void System_init()
{
delay_init(); //延时函数初始化
uart_init(9600);
dc_moter_init();
LED_Init();
UART3_Init(115200);
NRF24L01_Init(); //初始化NRF24L01
while(NRF24L01_Check()) //检查NRF24L01是否在位.
{
delay_ms(200);
printf("nrf error\n");
}
NRF24L01_RX_Mode();
}
int main()
{
init();
//检测nrf24l01模块连接状况
if(NRF24L01_Check())//检测正常
{
LCD1602_BL_ON()
delay_ms(100);
LCD1602_BL_OFF();
delay_ms(100);
LCD1602_BL_ON()
delay_ms(100);
LCD1602_BL_OFF();
delay_ms(100);
delay_ms(500);
}
else //未检测到nrf24l01模块
{
LCD1602_BL_ON()
delay_ms(100);
LCD1602_BL_OFF();
delay_ms(100);
LCD1602_BL_ON()
delay_ms(100);
LCD1602_BL_OFF();
delay_ms(100);
LCD1602_BL_ON()
delay_ms(100);
LCD1602_BL_OFF();
delay_ms(100);
delay_ms(500);
}
NRF24L01_RX_Mode();
GPIO_SetBits(GPIOB,GPIO_Pin_1);
while(1)
{
if(EXTI_flag)
{
EXTI_flag=0;
Sensor_Status_Dis();
}
}
}
//初始化24L01的IO口
void NRF24L01_Init(uint8_t mode)
{
gpio_out_pp_up_init(GPIOB, GPIO_Pin_7); //NRF24L01_CE初始化
spi_config(); //初始化SPI1
exti_config(GPIOB, 5);
NRF24L01_CE=0; //使能24L01
NRF24L01_CS=1; //SPI片选取消
while(NRF24L01_Check()){
printf("not found NRF24L01\r\n");
delay_ms(500);
}
printf("NRF24L01 init ok\r\n");
if(mode == NRF_RX_MODE){
nrf_state = RX_OK;
NRF24L01_RX_Mode();
}
else{
nrf_state = TX_OK;
NRF24L01_TX_Mode();
}
}
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");
}
}
