/**
* @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;
}
}
}
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();
}
