void start_configration(void)
{
uint8_t sdadc_cali_flag=0;//SDADC配置成功与否标志，0-成功，1-INITRDY未置位，2-EOCAL未置位
Init_flash();//初始化一些参数
delay_init();//延时函数初始化，可以使用delay_ms(u16 nms),delay_us(u32 nus)
NVIC_Configuration();//设置NVIC中断分组2:2位抢占优先级，2位响应优先级
HT1621_Init();
lcd_clr();
lcd_full_test();
Init_Keyboard_Interrupt();//内含TIM3-按键10ms检测中断、EXTI9_5-按键外部中断
BUZZER_LED_Init(); //TIM4驱动
uart_init(115200);//内含USART2与上位机通信串口中断9600
delay_ms(500);
sdadc_cali_flag=SDADC1_Config();//采样配置，内含DMA2-SDADC数据DMA中断
TIM19_Config();//采样触发、采样频率配置
TIM5_2_Compare_Capture_Init();//COMP比较器、定时器配置，用于基频捕获，内含TIM5比较器捕获中断
DTA0660_Init();//内含Usart1-DTA0660通信串口中断，用于单片机与DTA通信
TIM12_Config_1s();//1s定时器，内含TIM12-1s中断：秒表显示闪烁
TIM14_Config_0_5s();//0.5s定时器，内含TIM14-0.5s中断：相序测量闪烁
PowerControl_Init();
DAC_Config();//新增DAC输出驱动钳头
Dac1_Set_Vol(1800);
TIM13_Config_1s_Standby();//内含1s中断，计数1800次为30min，进入Standby模式
}
int main(void)
{
system_init();
delay_init();
struct port_config pin;
port_get_config_defaults(&pin);
pin.direction = PORT_PIN_DIR_OUTPUT;
port_pin_set_config(LED0_PIN, &pin);
port_pin_set_output_level(LED0_PIN, LED0_INACTIVE);
while (true) {
for (int i = 0; i < 5; i++) {
port_pin_toggle_output_level(LED0_PIN);
delay_s(1);
}
for (int i = 0; i < 50; i++) {
port_pin_toggle_output_level(LED0_PIN);
delay_ms(100);
}
for (int i = 0; i < 5000; i++) {
port_pin_toggle_output_level(LED0_PIN);
delay_cycles(100);
}
}
}
int main(void)
{
delay_init(); //延时函数初始化
uart_init(9600); //串口初始化为9600
LED_Init(); //初始化与LED连接的硬件接口
LED0=1;
LED1=1;
LED2=1;
USB_Cable_Config (ENABLE);
delay_ms(500);
USB_Port_Set(0);
delay_ms(500);
USB_Port_Set(1);
Set_USBClock();
USB_Interrupts_Config();
USB_Init();
SPI_IO_Init();
DMA_configuration();
spi_conf(SPI_DEFAULT_SPEED);
LED1=0;
LED2=0;
while(1)
{
/* Get command */
serprog_handle_command(usb_getc());
/* Flush output via USB */
usb_sync();
}
}
//主函数
int main(void)
{
OS_ERR err;
CPU_SR_ALLOC();
delay_init(168); //时钟初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//中断分组配置
uart_init(115200); //串口初始化
LED_Init(); //LED初始化
LCD_Init(); //LCD初始化
KEY_Init(); //按键初始化
BEEP_Init(); //初始化蜂鸣器
FSMC_SRAM_Init(); //初始化SRAM
my_mem_init(SRAMIN);//初始化内部RAM
ucos_load_main_ui();//加载主UI
OSInit(&err); //初始化UCOSIII
OS_CRITICAL_ENTER(); //进入临界区
//创建开始任务
OSTaskCreate((OS_TCB * )&StartTaskTCB, //任务控制块
(CPU_CHAR * )"start task", //任务名字
(OS_TASK_PTR )start_task, //任务函数
(void * )0, //传递给任务函数的参数
(OS_PRIO )START_TASK_PRIO, //任务优先级
(CPU_STK * )&START_TASK_STK[0], //任务堆栈基地址
(CPU_STK_SIZE)START_STK_SIZE/10, //任务堆栈深度限位
(CPU_STK_SIZE)START_STK_SIZE, //任务堆栈大小
(OS_MSG_QTY )0, //任务内部消息队列能够接收的最大消息数目,为0时禁止接收消息
(OS_TICK )0, //当使能时间片轮转时的时间片长度，为0时为默认长度，
(void * )0, //用户补充的存储区
(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR, //任务选项
(OS_ERR * )&err); //存放该函数错误时的返回值
OS_CRITICAL_EXIT(); //退出临界区
OSStart(&err); //开启UCOSIII
}
//ALIENTEK战舰STM32开发板实验3
//按键输入实验
//技术支持：www.openedv.com
//广州市星翼电子科技有限公司
int main(void)
{
u8 t;
delay_init(); //延时函数初始化
LED_Init(); //LED端口初始化
KEY_Init(); //初始化与按键连接的硬件接口
BEEP_Init(); //初始化蜂鸣器端口
LED0=0; //先点亮红灯
while(1)
{
t=KEY_Scan(0); //得到键值
if(t)
{
switch(t)
{
case KEY_UP: //控制蜂鸣器
LED4=!LED4;
LED1=!LED1;
LED2=!LED2;
LED3=!LED3;
break;
case KEY_LEFT: //控制LED0翻转
LED1=!LED1;
break;
case KEY_DOWN: //控制LED1翻转
LED2=!LED2;
break;
case KEY_RIGHT: //同时控制LED0,LED1翻转
LED3=!LED3;
break;
}
}else delay_ms(10);
}
}
void start_task(void *pdata)
{
OS_CPU_SR cpu_sr = 0;
pdata = pdata;
delay_init(168);
OS_ENTER_CRITICLE(); //进入临界区 无法被中断打断
OSTaskCreate( led0Task,
(void *)0,
(OS_STK *)LED0_TASK_STK[LED0_STK_SIZE-1],
LED0_TASK_PRIO);//创建LED任务
// OSTaskCreate( beepTask, (void *)0,
// (OS_STK *)BEEP_TASK_STK[BEEP_STK_SIZE-1],
// BEEP_TASK_PRIO);//创建BEEP任务
//用OSTaskCreateExt改写
OSTaskCreateExt( beepTask, (void *)0,
(OS_STK *)BEEP_TASK_STK[BEEP_STK_SIZE-1],
BEEP_TASK_PRIO,
BEEP_TASK_PRIO,//ID设置为跟优先级一样
(OS_STK *)BEEP_TASK_STK[0],//栈底指针
BEEP_STK_SIZE,//堆栈大小
(void *) 0,//额外参数为空
OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR//使用任务堆栈检查和清零功能
)
OSTaskSuspend(START_TASK_PRIO);//挂起起始任务
OS_EXIT_CRITICLE(); //退出临界区 可以被中断打断
}
int main(void)
{
u8 t=0;
u16 Time=0,dis_pre=0;
float V_ave; //平均速度
char code_ave[5],code_v[5],code_vr[5], mileage[5];//信息储存数组
delay_init(72); //延时函数初始化
Stm32_Clock_Init(9); //系统时钟设置
uart_init(72,9600); //串口初始化为9600
usmart_dev.init(72); //初始化USMART
EXTIX_Init(); //外部中断初始化
TIM3_Int_Init(5000,7199); //10Khz的计数频率，计数到5000为500ms
LCD_Init(); // PE.ALL,PD1~5
LCD_Display_Dir(1); //设置显示方向为横屏显示
LED_Init(); //初始化与LED连接的硬件接口
KEY_Init(); //初始化按键
while(RTC_Init())
{ //等待RTC初始化
delay_ms(200);
printf("rtc waiting```\r\n");
}
printf("finish\n");
display_jing();
//初始化完成
while(1)
{
POINT_COLOR=RED;
if(t!=calendar.sec) //时间更新后显示新时间
{
t=calendar.sec;
LCD_ShowNum(200,135,calendar.min,2,32);
LCD_ShowString(230,135,200,32,32,":");
LCD_ShowNum(248,135,calendar.sec,2,32);
Time = 60*calendar.min+calendar.sec;//比赛用时
if(dis_pre != quanshu_tenfold) //有位移变化
{
V_ave=(0.154*quanshu_tenfold)/Time;
dis_pre = quanshu_tenfold;
sprintf(code_ave,"%.2f",V_ave);
LCD_ShowString(100,200,200,32,32,code_ave);//修改一下位置
}
}
sprintf(code_v,"%.2f",V); //float 转 字符串
LCD_ShowString(365,275,200,32,32,code_v); //速度
sprintf(code_vr,"%d",V_RPM); //float 转 字符串
LCD_ShowString(365,275,200,32,32,code_vr); //转速
sprintf(mileage,"%.2f",0.154*quanshu_tenfold);
LCD_ShowString(250,225,200,24,32,mileage); //里程
display_dong(V_RPM,V,50);
delay_ms(300);
}
}
/********************************************
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
}
void start_task(void *pdata)
{
INT8U err;//错误码
INT8U *pname;
INT8U len;//名字的长度
char buffer[16];
OS_CPU_SR cpu_sr = 0;
pdata = pdata;
delay_init(168);
OS_ENTER_CRITICLE(); //进入临界区 无法被中断打断
OSTaskCreate( led0Task,
(void *)0,
(OS_STK *)LED0_TASK_STK[LED0_STK_SIZE-1],
LED0_TASK_PRIO);//创建LED任务
OSTaskCreate( beepTask, (void *)0,
(OS_STK *)BEEP_TASK_STK[BEEP_STK_SIZE-1],
BEEP_TASK_PRIO);//创建BEEP任务
OSTaskCreate( keyTask, (void *)0,
(OS_STK *)KEY_TASK_STK[KEY_STK_SIZE-1],
KEY_TASK_PRIO);//创建keytask
OSTaskSuspend(START_TASK_PRIO);//挂起起始任务
OS_EXIT_CRITICLE(); //退出临界区 可以被中断打断
}
int main(void)
{
u16 adcx;
float temp;
delay_init(); //延时函数初始化
uart_init(9600); //串口初始化为9600
LED_Init(); //初始化与LED连接的硬件接口
LCD_Init();
Adc_Init(); //ADC初始化
POINT_COLOR=RED;//设置字体为红色
LCD_ShowString(60,50,200,16,16,"Mini STM32");
LCD_ShowString(60,70,200,16,16,"ADC TEST");
LCD_ShowString(60,90,200,16,16,"ATOM@ALIENTEK");
LCD_ShowString(60,110,200,16,16,"2014/3/9");
//显示提示信息
POINT_COLOR=BLUE;//设置字体为蓝色
LCD_ShowString(60,130,200,16,16,"ADC_CH1_VAL:");
LCD_ShowString(60,150,200,16,16,"ADC_CH1_VOL:0.000V");
while(1)
{
adcx=Get_Adc_Average(ADC_Channel_1,10);
LCD_ShowxNum(156,130,adcx,4,16,0);//显示ADC的值
temp=(float)adcx*(3.3/4096);
adcx=temp;
LCD_ShowxNum(156,150,adcx,1,16,0);//显示电压值
temp-=adcx;
temp*=1000;
LCD_ShowxNum(172,150,temp,3,16,0X80);
LED0=!LED0;
delay_ms(250);
}
}
/*******************************************************************************
*Function:系统初始化
*parm:none
*description:
*******************************************************************************/
void board_init(void)
{
delay_init();
LED_Init(); //LED灯初始化
USART_Configuration(115200);//串口通信初始化
USART2_Init(9600);
}
int main()
{
delay_init(72);
uart1_init(); //串口1
uart2_init();
RCC_Configuration();
GPIO_Configuration();
GPIO_ResetBits(GPIOB, GPIO_Pin_5); //PB=0,LED亮
delay_ms(500);
GPIO_SetBits(GPIOB, GPIO_Pin_5);
while(1)
{
delay_ms(1000);
printf("State %c\r\n", lock); //串口输出调试
TIME_AREA();
printf("Time :%c%c : %c%c : %c%c%c%c%c \r\n",time[0],time[1],time[2],time[3],time[4],time[5],time[6],time[7],time[8]); //串口输出调试
JWD_AREA(JD); //经度转换
printf("Longitude :%f %c\r\n", D_D,JD_a); //串口输出调试jd
JWD_AREA(WD); //纬度转换
printf("Latitude :%f %c\r\n", D_D,WD_a); //串口输出调试wd
// printf("卫星 ：%s颗\r\n", use_sat); //串口输出调试
// printf("卫星 ：%s颗\r\n", total_sat); //串口输出调试
// printf("高度 ：%sm\r\n", haiba); //串口输出调试
// printf("海拔 ：%sm\r\n", high); //串口输出调试
// printf("速度 ：%s节\r\n", speed2); //串口输出调试
// printf("方位 ：%s度\r\n", angle); //串口输出调试
}
}
void Init(void)
{
//时钟配置
RCC_Configuration();
NVIC_Configuration();
delay_init(72);
//串口配置
USART1_Configuration();
USART2_Configuration();
USART3_Configuration();
UART4_Configuration();
UART5_Configuration();
USART_ITEnable();
//PWM配置
PWMTIM_Configuration(72000/5,0); //不分频。PWM频率=Freq
//指南针配置
COMPASS_Init();
//舵机配置
SERVOS_Init();
//设置到初始值
PWM_Configuration(MOTOR_Speed);
s3010_SeTAngle(SERVOS_Angle);
}
int main(void)
{
delay_init();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
uart_init(115200); //串口初始化为115200
Uart2_Init(115200);
OLED_Init();
LED_Init();
OLED_Clear();
KEY_Init();//IO初始化
TIM3_Int_Init(499,7199);//10Khz的计数频率，计数到500为50ms
NET_Init();
ConnectToDevice();
delay_ms(300);
LED2 = 0;
delay_ms(100);
LED2 = 1;
EEPROM_Init();
// ReadLedStatusFromFlash();
StartToUploadFlag = 1;
while(1)
{
MainMenuIntoSubMenu();
SwitchDetect();
}
}
int main(void)
{
irq_initialize_vectors();
#if SAMD || SAMR21
system_init();
delay_init();
#else
sysclk_init();
/* Initialize the board.
* The board-specific conf_board.h file contains the configuration of
* the board initialization.
*/
board_init();
#endif
performance_analyzer_init();
cpu_irq_enable();
/* Endless while loop */
while (1)
{
performance_analyzer_task();
}
}
int main(void)
{
long long temp=0;
float lenth=0.00;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
delay_init(168); //初始化延时函数
uart_init(115200);//初始化串口波特率为115200
LED_Init();
TIM3_CH1_Cap_Init(0XFFFF,84-1); //以1Mhz的频率计数
while(1)
{
delay_ms(10);
GPIO_SetBits(GPIOF,GPIO_Pin_7 );
delay_us(10);
GPIO_ResetBits(GPIOF,GPIO_Pin_7 );
if(TIM3CH1_CAPTURE_STA&0X80) //成功捕获到了一次高电平
{
temp=TIM3CH1_CAPTURE_STA&0X3F;
temp*=0XFFFF; //溢出时间总和
temp+=TIM3CH1_CAPTURE_VAL; //得到总的高电平时间
if(temp>=80000)
{
printf("no trouble\r\n");
}
else
{
lenth=((float)temp)*340/1000000/2;
printf("lenth:%f m\r\n",lenth); //打印总的高点平时间
printf("%lld\r\n",temp);
}
TIM3CH1_CAPTURE_STA=0; //开启下一次捕获
}
}
}
int main(void)
{
u8 R='b';
delay_init(72); //延时函数初始化
usart1_init(); //串口初始化
NRF24L01_Init(); //初始化NRF24L01
LED();
while(NRF24L01_Check()); //检查NRF24L01是否在位.
while(1)
{
NRF24L01_TX_Mode();
if(USART_GetFlagStatus(USART1, USART_FLAG_RXNE))
{
R =USART_ReceiveData(USART1);
USART_ClearFlag(USART1, USART_FLAG_TC);
USART_SendData(USART1, USART_ReceiveData(USART1));
USART_ClearFlag(USART1, USART_FLAG_RXNE);
}
NRF24L01_TxPacket(&R);
if(R=='a')
GPIO_ResetBits(GPIOE, GPIO_Pin_5); //PE=0,LED亮
if(R=='b')
GPIO_SetBits(GPIOE, GPIO_Pin_5); //PE=1,LED灭
}
}
int main(void)
{
Stm32_Clock_Init(9);
// u16 temp;
NVIC_Configuration();
UART1_init(72,115200);
delay_init();
//初始化串口1；
pid_Init();
LED_Init();
EXTIX_Init();
Adc_Init();
Motor_Init(999,0);
HC05_Init();
while(mpu_dmp_init());
// TIM5_Init(999,72);
TIM2_Int_Init(999,72);//定时器3配置，1ms中断一次
while(1)
{
// CtrlAttiAng();
// PWM_test();
// COMMPC_TEST();
// Get_angle();
// u2_printf("hell");
test_SendPC();//测试向PC发送协议数据，用于调控
}
}
int main(void)
{
// init sys
SystemInit();
// init peripheral
UART_Configuration();
delay_init();
KEY_GPIO_Init();
TIM3_Int_Init(100,7199);
Motor_Init();
RGB_LED_Init();
DHT11_Init();
IR_Init();
// init vars
GenProtocolInit();
BuzProtocolInit();
UartInit();
while(1)
{
// handle uart msg
HandleMsg();
// handle key events
HandleKey();
// business logic tick
BuzTick();
}
}
int main(void)
{
delay_init(); //???????
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //??NVIC????2:2??????,2??????
uart_init(115200); //??????115200
LED_Init(); //LED?????
TFTLCD_Init(); //LCD???
KEY_Init(); //?????
ctp_dev.init(); //??????
FSMC_SRAM_Init(); //???SRAM
TIM3_Int_Init(999,71); //1KHZ ???1ms
TIM6_Int_Init(999,719); //10ms??
my_mem_init(SRAMIN); //????????
my_mem_init(SRAMEX); //????????
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC,ENABLE);//??CRC??,??STemWin????
GUI_Init();
WM_SetCreateFlags(WM_CF_MEMDEV);
GUI_Init();//???????? demo???????? ?????????
startUp_Window(); //??????
while(1);
}
int main (void)
{
/* Insert system clock initialization code here (sysclk_init()). */
board_init();
sysclk_init();
delay_init(sysclk_get_cpu_hz());
//gpio_configure_pin(PORTA5,1);
ioport_init();
ioport_set_pin_dir(LED_GREEN,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(LED_RED,IOPORT_DIR_OUTPUT);
/* Insert application code here, after the board has been initialized. */
ioport_set_pin_high(LED_RED);
ioport_set_pin_low(LED_GREEN);
//gpio_set_pin_high(PORTA5);
while(true){
ioport_toggle_pin(LED_GREEN);
ioport_toggle_pin(LED_RED);
delay_ms(500);
}
}
void TIM3_Int_Init(u16 arr,u16 psc)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStrue;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
TIM_TimeBaseInitStrue.TIM_Period=arr;
TIM_TimeBaseInitStrue.TIM_Prescaler=psc;
TIM_TimeBaseInitStrue.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInitStrue.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseInitStrue);
TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);
//中断优先级NVIC设置
NVIC_InitStructure.NVIC_IRQChannel=TIM3_IRQn;//TIM3中断
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=0;//先占优先级
NVIC_InitStructure.NVIC_IRQChannelSubPriority=3;//从优先级
NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;//IRQ通道使能
NVIC_Init(&NVIC_InitStructure);
TIM_Cmd(TIM3,ENABLE);
delay_init();//延时模板函数初始化（延时时间比较准确）
}
/*! \brief Main function.
*/
int main(void)
{
irq_initialize_vectors();
#if SAMD20
system_init();
delay_init();
#else
sysclk_init();
/* Initialize the board.
* The board-specific conf_board.h file contains the configuration of
* the board initialization.
*/
board_init();
#endif
sw_timer_init();
serial_interface_init();
if (MAC_SUCCESS != wpan_init()) {
app_alert();
}
LED_On(LED_POWER);
cpu_irq_enable();
while (1) {
wpan_task();
serial_data_handler();
}
}
int main(void)
{
u8 key;
delay_init(168);
LED_Init();
KEY_Init();
LED0 = 1;
while(1)
{
key = KEY_Scan(0);
if(key)
{
switch ( key)
{
case 1:
LED0 = !LED0;
break;
default:
break;
}
}
}
}
int main(void)
{
/* Use static volatile to make it available in debug watch */
static volatile bool pin_val;
sysclk_init();
board_init();
ioport_init();
delay_init(sysclk_get_cpu_hz());
/* Set output direction on the given LED IOPORTs */
ioport_set_pin_dir(EXAMPLE_LED, IOPORT_DIR_OUTPUT);
/* Set direction and pullup on the given button IOPORT */
ioport_set_pin_dir(EXAMPLE_BUTTON, IOPORT_DIR_INPUT);
ioport_set_pin_mode(EXAMPLE_BUTTON, IOPORT_MODE_PULLUP);
/* Set LED IOPORTs high */
ioport_set_pin_level(EXAMPLE_LED, IOPORT_PIN_LEVEL_HIGH);
while (true) {
/* Toggle LED IOPORTs with half a second interval */
ioport_toggle_pin_level(EXAMPLE_LED);
delay_ms(500);
/* Get value from button port */
/* Use watch with debugger to see it */
pin_val = ioport_get_pin_level(EXAMPLE_BUTTON);
}
}
int main(void)
{
// u8 i;
Stm32_Clock_Init(9); //system clock init always init first
IO_Init();
delay_init(72); //delay init
<<<<<<< HEAD
int main(void)
{
float x=1;
float p=10;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
delay_init(168); //初始化延时函数
EXTIX_Init();
uart_init(115200);
TIM10_PWM_Init(10000-1,336-1); //84M/84=1Mhz的计数频率,重装载值500，所以PWM频率为 1M/500=2Khz.
TIM11_PWM_Init(10000-1,336-1);
TIM9_PWM_Inita(10000-1,336-1);
TIM9_PWM_Initb(10000-1,336-1);
//TIM3_Int_Init(5000-1,8400-1); //定时器时钟84M，分频系数8400，所以84M/8400=10Khz的计数频率，计数5000次为500ms
exp_point=set_point(0,0,0,750);
MPU_Init();
printf("aaa\r\n");
while(mpu_dmp_init()){}
//TIM3_Int_Init(100-1,8400-1);
init_omegax.data=x;
init_omegax.p=p;
init_roll.data=x;
init_roll.p=p;
while(1)
{
LED0=!LED0;//DS0翻转
delay_ms(200);//延时200ms
};
}
/*
-------------------------------------------------------------------------
* 函数名称：
* 函数功能：
* 输入形参：
* 返回值：
---------------------------------------------------------------------------
*/
void Board_Init(void)
{
u8 i;
//系统时钟配置
SystemInit();
//延时函数初始化
delay_init(72);
//定时器1初始化
TIM1_config();
//舵机初始化
Motor_Init();
Servo_Init();
//串口配置
USART_Config();
//串口中断配置
NVIC_Config();
//LED初始化
LED_Init();
//按键初始化
KEY_Init();
//等待电调中间值确定
for(i=0;i<3;i++)
{
delay_ms(1000);
}
}
/**
* @brief Ö÷º¯Êý
* @param ÎÞ
* @retval ÎÞ
*/
int main(void)
{
uint16_t Buf[10], i;
delay_init(72);
/* USART1 config 9600 8-N-1 */
USART1_Config();
Init_Mouse();
for(;;)
{
if(PS2_Status&0x80)
{
Mouse_Data_Pro();
PS2_Status=MOUSE;
printf("X = %d Y = %d \r", MouseX.x_pos, MouseX.y_pos);
PS2_En_Data_Report();
}
else if(PS2_Status&0x40)
{
PS2_Status=MOUSE;
}
delay_ms(1);
}
}
int main(void)
{
Stm32_Clock_Init(9); //system clock init always init first
IO_Init();
delay_init(72); //delay init
uart_init(72,115200); //uart init
PWM4_Init(150,18000); // ultra ping sig
// PWM2_2Init(100,1800); //count to 100, freq/1800 //IR aqusition pulse
Timer3_Init(65535,256); //time refrence for echo/ultrasonic
// setup 5 for motors?
Timer2_Init(65535,10); // motor try1
motor_Init();
EXTIX_Init();
// Adc_Init();
// LED0_PWM_VAL2_2=0x44;
// LED0_PWM_VAL2_1=0x34;
LED0_PWM_VAL4=0x34;
IRO=0;//turn on IR LEDs
while(1)
{
printf("adcx1\tadcx2\tadcx3\tadcx4\tGyro\tBatt\techo\n");
printf("%u\t%u\t%u\t%u\t%u\t%u\t%u",adcx1,adcx2,adcx3,adcx4,Gyro_raw,Batt,echo);
printf("\n");
// USART1->DR=echo/0xff;
// while((USART1->SR&0X40)==0);//wait for transfer to compleate
LED0=!LED0;
delay_us(100000);//wait for the end of transmission
}
}
