odebranie bajtu 0x55 z ECU
if (0x55 != c) //jezeli odebrana wartosc jest inna to znaczy, ze jest zla predkosc transmisji
{
return 0x7f; //sync err
}
}
timer1=500; // 0.5 sec
//odebranie dwoch bajtow oznaczajacych ?wersje protokolu?
while (!USART2_DataAvailable() && timer1);
if (0 == timer1)
{
return 0xff;
}
KW1281ProtocolVersion[0] = USART2_GetData(); // pierwszy bajt wersji protokolu
while (!USART2_DataAvailable() && timer1);
if (0 == timer1)
{
return 0xff;
}
KW1281ProtocolVersion[1] = USART2_GetData(); //drugi bajt wersji protokolu
USART2_PutData(255-KW1281ProtocolVersion[1]); //wyslanie negacji ostatniego otrzymanego bajtu
while (!USART2_DataAvailable() && timer1);
if (0 == timer1)
{
return 0xff;
}
c = USART2_GetData(); // odczytanie bajtu który zostal wyslany - halfduplex
if ((255-KW1281ProtocolVersion[1]) != c)
{
return 0x8f; // odczytany zostal inny bajt niz wyslany
}
if ((KW1281ProtocolVersion[0] != 0x01) || (KW1281ProtocolVersion[1] != 0x8A))
{
return 0x10;
}
timer1 = 0;
return 0x00;
}
int main(void)
{
u8 len=0;
u8 temp[100];
u8 t=0;
u8 flag=0;
char mode='O';
long value=0;
u8 counter=0;
//char val2str[]="50";
char SelfCheck='O';
int D_val=0;
u8 SelfCheckCounter=0;
/////////////////////以上变量定义///////////////////////////
delay_init(72);
USART1_Init(19200);//与地面站传递命令
USART2_Init(115200);//与X86板子传递命令
USART3_Init(115200);//调试用
HCSR04_Init();
ResetOLED();
OLED_Init();
Key_Init();
///////////////以上初始化///////////////////////
OLED_ShowString(35,20,"READY",24);
OLED_Refresh_Gram();
delay_ms(1000);
OLED_Clear();
/////////////////////////////欢迎界面，提示准备工作/////////////////////////////////
while(KEY==1)
{
OLED_ShowString(0,0,"Self checking now...",12);
OLED_Refresh_Gram();
if(USART_RX2_STA&0x8000)
{
len=USART_RX2_STA&0x3fff;//得到此次接收到的数据长度
for(t=0;t<len;t++)
{
temp[t]=Rx2Buf[t];
while((USART2->SR&0X40)==0);//等待发送结束
}
flag=1;
USART_RX2_STA=0;
}//接受来自X86的命令,用于自检。
if(flag==1)
{
SelfCheck=TempOrPressure(temp);
{
if(SelfCheck=='C')
{
value=ValueOfMea(temp);
if(value==1)
{
OLED_ShowString(0,15,"Environment ok",12);
SelfCheckCounter++;
}
if(value==2)
{
OLED_ShowString(0,30,"The data chain ok",12);
}
if(value==0)
{
OLED_ShowString(0,42,"Checking fail...",12);
}
}
}
memset(temp,0,sizeof(u8)*100);
flag=0;
}//先对开发环境进行自检，在VS下下发ok标志即可。
OLED_Refresh_Gram();
if(SelfCheckCounter==1)//如果已经通过了开发环境自检
{
while(KEY==1)//不按强制退出就一直自检，直到成功
{
if(DataChain_SelfTest()==1)//数据链自检完成
break;
else
continue;
}
SelfCheckCounter=0;
break;//在不按按键强制退出的情况下，只有自检成功了才能退出。
}
}
OLED_Clear();
/////////////////////////以上对上位机的自检，按键强制结束//////////////////
OLED_ShowString(0,0,"Parameters",16);
OLED_ShowString(0,16,"X=",12);
OLED_ShowString(0,28,"Y=",12);
OLED_ShowString(0,40,"S=",12);
OLED_ShowString(0,52,"D=",12);
OLED_Refresh_Gram();
flag=0;//复位flag
///////////显示参数////////////////////////////////
//AutoLaunch();
////////////////////////以上开始起飞/////////////////////////////////
while(1)
{
if(USART_RX2_STA&0x8000)
{
len=USART_RX2_STA&0x3fff;//得到此次接收到的数据长度
for(t=0;t<len;t++)
{
temp[t]=Rx2Buf[t];
while((USART2->SR&0X40)==0);//等待发送结束
}
flag=1;
USART_RX2_STA=0;
//printf3("%s\r\n",temp);
}//接受来自X86的命令
if(flag==1)
{
mode=TempOrPressure(temp);
if(mode=='S')
{
value=ValueOfMea(temp);
{
#ifdef __TRANSPARENT_MODE
printf1("\"S\":\"%ld\"\r\n",value);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_S_PARAM,value);
#endif
}
OLED_ShowNum(20,40,value,6,12);
// counter++;
}
if(mode=='X')
{
value=ValueOfMea(temp);
{
#ifdef __TRANSPARENT_MODE
printf1("\"X\":\"%ld\"\r\n",value);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_X_PARAM,value);
#endif
}
OLED_ShowNum(20,16,value,6,12);
// counter++;
}
else if(mode=='Y')
{
value=ValueOfMea(temp);
{
#ifdef __TRANSPARENT_MODE
printf1("\"Y\":\"%ld\"\r\n",value);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_Y_PARAM,value);
#endif
}
OLED_ShowNum(20,28,value,6,12);
// counter++;
}
{
delay_ms(10);//太小在透传情况下可能出问题？
{
D_val=HCSR04_GetDistance_Filter();
#ifdef __TRANSPARENT_MODE
printf1("\"D\":\"%ld\"\r\n",D_val);
#endif
#ifdef __COMMAND_MODE
E17_SendMsg(CMD_D_PARAM,value);
#endif
}
OLED_ShowNum(20,52,D_val,6,12);
// counter=0;
}//去掉了判断，每个周期都要做判断，同时进行距离的pid调控。
OLED_Refresh_Gram();
memset(temp,0,sizeof(u8)*100);
flag=0;
}
}
}
void ovc3860_init()
{
USART2_Init(115200); //ovc3860 uart init
}
//================================================================================================
//
//================================================================================================
void USART_Configuration(void)
{
USART1_Init(); // Debug Port
USART2_Init(); // Modem port
}
int main(void)
{
// u8 a[] = {0xAA, 0xAA, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88,0x99,0xa0,0x04,0x10,0x08,0x01,0x08,0x99};
u8 a[] = {0x11, 0x22, 0x33,0x44, 0x55, 0x66, 0x77};
RobotRate rate;
WheelSpeed wheelspeed;
SystemInit();
USART1_Init(115200);
USART2_Init(115200);
USART3_Init(38400);
UART4_Init(115200);
CAN1_Init();
LED_Init();
// TIM2_Init();
TIM3_Init();
SysTick_Init();
Motor_init();
amp_init();
mag_sensor_init();
flash_init();
DelayMs(1000); //Time for Motor Driver Board to init
//set_all_speedctl();
t3 = micros();
//*************************initial sensor***************************************************************//
while(t < 0x15)
{
if(UART4RecvPtrR != UART4RecvPtrW)
{
op = AHRSCheckDataFrame();
if(op == ACC_METER || op == GYRO || op == ANGLE_OUTPUT || op == MAG_METER )
{
SensorInitial(op);
t++;
}
}
t4 = micros();
time_taken = t4 - t3;
if(time_taken > 3000000)
{
//break;
}
}
sch_init();
sch_add_task(sensors, 6, 20);
sch_add_task(AHRS_compute, 1, 50);
// sch_add_task(led_task, 4, 100);
sch_add_task(UART2Proc, 10, 20);
// sch_add_task(UART3Proc, 3, 20);
// sch_add_task(UART3Proc, 4, 20);
// sch_add_task(FRIDCheck, 2, 20);
sch_start();
while (1)
{
sch_dispatch_tasks();
//Welcome();
}
}
