int main(void)
{
SysTick_init();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
uart_init(115200);
Struct_Init();
Pid_Init();
MotoPwm_Init();
OLED_Init();
Key_Init();
I2cMaster_Init();
mpu_dmp_init();
GPIO_Config();
Filter_Init();
// NRF_Usart_Pin_Init();//无线初始化
// NRF_Read_Live_Init();//无线在线传输
// ReadData_Init();
Scheduler_Init();
while(1)
{
Scheduler_Loop();
}
}
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_I2C1_Init();
MX_USART1_UART_Init();
MX_TIM16_Init();
MX_TIM17_Init();
/* USER CODE BEGIN 2 */
g_config = g_config_default;
#ifdef USE_I2C
g_i2c = I2cMaster_Init(&hi2c1);
InitializeDisplay(g_i2c);
I2cEEPROM_Init(&g_eeprom, g_i2c, EEPROMADDR, 1, 8);
#endif
#ifdef USE_SERIAL
UsartInit(&huart1);
#endif
#if defined(USE_I2C) && defined(USE_LCD)
I2cLcd_Clear(&g_lcd);
I2cLcd_PrintStr(&g_lcd, "Hello");
#endif
#if defined(USE_SERIAL) && defined(USE_EEPROM)
#define TESTSIZE 2048/8
HAL_StatusTypeDef st;
uint8_t i2cBuffer[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
/*
for(uint16_t i = 0; i < TESTSIZE; i += sizeof(i2cBuffer)) {
if(!(i & (sizeof(i2cBuffer)-1))) {
st = I2cEEPROM_Write(&g_eeprom, i, i2cBuffer, sizeof(i2cBuffer));
}
}
for (uint16_t i = 0; i < TESTSIZE; ++i) {
if(!(i & (sizeof(i2cBuffer)-1))) {
st = I2cEEPROM_Read(&g_eeprom, i, i2cBuffer, sizeof(i2cBuffer));
UsartSendStr("\r\n", 1);
UsartPrintUint(i, 4, 1);
UsartSendStr(" ", 1);
}
UsartPrintByte(i2cBuffer[i&(sizeof(i2cBuffer)-1)], 2, 1);
UsartSendStr(" ", 1);
}
UsartSendStr("\r\n", 1);
for(uint16_t i = 0; i < TESTSIZE; i += sizeof(i2cBuffer)) {
if(!(i & (sizeof(i2cBuffer)-1))) {
for(uint16_t j = 0; j<sizeof(i2cBuffer); ++j)
i2cBuffer[j] = i+j;
st = I2cEEPROM_Write(&g_eeprom, i, i2cBuffer, sizeof(i2cBuffer));
}
}
for (uint16_t i = 0; i < TESTSIZE; ++i) {
if(!(i & (sizeof(i2cBuffer)-1))) {
st = I2cEEPROM_Read(&g_eeprom, i, i2cBuffer, sizeof(i2cBuffer));
UsartSendStr("\r\n", 1);
UsartPrintUint(i, 4, 1);
UsartSendStr(" ", 1);
}
UsartPrintByte(i2cBuffer[i&(sizeof(i2cBuffer)-1)], 2, 1);
UsartSendStr(" ", 1);
}
UsartSendStr("\r\n", 1);
*/
{
LIVECONFIG config;
if (I2cEEPROM_Read(&g_eeprom, EESTART, &config, sizeof(config)) == HAL_OK) {
I2cMaster_WaitCallback(g_i2c);
if (config.magic == 0xA5)
g_config = config;
}
}
for (uint16_t i = 0; i < TESTSIZE; ++i) {
if(!(i & (sizeof(i2cBuffer)-1))) {
st = I2cEEPROM_Read(&g_eeprom, i, i2cBuffer, sizeof(i2cBuffer));
UsartSendStr("\r\n", 1);
UsartPrintUint(i, 4, 1);
UsartSendStr(" ", 1);
}
UsartPrintByte(i2cBuffer[i&(sizeof(i2cBuffer)-1)], 2, 1);
UsartSendStr(" ", 1);
}
UsartSendStr("\r\n", 1);
#endif
HAL_TIM_IC_Start_IT(&htim16, TIM_CHANNEL_1);
HAL_TIM_IC_Start_IT(&htim17, TIM_CHANNEL_1);
HAL_UART_Receive_IT(&huart1, g_lineBuffer, sizeof(g_lineBuffer));
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
if (g_lineReceived) {
ProcessInput(&g_config, (char*) g_lineBuffer);
//DisplayInput(&i2clcd);
g_lineReceived = 0;
HAL_UART_Receive_IT(&huart1, g_lineBuffer, sizeof(g_lineBuffer));
}
if(g_statuses[0].trigger) {
DisplayResults(0);
g_statuses[0].trigger = 0;
}
if(g_statuses[1].trigger) {
DisplayResults(1);
g_statuses[1].trigger = 0;
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}