//char code dx516[3] _at_ 0x003b;//注意在烧写到IC里，要把这句话去掉
void main(void)
{
initM51CtrlRegs();
ChangToFastMode();
PowerOn_sub();
usbBusReset();
ET1 = 0; //disable timer0 intrrupt
TR1 = 0; //timer 0 stop
gfFastModeflag = 1;
// ToDetectFlashValid();
SET_VIO_50;
IIC_Init();
// re = 1;
// re = 0;
// re = 1;
// re = 0;
SET_GPIO_PC7;
REG1630_PB_GPIO_CON_AB = 0xff;
REG1630_PB_GPIO_9B = 0xff;
//CLR_PC3;
while(REG1630_USB_PLUG_OUT & VDD5V_EXIST_FLG)
{
PollingUsbCommand();
}
}
void board_init(void)
{
/* SysTick end of count event each 10ms */
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 100);
timer2_init();
timer14_init();
Usart_Init(USART2,9600);
send_data(USART2, "uart2 is OK!\r\n", strlen("uart2 is OK!\r\n"));
//不同的传感器的引脚及用到的板级外设不同
//sensor_init();
#if defined (BEEP)
//蜂鸣器用作调试设备
beep_init();
Delay(20);
BEEP_OFF();
#endif
#if defined (DEBUG)
//串口用作调试端口
Usart_Init(DEBUG_UART,115200);
send_data(DEBUG_UART, "uart is OK!\r\n", strlen("uart is OK!\r\n"));
#endif
#if defined (EEPROM)
//24cxx IIC接口初始化
IIC_Init();
#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)
{
//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
}
/**
* @brief: 触摸屏初始化
* @retval:0 - 没有进行校准
* 1 - 进行过校准
* @note:
* - T_SCK -> PB1
* - T_CS -> PB2
* - T_MISO -> PF8
* - T_MOSI -> PF9
* - T_PEN -> PF10
*/
u8 TP_Init(void)
{
RCC->APB2ENR|=1<<3; //PB时钟使能
RCC->APB2ENR|=1<<7; //PF时钟使能
GPIOB->CRL&=0XFFFFF00F; //PB1 PB2
GPIOB->CRL|=0X00000330;
GPIOB->ODR|=3<<1; //PB1 PB2 推挽输出
GPIOF->CRH&=0XFFFFF000;
GPIOF->CRH|=0X00000838; //PF8-上拉输入 PF9-推挽输出 PF10-上拉输入
GPIOF->ODR|=7<<8; //PF8 PF9 PF10 全部上拉
TP_Read_XY(&tp_dev.x,&tp_dev.y);//第一次读取初始化
IIC_Init(); //初始化IIC
while(AT24CXX_Check()) //检测不到24c02
{
LCD_ShowString(16,150,200,16,16,"24C02 Check Failed!");
delay_ms(500);
LCD_ShowString(16,150,200,16,16,"Please Check! ");
delay_ms(500);
}
if(TP_Get_Adjdata())return 0; //已经校准
else //未校准
{
LCD_Clear(WHITE); //清屏
TP_Adjust(); //屏幕校准
TP_Save_Adjdata();
}
TP_Get_Adjdata();
return 1;
}
void HAL_I2C_soft_Configuration(void)
{
#ifdef USE_I2C_OLD
I2C_soft_Configuration();
#else
IIC_Init();
#endif
}
/*
MainInit routine
This routine performs the main initialisation.
*/
void MainInit(void)
{
PortInit();
Timer_Init();
IIC_Init();
UART_Init();
sei(); // Enable global interrupts
WM8960_Init();
WM8960_Init();//again
}
void CAT9555_Init(void)
{
IIC_Init();
CAT9555Mirror0=0xFFFF;
CAT9555Mirror1=0xFFFF;
CAT9555_WriteCFG(CAT9555_ADDR0,0x00,0x00);
CAT9555_WriteCFG(CAT9555_ADDR1,0x00,0x00);
CAT9555_Write_OneByte(CAT9555_ADDR0,0xff,0xff);
CAT9555_Write_OneByte(CAT9555_ADDR1,0xff,0xff);
}
void MPU_Init()
{
// delay_ms(500); //上电后需要有一定的延时
IIC_Init(); //IIC引脚初始化
MPU_WriteByte(PWR_MGMT_1, 0x00); //解除休眠状态
MPU_WriteByte(SMPLRT_DIV, 0x07);
MPU_WriteByte(MPU_CONFIG, 0x06);
MPU_WriteByte(GYRO_CONFIG, 0x18);
MPU_WriteByte(ACCEL_CONFIG, 0x01);
}
//初始化ADXL345.
//返回值:0,初始化成功;1,初始化失败.
u8 ADXL345_Init(void)
{
IIC_Init(); //初始化IIC总线
if(ADXL345_RD_Reg(DEVICE_ID)==0XE5) //读取器件ID
{
ADXL345_WR_Reg(DATA_FORMAT,0X2B); //低电平中断输出,13位全分辨率,输出数据右对齐,16g量程
ADXL345_WR_Reg(BW_RATE,0x0A); //数据输出速度为100Hz
ADXL345_WR_Reg(POWER_CTL,0x28); //链接使能,测量模式
ADXL345_WR_Reg(INT_ENABLE,0x00); //不使用中断
ADXL345_WR_Reg(OFSX,0x00);
ADXL345_WR_Reg(OFSY,0x00);
ADXL345_WR_Reg(OFSZ,0x00);
return 0;
}
return 1;
}
//WM8978初始化
//返回值:0,初始化正常
// 其他,错误代码
u8 WM8978_Init(void)
{
u8 res;
GPIO_InitTypeDef GPIO_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB|RCC_AHB1Periph_GPIOC, ENABLE); //使能外设GPIOB,GPIOC时钟
//PB9/10/14/15 复用功能输出
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_14 | GPIO_Pin_15;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
GPIO_Init(GPIOB, &GPIO_InitStructure);//初始化
//PC2/PC3/PC6复用功能输出
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
GPIO_Init(GPIOC, &GPIO_InitStructure);//初始化
GPIO_PinAFConfig(GPIOB,GPIO_PinSource9,GPIO_AF_SPI2); //PB9,AF5 I2S_LRCK
GPIO_PinAFConfig(GPIOB,GPIO_PinSource10,GPIO_AF_SPI2); //PB10,AF5 I2S_SCLK
GPIO_PinAFConfig(GPIOB,GPIO_PinSource15,GPIO_AF_SPI2); //PB15 ,AF5 I2S_DACDATA
GPIO_PinAFConfig(GPIOC,GPIO_PinSource6,GPIO_AF_SPI2); //PC6 ,AF5 I2S_MCK
GPIO_PinAFConfig(GPIOB,GPIO_PinSource14,GPIO_AF6_SPI2); //PB14 ,AF6 I2S_ADCDATA I2S2ext_SD是AF6!!!
IIC_Init();//初始化IIC接口
res=WM8978_Write_Reg(0,0); //软复位WM8978
if(res)return 1; //发送指令失败,WM8978异常
//以下为通用设置
WM8978_Write_Reg(1,0X1B); //R1,MICEN设置为1(MIC使能),BIASEN设置为1(模拟器工作),VMIDSEL[1:0]设置为:11(5K)
WM8978_Write_Reg(2,0X1B0); //R2,ROUT1,LOUT1输出使能(耳机可以工作),BOOSTENR,BOOSTENL使能
WM8978_Write_Reg(3,0X6C); //R3,LOUT2,ROUT2输出使能(喇叭工作),RMIX,LMIX使能
WM8978_Write_Reg(6,0); //R6,MCLK由外部提供
WM8978_Write_Reg(43,1<<4); //R43,INVROUT2反向,驱动喇叭
WM8978_Write_Reg(47,1<<8); //R47设置,PGABOOSTL,左通道MIC获得20倍增益
WM8978_Write_Reg(48,1<<8); //R48设置,PGABOOSTR,右通道MIC获得20倍增益
WM8978_Write_Reg(49,1<<1); //R49,TSDEN,开启过热保护
WM8978_Write_Reg(10,1<<3); //R10,SOFTMUTE关闭,128x采样,最佳SNR
WM8978_Write_Reg(14,1<<3); //R14,ADC 128x采样率
return 0;
}
/********************************************
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);
//
}
}
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);
}
}
//初始化MPU6050
//返回值:0,成功
// 其他,错误代码
u8 MPU_Init(void)
{
u8 res;
IIC_Init();//初始化IIC总线
if(MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X80)){
return 2;
} //复位MPU6050
delay_ms(100);
if(MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X00)){
return 3;
} //唤醒MPU6050
if(MPU_Set_Gyro_Fsr(3)){
return 4;
} //陀螺仪传感器,±2000dps
if(MPU_Set_Accel_Fsr(0)){
return 5;
} //加速度传感器,±2g
if(MPU_Set_Rate(50)){
return 6;
} //设置采样率50Hz
if(MPU_Write_Byte(MPU_INT_EN_REG,0X00)){
return 7;
} //关闭所有中断
if(MPU_Write_Byte(MPU_USER_CTRL_REG,0X00)){
return 8;
} //I2C主模式关闭
if(MPU_Write_Byte(MPU_FIFO_EN_REG,0X00)){
return 9;
} //关闭FIFO
if(MPU_Write_Byte(MPU_INTBP_CFG_REG,0X80)){
return 10;
} //INT引脚低电平有效
res=MPU_Read_Byte(MPU_DEVICE_ID_REG);
if(res==MPU_ADDR)//器件ID正确
{
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X01); //设置CLKSEL,PLL X轴为参考
MPU_Write_Byte(MPU_PWR_MGMT2_REG,0X00); //加速度与陀螺仪都工作
MPU_Set_Rate(50); //设置采样率为50Hz
}else {
printf("address error: %X\n",res);
return 1;
};
return 0;
}
void ALL_Init(void)
{
SOPT1 &= 0x3F; //disable cop
MCG_Init();
//PTED_Init();
//LED_Init();
//KBI_Init();
RTC_Init();
//SPI_Init();
//ATD_Init();
//SCI_Init();
//PWM_Init();
IIC_Init();
//HCS08_EE_Init(); //初始化Flash控制寄存器
PCF8563_Init();
LCD_INIT();
}
UINT8 IIC_SendMsg (UINT8 SlaveAddress, UINT8 LenTx, UINT8 LenRx)
{
MasterRxFlag = FALSE;
TxPacketpositionptr = &TxPacket[0]; // apuntar al primer elemento de TxPacket
TxBufferemptyflag = FALSE;
TxPacketendptr = &TxPacket[(LenTx-1)]; // apuntar al último elemento a transmitir
CurrentSlave = SlaveAddress;
TxMsgLen = LenTx;
RxMsgLen = LenRx;
IIC_TransferState = IIC_TRANSFERING; // Estado = Transfiriendo
TxTimerID = TMR_SetTimer ( 500 , PROC_IIC, f_IICTimeout, FALSE);
while(IBSR & IBB){ // mientras el bus IIC esté ocupado
if (IIC_TransferState != IIC_TRANSFERING)
return ERROR;
}
IBCR = (IBEN|IBIE|MSSL|TXRX); // grab bus - start condition initiated
IBDR = SlaveAddress; // address the slave
while (IIC_TransferState == IIC_TRANSFERING){
REFRESH_WATCHDOG;
}
if ( IIC_TransferState == IIC_TX_OK ){
TMR_FreeTimer (TxTimerID); // anular el timer de supervisión de la transmisión
if (!RxMsgLen)
return OK;
else
return (IIC_ReceiveMsg (CurrentSlave, RxMsgLen)); // ####################
}
IIC_Init();
return ERROR;
}
void My_System_Init(void)
{
uint8_t flag, i=0;
NVIC_Configuration();
delay_init(72); //延时初始化
for(i=0;i<5;i++)
delay_Ms_Loop(1000); //上电短延时 确保供电稳定
LED_Init();
LEDALL_ON;
timer2_init(); //PWM输出定时器初始化
timer3_init(); //PWM输出定时器初始化
IIC_Init();
uart_init(38400); //调试用串口初始化
My_usart2_init(38400); //蓝牙用串口初始化
printf("欢迎使用启天科技BUTTERFLY四旋翼\r\n");
printf("QQ群：471023785\r\n");
LEDALL_OFF;
MPU6050_Init(); //6050初始化
SPI1_INIT(); //SPI初始化，用于nRF模块
flag = NRF_CHECK(); //检查NRF模块是否正常工作
if(flag != 1)
{
while(1)
{
LEDALL_OFF;
delay_Ms_Loop(200);
LEDALL_ON;
delay_Ms_Loop(200);
}
}
NRF24L01_INIT(); //nRF初始化
SetRX_Mode(); //设置为接收模式
NRF24L01_INIT(); //nRF初始化
NRF_GPIO_Interrupt_Init(); //nRF使用的外部中断的引脚初始化
tim4_init(); //定时中断，作为系统的控制频率
adcInit(); //ADC初始化，测量电池电压
}
//初始化MPU6050
//返回值:0,成功
// 其他,错误代码
u8 MPU_Init(void)
{
u8 res;
IIC_Init();//初始化IIC总线
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X80); //复位MPU6050
delay_ms(100);
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X00); //唤醒MPU6050
MPU_Set_Gyro_Fsr(3); //陀螺仪传感器,±2000dps
MPU_Set_Accel_Fsr(0); //加速度传感器,±2g
MPU_Set_Rate(50); //设置采样率50Hz
MPU_Write_Byte(MPU_INT_EN_REG,0X00); //关闭所有中断
MPU_Write_Byte(MPU_USER_CTRL_REG,0X00); //I2C主模式关闭
MPU_Write_Byte(MPU_FIFO_EN_REG,0X00); //关闭FIFO
MPU_Write_Byte(MPU_INTBP_CFG_REG,0X80); //INT引脚低电平有效
res=MPU_Read_Byte(MPU_DEVICE_ID_REG);
if(res==MPU_ADDR)//器件ID正确
{
MPU_Write_Byte(MPU_PWR_MGMT1_REG,0X01); //设置CLKSEL,PLL X轴为参考
MPU_Write_Byte(MPU_PWR_MGMT2_REG,0X00); //加速度与陀螺仪都工作
MPU_Set_Rate(50); //设置采样率为50Hz
}else return 1;
return 0;
}
UINT8 IIC_ReceiveMsg (UINT8 SlaveAddress, UINT8 LenRx)
{
MasterRxFlag = TRUE;
RxCompleteflag = FALSE;
RxPacketpositionptr = &RxPacket[0]; // apuntar al primer elemento de RxPacket
RxBufferfullflag = FALSE;
RxPacketendptr = &RxPacket[(LenRx-1)]; // apuntar a la ubicación del último elemento a recibir
IIC_TransferState = IIC_TRANSFERING; // Estado = Transfiriendo
RxTimerID = TMR_SetTimer ( 500 , PROC_IIC, f_IICTimeout, FALSE);
while(IBSR & IBB){ // mientras el bus IIC esté ocupado
if (IIC_TransferState != IIC_TRANSFERING)
return ERROR;
}
IBCR = (IBEN|IBIE|MSSL|TXRX); // grab bus - start condition initiated
IBDR = (SlaveAddress | 0x01); // address the slave, insruct slave to transmit
while (IIC_TransferState == IIC_TRANSFERING){
REFRESH_WATCHDOG;
}
if ( IIC_TransferState == IIC_RX_OK ){
TMR_FreeTimer (RxTimerID);
return OK;
}
IIC_Init();
return ERROR;
}
int main(void)
{
u8 i;
u8 RecvBuf[32];
u8 SendBuf[32];
u8 offline = 0;
u8 recv_flag = 0;
u32 pd2ms=0,pd20ams=0,pd20bms=0,pd100ms=0;
SystemInit();
RCC_Configuration();
NVIC_Configuration();
GPIO_Configuration();
USART1_Configuration();
dbgPrintf(" Init Ticktack !\r\n");
cycleCounterInit();
SysTick_Config(SystemCoreClock / 1000);
for(i=0;i<2;i++)
{
OP_LED1;OP_LED2;OP_LED3;OP_LED4;
delay_ms(500);
OP_LED1;OP_LED2;OP_LED3;OP_LED4;
delay_ms(500);
}
FilterInit();
controllerInit();
dbgPrintf(" Init eeprom!\r\n");
FLASH_Unlock();
EE_Init();
EE_Read_ACC_GYRO_Offset();
/* 如果PID丢失或者错误，将下面两行注释去掉，重新编译烧写，运行一遍，可将PID还原，然后重新注释，再烧写一遍 */
//EE_Write_PID();
//EE_Write_Rate_PID();
EE_Read_PID();
EE_Read_Rate_PID();
dbgPrintf(" Init adc!\r\n");
ADC_DMA_Init();
dbgPrintf(" Init NRF24L01 !\r\n");
SPI_NRF_Init();
Nrf24l01_Init();
NRF24l01_SetRxMode();
while(Nrf24l01_Check())
{
dbgPrintf("NRF24L01 Fault !\r\n");
delay_ms(500);
}
dbgPrintf("NRF24L01 Is Detected !\r\n");
dbgPrintf("Init MPU6050...\r\n");
IIC_Init();
MPU6050_initialize();
dbgPrintf("Init Motor...\r\n");
Motor_Init();
Motor_SetPwm(0,0,0,0);
pd20bms = TIMIRQCNT + 10*ITS_PER_MS;
while(1)
{
if(TIMIRQCNT>pd2ms + 2*ITS_PER_MS-1) // every 4ms
{
GetEulerAngle();
if(lock_flag==UNLOCK)
AttitudeToMotors(angle.y,angle.x,angle.z);
else
{
MOTOR1=0;
MOTOR2=0;
MOTOR3=0;
MOTOR4=0;
}
Motor_SetPwm(MOTOR1,MOTOR2,MOTOR3,MOTOR4);
pd2ms = TIMIRQCNT;
}
if(TIMIRQCNT>pd20ams + 20*ITS_PER_MS-1) // every 20ms
{
if(NRF24l01_Recv(RecvBuf)>10)
{
if((RecvBuf[RecvBuf[2]+3]==CheckSum(RecvBuf, RecvBuf[2]+3))&&(RecvBuf[0]==0xAA))
{
if(RecvBuf[1]!=0xC0)
OP_LED1;
offline=0;
switch(RecvBuf[1])
{
case 0xC0: //control
Getdesireddata(RecvBuf);
OP_LED2;
break;
case 0x10: //W PID
SetPID(RecvBuf);
break;
case 0x11: //W Attitude
SetAccGyroOffset(RecvBuf);
break;
case 0x12: //W Control offset
break;
case 0x14: //W Rate PID
SetRatePID(RecvBuf);
break;
case 0x20: //R PID
recv_flag = RESEND;
GetPID(SendBuf);
break;
case 0x21: //R Attitude
recv_flag = RESEND;
GetAccGyroOffset(SendBuf);
break;
case 0x22: //R Control offset
break;
case 0x24: //R Rate PID
recv_flag = RESEND;
GetRatePID(SendBuf);
break;
case 0x40: //校准姿态
EnableCalibration();
break;
case 0x41: //校准遥控器零点
break;
default:
break;
}
}
}
pd20ams = TIMIRQCNT;
}
if(TIMIRQCNT>pd20bms + 20*ITS_PER_MS-1) // every 20ms
{
if(recv_flag==0)
GetState(SendBuf);
else
recv_flag--;
NRF_SendData(SendBuf);
OP_LED3;
pd20bms = TIMIRQCNT;
}
if(TIMIRQCNT>pd100ms + 100*ITS_PER_MS-1) // every 100ms
{
if(offline>20)
lock_flag = LOCK;
offline++;
// OP_LED4;
pd100ms = TIMIRQCNT;
}
}
}
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");
}
}
int main(void)
{
// u8 key;
// u16 i=0;
u16 adc_91000,adc_91200,reg_read_data=0,reg_write_data=0;
float LMP91000_VOUT,LMP91200_VOUT,Temp_Integer,Temp_Decimal;
short temp;
u8 read_val[5] = {0xff};
u8 status = TI_LMP91000_NOT_READY;
SystemInit();
delay_init(72); //延时初始化
NVIC_Configuration();
uart_init(9600);
LED_Init();
KEY_Init();
Adc_Init();
IIC_Init(); //IIC初始化
LMP91200_Init(); //初始化PH
delay_ms(500);
printf("\nHello XXL");
/************************************************************
* 溶氧电极初始化及数据采集
************************************************************/
LMP91000_ENABLE();
// enable LM
while (status == TI_LMP91000_NOT_READY) // wait while device is not ready
status = LMP91000_ReadOneByte(TI_LMP91000_STATUS_REG); // Read device ready status
read_val[0] = LMP91000_ReadOneByte(TI_LMP91000_LOCK_REG); // Read from lock register default value 0x01
read_val[1] = LMP91000_ReadOneByte(TI_LMP91000_TIACN_REG); // Read TIA control register default value 0x03
read_val[2] = LMP91000_ReadOneByte(TI_LMP91000_REFCN_REG); // Read Reference control register default value 0x20
read_val[3] = LMP91000_ReadOneByte(TI_LMP91000_MODECN_REG); // Read Mode control register default value 0x00
LMP91000_WriteOneByte(TI_LMP91000_LOCK_REG, TI_LMP91000_WRITE_UNLOCK); // unlock the registers for write
LMP91000_WriteOneByte(TI_LMP91000_TIACN_REG, TIACN_NEW_VALUE); // Modify TIA control register
LMP91000_WriteOneByte(TI_LMP91000_REFCN_REG, REFCN_NEW_VALUE); // Modify REF control register
LMP91000_WriteOneByte(TI_LMP91000_MODECN_REG, MODECN_NEW_VALUE); // Modify MODE control register
read_val[1] = LMP91000_ReadOneByte(TI_LMP91000_TIACN_REG); // Read to confirm register is modified
read_val[2] = LMP91000_ReadOneByte(TI_LMP91000_REFCN_REG); // Read to confirm register is modified
read_val[3] = LMP91000_ReadOneByte(TI_LMP91000_MODECN_REG); // Read to confirm register is modified
read_val[4] = LMP91000_ReadOneByte(TI_LMP91000_STATUS_REG);
// test if write/read values match
if (read_val[1] == TIACN_NEW_VALUE)
{
// while (1) // no error: blink LED continuously
// {
delay_ms(500);
LED1=!LED1;//绿灯闪烁
// }
} else
{
delay_ms(500);
LED0=!LED0;//红灯闪烁 // error
}
// 获取LMP91000输出电压
// while(1)
// {
adc_91000=Get_Adc(ADC_Channel_8);
LMP91000_VOUT=(float)adc_91000*(3.3/4096);
LMP91000_VOUT=LMP91000_VOUT;
printf("\n\nDO=%fv ",LMP91000_VOUT);
temp=DS18B20_Get_Temp();
if(temp<0)
{
temp=-temp;
}
Temp_Integer=temp/10;
Temp_Integer=Temp_Integer; //整数
Temp_Decimal=temp%10;
Temp_Decimal=Temp_Decimal; //小数
printf(" Temp=%f.%fc " __TIME__ "",Temp_Integer,Temp_Decimal);
delay_ms(1000);
// }
LMP91000_WriteOneByte(TI_LMP91000_LOCK_REG, TI_LMP91000_WRITE_LOCK); // lock the registers
LMP91000_DISABLE();
/************************************************************
* PH电极初始化及数据采集,无论在空气，碱水，酸水中vout总是1.420～1.429，可能电极坏掉
************************************************************/
Clr_LMP91200_CSN;
reg_write_data = TI_LMP91200_CONFIG_REG_TEST_VALUE; // value to write
reg_read_data = SPIx_ReadWriteByte(reg_write_data); // Write to config register, read old value
reg_read_data = SPIx_ReadWriteByte(reg_write_data); // Write again to read previous update
reg_read_data = SPIx_ReadWriteByte(reg_write_data); // Write again to read previous update,if not read this time,bit-15 will be wrong
// Set_LMP91200_CSN;
while(1)
// test if write/read values match
{
if (reg_write_data == reg_read_data)
{
adc_91200=Get_Adc(ADC_Channel_9);
LMP91200_VOUT=(float)adc_91200*(3.3/4096);
LMP91200_VOUT=LMP91200_VOUT;
LED1=!LED1; //正确则绿灯亮
delay_ms(500);
}
else
{
LED0=!LED0; //错误则黄灯亮
delay_ms(300);
}
}
/************************************************************
* 温度传感器初始化及数据采集
************************************************************/
while(DS18B20_Init())//初始化DS18B20,兼检测18B20
{
delay_ms(600);
// error_report();//DS18B20 未连接
}
while(1)
{
temp=DS18B20_Get_Temp();
if(temp<0)
{
temp=-temp;
}
Temp_Integer=temp/10;
Temp_Integer=Temp_Integer; //整数
Temp_Decimal=temp%10;
Temp_Decimal=Temp_Decimal; //小数
delay_ms(500);
LED1=!LED1;//DS1闪烁
}
/************************************************************
* 按键扫描
************************************************************/
#if 0
while(1)
{
key=KEY_Scan();
if(key==1)//KEY0按下,写入24C02
{
;
}
if(key==3)//KEY_UP按下,读取字符串并显示
{
;
}
i++;
delay_ms(10);
}
#endif
}
//初始化IIC接口
void AT24CXX_Init(void)
{
IIC_Init();
}
//初始化IIC接口
void AT24CXX_Init(void)
{
IIC_Init();//IIC初始化
}
/*.............................................................................
@Name : AT24Cxx_Init
@Param : void
@return : void
@Info : ��ʼ�� EEPROMоƬ AT24C02
.............................................................................*/
void AT24Cxx_Init(void)
{
IIC_Init();
}
uint8_t MPU_Init(void)
{
GPIO_InitTypeDef gpio;
NVIC_InitTypeDef nvic;
EXTI_InitTypeDef exti;
int res=0;
IIC_Init();
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
gpio.GPIO_Pin = GPIO_Pin_5;
gpio.GPIO_Mode = GPIO_Mode_IN;
gpio.GPIO_OType = GPIO_OType_PP;
gpio.GPIO_PuPd = GPIO_PuPd_UP;
gpio.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_Init(GPIOB, &gpio);
SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOB,GPIO_PinSource5);
exti.EXTI_Line = EXTI_Line5;
exti.EXTI_Mode = EXTI_Mode_Interrupt;
exti.EXTI_Trigger = EXTI_Trigger_Falling;//下降沿中断
exti.EXTI_LineCmd = ENABLE;
EXTI_Init(&exti);
nvic.NVIC_IRQChannel = EXTI9_5_IRQn;
nvic.NVIC_IRQChannelPreemptionPriority = ITP_MPU_EXTI9_5_PREEMPTION;
nvic.NVIC_IRQChannelSubPriority = ITP_MPU_EXTI9_5_SUB;
nvic.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&nvic);
if(mpu_init()==0) //初始化MPU6050
{
res=mpu_set_sensors(INV_XYZ_GYRO|INV_XYZ_ACCEL);//设置所需要的传感器
if(res)return 1;
res=mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL);//设置FIFO
if(res)return 2;
res=mpu_set_sample_rate(DEFAULT_MPU_HZ); //设置采样率
if(res)return 3;
res=dmp_load_motion_driver_firmware(); //加载dmp固件
if(res)return 4;
res=dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation));//设置陀螺仪方向
if(res)return 5;
res=dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT|DMP_FEATURE_TAP| //设置dmp功能
DMP_FEATURE_ANDROID_ORIENT|DMP_FEATURE_SEND_RAW_ACCEL|DMP_FEATURE_SEND_CAL_GYRO|
DMP_FEATURE_GYRO_CAL);
if(res)return 6;
res=dmp_set_fifo_rate(DEFAULT_MPU_HZ); //设置DMP输出速率(最大不超过200Hz)
if(res)return 7;
res=mpu_set_int_level(1);
if(res)return 8;
res=dmp_set_interrupt_mode(DMP_INT_CONTINUOUS);
if(res)return 9;
res=run_self_test(); //自检
if(res)return 10;
res=mpu_set_dmp_state(1); //使能DMP
if(res)return 11;
}
else
return 12;
return 0;
}
int main(void)
{
u8 t;
u8 len;
u8 acc_flag = 0;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
delay_init(168); //延时初始化
uart_init(115200); //串口初始化波特率为115200
LED_Init(); //初始化与LED连接的硬件接口
IIC_Init();
while(1)
{
if(USART_RX_STA&0x8000)
{
printf("\n");
len=USART_RX_STA&0x3fff;//得到此次接收到的数据长度
for(t=0;t<len;t++)
{
USART_SendData(USART2, USART_RX_BUF[t]); //向串口2发送数据
while(USART_GetFlagStatus(USART2,USART_FLAG_TC)!=SET);//等待发送结束
}
string_to_value_new();
if(COMD_FLAG != 1)
{
if(COMMAND_BUF[0]-'l' == 0 && COMMAND_BUF[1]-'e' == 0 && COMMAND_BUF[2]-'d' == 0)
{
stop_timer();
stop_pwm();
acc_flag = 0;
turn_off_led(0);
if(FACTOR[0] != 3 && FACTOR[0] != 4 && FACTOR[0] != 5 && FACTOR[0] != 6)
{
printf("\n命令错误！请重新输入！参数为3|4|5|6");
}
else
{
printf("\nLED控制: %d",FACTOR[0]);
turn_on_led(FACTOR[0]);
}
}
else if(COMMAND_BUF[0]-'p' == 0 && COMMAND_BUF[1]-'w' == 0 && COMMAND_BUF[2]-'m' == 0)
{
stop_timer();
acc_flag = 0;
turn_off_led(0);
if(FACTOR[0] - 100 > 0 || FACTOR[0] - 0 < 0)
{
printf("\n命令错误！请重新输入！参数范围在0到100");
}
else
{
printf("\nPWM占空比:%d",FACTOR[0]);
setPWMvalue(FACTOR[0]);
}
}
else if(COMMAND_BUF[0]-'t' == 0 && COMMAND_BUF[1]-'i' == 0 && COMMAND_BUF[2]-'m' == 0)
{
stop_pwm();
acc_flag = 0;
turn_off_led(0);
if(FACTOR[0] > 10000 || FACTOR[0] < 20)
{
printf("\n命令错误！请重新输入！参数范围在20到10000");
}
else
{
printf("\nTIMER定时时间：%d ",FACTOR[0]);
send_str("ms");
set_TIM3_time(FACTOR[0]);
}
}
else if(COMMAND_BUF[0]-'a' == 0 && COMMAND_BUF[1]-'c' == 0 && COMMAND_BUF[2]-'c' == 0)
{
acc_flag = 1;
if(FACTOR[0] != 0 && FACTOR[0] != 1 && FACTOR[0] != 2)
{
printf("\n参数输入有误；默认输出Z轴！");
}
}
else
{
acc_flag = 0;
turn_off_led(0);
printf("\n命令错误！请重新输入！");
}
}
}
if(acc_flag)
{
LSM303_ACC_Init();
LSM_ACC_Read();
ACC_Result_XYZ();
switch(FACTOR[0])
{
case 0:
printf("\nX轴：%f", ACC_XYZ[0]);
break;
case 1:
printf("\nY轴：%f", ACC_XYZ[1]);
break;
case 2:
printf("\nZ轴：%f.3", ACC_XYZ[2]);
break;
default:printf("\nZ轴：%f", ACC_XYZ[2]);
}
delay_ms(100);
}
};
}