int main(void){
// SCB->VTOR = FLASH_BASE | 0x8000;
RCC_Configuration();
RCC_HSE_Configuration();
GPIO_Configuration();
while(1){
GPIO_SetBits(GPIOC,GPIO_Pin_13);
delay_ms(500);
GPIO_ResetBits(GPIOC,GPIO_Pin_13);
delay_ms(500);
}
}
int main(void)
{
float q[4];
u8 tmp_buf[32] = {0};
float test = 0;
static u8 led_on = 0;
RCC_HSE_Configuration();
SysTick_Init();
NVIC_Configuration();
USART1_Config(115200);
LED_Init();
LED3_Flash(2,100);
ANO_TC_I2C2_INIT(0xA6, 400000, 1, 1, 3, 3);
//硬实时
Tim3_Init(500);//0.005s
TIM2_Init(999, 0);
Mpu6050init();
MOT_GPIO_init();
MOT_PWM_init();
Set_PWM(0, 0, 0, 0);
NRF24L01_Init();
while (NRF24L01_Check())
{
LED2_Flash(2,500000);
}
//TX mode
NRF24L01_Mode_Config(4);
PID_Init();
ADC1_Init();
while (1)
{
if (getMpu6050Data == 1)
{
//0.01ms?
Read_Mpu6050();
Mpu6050_Analyze();
getMpu6050Data = 0;
}
if (calculateAngle == 1)//2ms period
{
//0.2ms T
//LED2_ON;
//100us
IMU_Quateration_Update((float)fGYRO_X , (float)fGYRO_Y , (float)fGYRO_Z , (float)fACCEL_X, (float)fACCEL_Y, (float)fACCEL_Z,ypr);
//LED2_OFF;
calculateAngle = 0;
}
if (sendData == 1)//2ms period
{
if(led_on)
{
LED2_OFF;
led_on = 0;
}
else
{
LED2_ON;
led_on = 1;
}
if (NRF24L01_RxPacket(tmp_buf) == 0)
{
//10us
Rc_Data_Analyze(tmp_buf,&Rc_Data);
}
//if wait for the IRQ it need 9ms
//if not wait for IRQ it runtime need 100us*1.2=0.12ms
sendSenser((int16_t)fACCEL_X, (int16_t)fACCEL_Y, (int16_t)fACCEL_Z, (int16_t)fGYRO_X, (int16_t) fGYRO_Y, (int16_t)fGYRO_Z, (int16_t)(ypr[0] * 100), (signed short int)(ypr[1] * 100));
send_wave(32);
//0.14ms run time
sendPwmVoltage(&Rc_Data,(uint16_t)(motor0 / 1000.0 * 100), (uint16_t)(motor1 / 1000.0 * 100), (uint16_t)(motor2 / 1000.0 * 100), (uint16_t)(motor3 / 1000.0 * 100));//0.00003974s
send_wave(32);
sendData = 0;
}
//moveFilterAccData(fACCEL_X, fACCEL_Y, fACCEL_Z, AngleOut);
if (!strcmp(Rc_Data.status, "stop"))
{
Set_PWM(0, 0, 0, 0);
}
else if (!strcmp(Rc_Data.status, "start"))
{
//LED2_ON;
expRoll = Rc_Data.roll;
expPitch = Rc_Data.pitch;
expThro = Rc_Data.throttle;
surRoll = ypr[2];
surPitch = ypr[1];
PID_Set();
Set_PWM(motor0, motor1, motor2, motor3);
//LED2_OFF;
}
////Uart1_Send_PID(320,PID_ROLL.KI,PID_ROLL.KD,1,0,0);
////send_wave(32);
// if (STA == 1)
// {
// receive_Data();
// STA = 0;
// p = 0;
// }
}
}
