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)
{
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);
}
}
void main(void)
{
_U08 u8Adc = 0;
_U08 u8Val;
_U16 u16Volts;
ANCON0 = 0xff;
ANCON1 = 0xff;
Adc_Init(ADC_8BITS);
Timers_Init(); /*inicializamos el driver para genere una interrupcion cada 5ms*/
_7segments_Init(); /*configuramos los pines como salidas*/
__ENABLE_INTERRUPTS(); /*se habilitan las interrupciones globales con prioridad*/
while (1)
{
if(Timers_u16GetTime(0) == 0)/*preguntamos si la interrupcion decrmento hasta llegar a 0 el canal 0*/
{
Timers_SetTime(0, 5/timers_ms);/*se cumplen los 5ms asi que volvemos a recargar el mismo canal */
_7segments_Task(); /*actualiza el valor en el display y multiplexa al siguiente display*/
}
if(Timers_u16GetTime(1) == 0)/*preguntamos si la interrupcion decrmento hasta llegar a 0 el canal 1*/
{
Timers_SetTime(1, 100/timers_ms); /*se cumplen los 200ms asi que volvemos a recargar el mismo canal */
u8Adc = Adc_u16Read( 3 ); /*se lee el canal del adc*/
u16Volts = (_U16)u8Adc * (_U16)13; /*se trasnforma la lectura en milivolts*/
_7segments_SetNumber(u16Volts/10); /*actualizamos el display con el valor en volts*/
u8Val = _7segments_u8GetDisplay(2); /*se lee el tercer display*/
_7segments_SetDisplay(2, u8Val|0x80); /*se agrega el punto decimal*/
}
}
}
//fungsi utama
int main (void) {
//inisialisasi HAL (Hardware Abstraction Layer)
halInit();
//inisialisasi kernel
chSysInit();
Adc_Init();
process_running();
//inisialisasi CAN
CAN_Config();
// serial
sdStart(&SD2,NULL);
palSetPadMode(GPIOB,3, PAL_MODE_ALTERNATE(7)); //TX
palSetPadMode(GPIOB,4, PAL_MODE_ALTERNATE(7)); //RX
sdStart(&SD1,NULL);
palSetPadMode(GPIOA,9, PAL_MODE_ALTERNATE(7)); //TX
palSetPadMode(GPIOA,10, PAL_MODE_ALTERNATE(7)); //RX
sdStart(&SD3,NULL);
palSetPadMode(GPIOB,10, PAL_MODE_ALTERNATE(7)); //TX
palSetPadMode(GPIOE,15, PAL_MODE_ALTERNATE(7)); //RX
//inisialisasi USB
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
//aktifasi USB
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(200);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
//thread 1
chThdCreateStatic(waBacavolt, sizeof(waBacavolt), NORMALPRIO, Bacavolt, NULL);
chThdCreateStatic(waBacacurrent, sizeof(waBacacurrent), NORMALPRIO, Bacacurrent, NULL);
chThdCreateStatic(waThreadBMS, sizeof(waThreadBMS), NORMALPRIO, ThreadBMS, NULL);
//chThdCreateStatic(waThreadkirimjoule, sizeof(waThreadkirimjoule), NORMALPRIO, Threadkirimjoule, NULL);
//chThdCreateStatic(waThreadkirimjoule2, sizeof(waThreadkirimjoule2), NORMALPRIO, Threadkirimjoule2, NULL);
while(TRUE) {
kirim_data_usart1();
chprintf((BaseSequentialStream *)&SD1,"%d,%f,%d,%d,%f,%f,%d,%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%d,%d,%d,%d \n",avgtemp,packsoc,packDCL,packCCL,lowvoltcell,highvoltcell,hightemp,lowtemp,packcurrent,packvolt,amphours,supply12v, deltacellvolt,avgcellvolt,mppt1_v,mppt2_v,mppt3_v,mppt4_v,mppt5_v,mppt6_v,mppt7_v,mppt8_v,mppt9_v,mppt10_v,mppt11_v,mppt12_v,mppt13_v,mppt15_v,mppt16_v, mppt1_i, mppt2_i, mppt3_i, mppt4_i, mppt5_i, mppt6_i, mppt7_i,mppt8_i, mppt9_i, mppt10_i, mppt11_i, mppt12_i, mppt13_i, mppt14_i, mppt15_i,current1,current2,current3,voltage1,voltage2,voltage3,milidetik,detik,menit,jam);
//chprintf((BaseSequentialStream *)&SDU1,"%d,%f,%d,%d,%f,%f,%d,%d,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f \n",avgtemp,packsoc,packDCL,packCCL,lowvoltcell,highvoltcell,hightemp,lowtemp,packcurrent,packvolt,amphours,supply12v, deltacellvolt,avgcellvolt,mppt1_v,mppt2_v,mppt3_v,mppt4_v,mppt5_v,mppt6_v,mppt7_v,mppt8_v,mppt9_v,mppt10_v,mppt11_v,mppt12_v,mppt13_v,mppt15_v,mppt16_v, mppt1_i, mppt2_i, mppt3_i, mppt4_i, mppt5_i, mppt6_i, mppt7_i,mppt8_i, mppt9_i, mppt10_i, mppt11_i, mppt12_i, mppt13_i, mppt14_i, mppt15_i);
//chprintf((BaseSequentialStream *)&SDU1,"%x %x %x %x %x %x %x %x \n",RxMessage33.StdId, RxMessage44.StdId, RxMessage55.StdId, RxMessage66.StdId, RxMessage77.StdId, RxMessage88.StdId, RxMessage99.StdId, RxMessage11.StdId);
//chprintf((BaseSequentialStream *)&SD1,"tes \n");
chThdSleepMilliseconds(500);
}
return 0 ;
}
/*****************************************************************************
函 数 名: AirCondition_Init
功能说明: 空调外部条件初始化
参 数: 无
返 回 值: 无
*****************************************************************************/
void AirCondition_Init(void)
{
Adc_Init();
GPIOx_Cfg(GPIO_A, pin_0, IN_); //配置PA0管脚模拟输入
GetRT_Tab(); //add zyh 2015.04.27
gAirCondition.timer = 0; //空调定时默认关
Thread_Login(FOREVER, 0, 50, AirCondition_Temp); //后台实时更新当前环境温度
}
int main(void)
{
SystemClock_HSI(9); //系统时钟设置,9倍频，36M
LedInit(); //LED 初始化
Adc_Init(); //摇杆AD初始化
NRF24L01_Init(); //无线模块初始化
TX_Mode(); //发送模式
TIM4_Init(); //定时器初始化,定时周期为1ms，1ms发送一次摇杆AD值
KeyInit(); //按键初始化
TxBuf[30]=0xA5; //对应遥控器，该位写0xA5,保证飞机能在开机的时候能收到一个完整的32字节的数据包
GetAD(R_Mode);
/*******************************************************/
//以下为遥控解锁段
/*******************************************************/
while((Throttle>5)||(Roll>5))//解锁条件：油门拉到最低，方向打到最左解锁
{
GetAD(R_Mode);//得到各路AD值并显示
}
TxBuf[28]=0; //对应遥控器，该字节写0，使飞机跳过写参数那一步
TxBuf[27]=0xA5;//解锁飞机
TxBuf[31]=0xA5;//解锁成功，使能飞控
/*******************************************************/
//解锁完成
/*******************************************************/
Led1=1;
Led2=1;
Led3=1;
Led4=1;
Led5=0;
while(1)
{
GetAD(R_Mode); //得到各路AD值并显示
if(Key1==0){TxBuf[10]=0xA5;Led1=1; }//按键子程序，用于设置一键操作，如一键翻滚，一键返航等
else {TxBuf[10]=0;Led1=0;}
}
}
void EcuM_Callout_DriverInitListOne(void)
{
Det_Init();
Dem_PreInit();
Mcu_Init(&McuModuleConfiguration_0);
Mcu_AdditionalInit();
Mcl_Init(NULL_PTR);
Port_Init(NULL_PTR);
Adc_Init(NULL_PTR);
Dio_Init(NULL_PTR);
Gpt_Init(NULL_PTR);
Pwm_Init(NULL_PTR);
Icu_Init(NULL_PTR);
Spi_Init(NULL_PTR);
SpiCtrl_Init();
SwGpt_Init();
pIcomInstBle = ICOM_Create();
ICOMChannelStatus_Init(pIcomInstBle);
ICOMChannelDiag_Init(pIcomInstBle);
ExtFlashSpiCtrlInit(SpiConf_SpiChannel_Spi_NVM_Command,\
SpiConf_SpiSequence_Spi_Seq_NVM,\
SpiConf_SpiJob_Spi_Job_NVM);
CC254xCDD_Init(pIcomInstBle,
DioConf_DioChannel_B6_SPI_SRDY_CU_LPCPU,\
SpiConf_SpiChannel_Spi_TICC2540_Command_8,\
SpiConf_SpiSequence_Spi_Seq_Ble_Exchange);
/* *******************************************************************
* Wdg must be the latest in the initialization sequence
* otherwise the function call Spi_SetAsyncMode(SPI_INTERRUPT_MODE)
* returns a negative response when initializing the CC254xCDD_Init
*********************************************************************/
Wdg_Init(NULL_PTR);
WdgM_Init(NULL_PTR);
WdgM_SetMode(1U,0U);
}
int main(void)
{
u16 adcx;
float temp;
SystemInit();
delay_init(72); //延时初始化
NVIC_Configuration();
uart_init(9600);
LED_Init();
KEY_Init();
LCD_Init();
Adc_Init();
POINT_COLOR=RED;//设置字体为红色
LCD_ShowString(60,50,"Mini STM32");
LCD_ShowString(60,70,"ADC TEST");
LCD_ShowString(60,90,"ATOM@ALIENTEK");
LCD_ShowString(60,110,"2010/12/30");
//显示提示信息
POINT_COLOR=BLUE;//设置字体为蓝色
LCD_ShowString(60,130,"ADC_CH0_VAL:");
LCD_ShowString(60,150,"ADC_CH0_VOL:0.000V");
while(1)
{
adcx=Get_Adc(ADC_Channel_0);
LCD_ShowNum(156,130,adcx,4,16);//显示ADC的值
temp=(float)adcx*(3.3/4096);
adcx=temp;
LCD_ShowNum(156,150,adcx,1,16);//显示电压值
temp-=adcx;
temp*=1000;
LCD_ShowNum(172,150,temp,3,16);
LED0=!LED0;
delay_ms(250);
}
}
static void SetupHardware( void )
{
u8 buf[32];
#if 0//debug by karlno
u8 *ptr1,*ptr2,*ptr3,*ptr4;
#endif
GPIO_Config();//针对gpio的一些配置
NVIC_Config();//针对中断向量的一些配置
EXTI_Config();//外部中断配置
#if 0//debug by karlno
Debug("#### 123\n\r");
ptr1=Q_Mallco(200);
ptr2=Q_Mallco(68);
Q_Free(ptr1);
ptr3=Q_Mallco(68);
ptr3=Q_Mallco(68);
while(1);
#endif
Debug("\n\n\n\r************************************\n\r");
Debug("* Q-SYS %s *\n\r",QSYS_VERSION);
Debug("* Start up our dreams! *\n\r");
#if OS_USE_FREERTOS
Debug("* Base on FreeRTOS *\n\r");
#elif OS_USE_UCOS
Debug("* Base on uC/OS *\n\r");
#endif
Debug("* Hardware PID : %d %d *\n\r",QXW_PRODUCT_ID,QXW_LCM_ID);
Debug("* Hardware ID : %X *\n\r",GetHwID());
Debug("* Www.Q-ShareWe.Com *\n\r");
Debug("************************************\n\r\n\r");
M25P16_Init();//spi flash
M25P16_Read_Id(buf);
Debug("SPI Flash ID:\n\r");
DisplayBuf(buf,20,8);
Debug("\n\r");
SPI_Touch_Init();//触摸屏
VsInit();//Vs1003的配置
//sd卡文件系统初始化
if(disk_initialize(0))
{
Debug("Disk Initialize error!\n\r");
}
else
{
Debug("Disk Initialize OK!\n\r");
#if 0//debug
{
FIL fsrc; // file objects
FRESULT res; // FatFs function common result code
UINT br;
u8 *p=Q_Mallco(1024);
u32 time=QW_GetNowTimeMs();
res = f_mount(0,&FS); // 初始化分区结构，它不初始化SD卡
if(res == FR_OK)
{
Debug("\n\nATA mounrt OK, fs_type = %d\n\r",FS.fs_type);
}
else
{
Debug("\nATA mounrt Error!!!\n%d\n\r",res);
}
res = f_open(&fsrc,"1.rar",FA_READ) ;
Debug("Open %d\n\r",res);
while(1)
{
res = f_read(&fsrc,p,fsrc.fsize,&br); // 读文件数据，长度file.fsize，
if(br==0)break;
}
f_close(&fsrc);
Debug("Time Gap:%d\n\r",QW_GetNowTimeMs()-time);
while(1);
}
#endif
FS_Init();
Debug("File system mount OK!\n\r");
Q_DB_SetStatus(Status_FsInitFinish,TRUE,NULL,0);
}
Adc_Init();
Tim2_Init();//用户定时器
Tim3_Init();//背光pwm初始化
Tim4_Init();//用户定时器
Tim5_Init();//用户定时器
USB_SetHw();
USB_Init();
}
void EcuM_AL_DriverInitOne(const EcuM_ConfigType* configPtr) {
/* provide a proper clock */
Mcu_Init(configPtr->bsw_driver.init_one.mcu_cfg);
Mcu_InitClock(0);
Mcu_DistributePllClock();
/* -----------------------------------------------------------------------
Interrupt System:
-----------------------------------------------------------------------
- four arbitration cycles (max. 255 interrupt sources)
- two clocks per arbitration cycle */
__mtcr(0xFE2C, 0x00000000); /* load CPU interrupt control register */
__isync();
/* -----------------------------------------------------------------------
Peripheral Control Processor (PCP):
-----------------------------------------------------------------------
- the PCP internal clock is always running
- use Full Context save area (R[0] - R[7])
- start progam counter as left by last invocation
- channel watchdog is disabled
- maximum channel number checking is disabled */
/* - four arbitration cycles (max. 255 PCP channels) */
/* - two clocks per arbitration cycle */
PCP_ICR.U = 0x00000000; /* load PCP interrupt control register */
/* - the PCP warning mechanism is disabled */
PCP_ITR.U = 0x00000000; /* load PCP interrupt threshold register */
/* - type of service of PCP node 4 is CPU interrupt */
PCP_SRC4.U = 0x00001000; /* load service request control register 4 */
/* - type of service of PCP node 5 is CPU interrupt */
PCP_SRC5.U = 0x00001000; /* load service request control register 5 */
/* - type of service of PCP node 6 is CPU interrupt */
PCP_SRC6.U = 0x00001000; /* load service request control register 6 */
/* - type of service of PCP node 7 is CPU interrupt */
PCP_SRC7.U = 0x00001000; /* load service request control register 7 */
/* - type of service of PCP node 8 is CPU interrupt */
PCP_SRC8.U = 0x00001000; /* load service request control register 8 */
ts_initGPTAInt();
Port_Init(configPtr->bsw_driver.init_one.port_cfg);
Adc_Init(configPtr->bsw_driver.init_one.adc_cfg);
Fls_Init(configPtr->bsw_driver.init_one.fls_cfg);
Gpt_Init(configPtr->bsw_driver.init_one.gpt_cfg);
Pwm_Init(configPtr->bsw_driver.init_one.pwm_cfg);
Spi_Init(configPtr->bsw_driver.init_one.spi_cfg);
Wdg_Init(configPtr->bsw_driver.init_one.wdg_cfg);
#ifdef ECUM_WDGM_INCLUDED
WdgM_Init(configPtr->bsw_driver.init_one.wdgm_cfg);
#endif
/* setup end of init protected registers for OS */
ts_endinit_clear();
osInitProtected();
ts_endinit_set();
/* Overlay Ram:
* Init registers and mem areas for switching from
* working page (overlay ram) <-> reference page (flash)
*/
RAM_OverlayRamReset();
/* - the CPU interrupt system is globally disabled */
__enable();
Spi_SetAsyncMode(SPI_INTERRUPT_MODE);
Adc_StartGroupConversion(0);
Adc_StartGroupConversion(1);
EcuM_SelectApplicationMode(OSDEFAULTAPPMODE);
}
/*
* 函数名：main
* 描述 ：主函数
* 输入 ：无
* 输出 ：无
*/
int main(void)
{
uint32_t i, u32RxLen;
u16 led0pwmval1=59999;
u16 led0pwmval2=59999;
u16 led0pwmval3=59999;
u16 led0pwmval4=59999;
u16 adcx;
float temp;
double x1,y1,x2,y2,fai;
u8 LAT1,LNG1;//定义两个指针指向存放经纬度的内存地址
u8 processok=0;//所有数据每20ms处理一次
double lat,lng;
double speed2;
// double seitatest=0;
static u8 heartbeat=0;
const u8 at[] = {"receiveok"};
u8 reply[6]={0x01,0x04,0x01};
u8 gpsdata[100]={0};//存放待处理的GPS数组
u8 reply1[3];//准备存放回应的数据
u8 reply2[3];//存放左右倾角，滚转角
u8 reply3[3];//存放前后倾角，俯仰角
u8 package1[10];//存放纬度
u8 package2[10];//存放经度
u8 package3[10];//存放方位角
u8 package4[10];//存放滚转角
u8 package5[10];//存放前后倾角
u8 package6[4];//存放速度
u8 package7[4];//存放剩余电量
uint8_t source=0x01;//源地址
uint8_t destination=0x02;//目的地址
tsPacketOfAppInfo truesendout;//给这个类型定义一个名字
uint8_t len=61;
// u8 gpgga[]={"$GPGGA,061021.05,3102.02726033,N,12126.86794498,E,2,12,0.9,25.022,M,8.127,M,1.0,0000*46\r\n"};
uint8_t sendbuff[]="receiveok";
u32RxLen=sizeof(at);
ptuoqiu->latitude=&latitude3;
ptuoqiu->longitude=&longitude3;
gaosi->gaosix =&gaosix3;
gaosi->gaosiy =&gaosiy3;
gaosi->gaosix1 =&gaosix4;
gaosi->gaosiy1 =&gaosiy4;
DK_NVIC_Init(4);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);//设置systick的时钟是AHB不分频的
SysTick_Config(7200000);//设置两次中断的时间间隔为100ms
/* USART1,2,3 ,UART4 config 115200 8-N-1 */
USART1_Config();
USART2_Config();
USART3_Config();
UART4_Config();
Usart_DMA_Config();
LED_GPIO_Config();
delay_ms(1000);
PWM_Initch1(60000,0); //不分频。PWM频率=72000000/60000=1.2Khz
PWM_Initch2(60000,0);
PWM_Initch3(60000,0);
PWM_Initch4(60000,0);
TIM3->CR1|=0x01; //使能定时器3
LED0_PWM_VAL1=led0pwmval1;
LED0_PWM_VAL2=led0pwmval2;
LED0_PWM_VAL3=led0pwmval3;
LED0_PWM_VAL4=led0pwmval4;
//这个是测试用的数据
/*填充将要发送的数据*/
// for (i = 0; i < sizeof(at); i++)
// {
// SendBuff[i] = at[i];
// }
// USART_SEND(SendBuff, sizeof(at)-1);
// delay_ms(1000);
/*填充将要发送的数据*/
// for (i = 0; i < SENDBUFF_SIZE; i++)
// {
// SendBuff[i] = 0x31;
// }
// USART_SEND(SendBuff, 30);
// //测试数据结束
// /*串口向 DMA发出请求 */
// USART_DMACmd(USART1, USART_DMAReq_Tx, ENABLE);
/*在DMA尚未传送完成时，cpu继续执行main函数中的代码*/
/*点亮了LED灯*/
/*而同时DMA在向串口运送数据，当DMA发送完成时，在中断函数关闭LED灯 */
Adc_Init();//ADC转换是分频为12MHz
//order_sendinit();
while(1)
{
// gpggaresolve(gpgga);
//Usart1_Send(command1, sizeof(comd1));
//delay_ms(500);
// static u8 pathen=0;
if (sUsart2_entity.u8RxFlag == 1)
{//如果收到罗盘返回的数据
sUsart2_entity.u8RxFlag = 0;
u32RxLen = sUsart2_entity.u16RxTotalNum;
sUsart2_entity.u16RxTotalNum = 0;
processok=1;//50ms到，可以开始处理数据
if(sUsart2_entity.u8RX_Buffer[1]==0x0d)//如果传回的数据是角度
{
for(i=0;i<3;i++)
{
reply1[i]=sUsart2_entity.u8RX_Buffer[10+i];//取出方向角
reply2[i]=sUsart2_entity.u8RX_Buffer[4+i];//取出左右倾角，滚转角
reply3[i]=sUsart2_entity.u8RX_Buffer[7+i];//取出前后倾角，俯仰角
}
}
memset(sUsart2_entity.u8RX_Buffer,0,15);
}
if(sUsart3_entity.u8RxFlag==1)
{//如果收到GPS传回的数据
sUsart3_entity.u8RxFlag = 0;
u32RxLen = sUsart3_entity.u16RxTotalNum;
sUsart3_entity.u16RxTotalNum = 0;
// processok=1;//20ms到，可以开始处理数据
for(i=0;i<sizeof(sUsart3_entity.u8RX_Buffer);i++)
{
sUsart3_entity.u8RX_Buffer[i]=gpsdata[i];
}
memset(sUsart3_entity.u8RX_Buffer,0,150);
// gpggaresolve(sUsart3_entity.u8RX_Buffer);
}
if (sUart4_entity.u8RxFlag == 1)
{//如果收到指令
sUart4_entity.u8RxFlag = 0;
u32RxLen = sUart4_entity.u16RxTotalNum;
sUart4_entity.u16RxTotalNum = 0;
}
if(speeden==1)//如果2秒到了的话，测速一次，检测剩余电量一次
{
speeden=0;
heartbeat++;
memset(package6,0,4);//速度和电量的数组先清掉再赋新的值
memset(package7,0,4);
speed2=getspeed((*(gaosi->gaosix1)),(*(gaosi->gaosiy1)));//1秒测速一次
// speed2=10.6;
// seita=getheading(0.5,-1,1,-2);//检测方位角函数是否正常
// gettoorbit(200,330);//检测大调整函数
// changedirections(1,4,0.5,-1,1,-2);//检测微调是否正常
if(heartbeat==7)//每隔14s检测一次心跳是否正常
{
heartbeat=0;
hearttest();//检测心跳是否正常函数
}
// (*(gaosi->gaosix1))+=0.05;
// (*(gaosi->gaosiy1))+=0.05;//测试速度
// if((*(gaosi->gaosix1))>=5)
// *(gaosi->gaosix1)=0;
// if((*(gaosi->gaosiy1))>=5)
// *(gaosi->gaosiy1)=0;
// GaussProjCal(*(ptuoqiu->longitude),*(ptuoqiu->latitude),gaosi->gaosix,gaosi->gaosiy);
// speed2=getspeed((*(gaosi->gaosix1)),(*(gaosi->gaosiy1)));//1秒测速一次
sprintf(package6,"%4.1f",speed2);
for(i=50;i<=53;i++)
{
package[i]=package6[i-50];//速度数组赋值，准备打包
}
temp=powadc();//1秒转换电压一次
sprintf(package7,"%4.1lf",temp);
for (i=54;i<=57;i++)
{
package[i]=package7[i-54];//将电压值赋值到数组的后面
}
}
if(processok==1)//如果50ms到了的话，那么所有数据进行处理
{
memset(package1,0,10);//数据域经纬度，方位角，前后倾角，左右滚转角数组清零
memset(package2,0,10);
memset(package3,0,10);
memset(package4,0,10);
memset(package5,0,10);
// memset(package6,0,4);//速度和电量的数组先清掉再赋新的值
// memset(package7,0,4);
processok=0;//清零50ms标记
head2=hextodex(reply1);//将角度转换为十进制
roll2=rolltodec(reply2);
pitch2=pitchtodec(reply3);
gpggaresolve(sUsart3_entity.u8RX_Buffer,&LAT1,&LNG1);//处理GPS的数据
lat=longtodouble(ptuoqiu->LAT);
lng=longtodouble(ptuoqiu->LNG);
changeformat(lng,lat,ptuoqiu->latitude,ptuoqiu->longitude);//将GPS数据解析成经纬度
order();//判断串口4是否接收到什么指令了
if((pathok==1)&&(heartok==1))//如果允许路径转换的话
{
move();//路径转换,大约耗时4ms左右
}
sprintf(package1,"%10.6lf",*(ptuoqiu->latitude));
sprintf(package2,"%10.6lf",*(ptuoqiu->longitude));
sprintf(package3,"%10.6lf",head2);
sprintf(package4,"%10.6lf",roll2);
sprintf(package5,"%10.6lf",pitch2);
// GaussProjCal(*(ptuoqiu->longitude),*(ptuoqiu->latitude),gaosi->gaosix,gaosi->gaosiy);//将小车当前的坐标转换为平面坐标
for(i=0;i<=9;i++)//纬度赋值到数据域
{
package[i]=package1[i];
}
for(i=10;i<=19;i++)//经度赋值到数据域
{
package[i]=package2[i-10];
}
for(i=20;i<=29;i++)//将方位角赋值到数据域中
{
package[i]=package3[i-20];
}
for(i=30;i<=39;i++)//将左右倾角赋值到数据域中
{
package[i]=package4[i-30];
}
for(i=40;i<=49;i++)//将前后倾角赋值到数据域中
{
package[i]=package5[i-40];
}
memset(sUart4_entity.u8RX_Buffer,0,150);
count=SendData_thisprotocol(truesendout,source,destination,len);//所有要打包的数据准备到一个数组里
//返回打包后的数据个数,函数很好，但是用于VB非常麻烦，太麻烦了简直，所以不用了,解析的时候实在是崩溃了
head2=0;
roll2=0;
pitch2=0;
memset(reply1,0,10);//三个角度数组都清零
memset(reply2,0,10);
memset(reply3,0,10);
// memset(package1,0,10);
// memset(package2,0,10);
// memset(package3,0,10);
// memset(package4,0,10);
// memset(package5,0,10);
// memset(package6,0,4);
// memset(package7,0,4);
}
}
}
int main(void)
{
u8 Data_PC[SIZE]; //从Flash中读取数据到Data_PC，并上传至上位机
u16 a,b=0;
delay_init(); //延时函数初始化
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
LED_Init(); //LED端口初始化
LCD_Init();
KEY_Init();
WORD_Init();
TIM2_Int_Init(999,7199);
TIM3_Int_Init(9,7199);
EXTIX_Init(); //外部中断初始化
Adc_Init(); //ADC初始化
SPI_Flash_Init(); //SPI FLASH 初始化
while(1)
{
//功能：开机状态显示
//说明：1.开机，绿灯亮（DS1）
// 2.使用temp是为了避免重复执行该if语句
if(flag2==1&&temp==0)
{
while(SPI_Flash_ReadID()!=W25Q64) //检测不到W25Q64
{
LCD_ShowString(40,150,200,16,16,"W25Q64 Check Failed!");
delay_ms(500);
LCD_ShowString(40,150,200,16,16,"Please Check! ");
delay_ms(500);
LED0=!LED0;//DS0闪烁
}
LCD_ShowString(60,130,200,16,16,"W25Q64 Ready!");
LED1=0;
temp=1;
}
//功能：数据采集并保存至Flash中
//说明：1.使用temp1是为了避免重复使能TIM3
// 2.使用temp2是为了避免在数据上传至上位机的过程中，与终止上传功能相冲突
// 3.flag1=1代表按键按下，并开始采集
// 4.flag2=1代表开机，flag2=0代表未开机
// 5.采集过程中，红灯（DS0）以一定频率闪烁
if(flag2==1&&temp2==0&&flag1==1)
{
if(temp1==0)
{
LCD_ShowString(20,150,200,16,16,"Data collection began...");
TIM_Cmd(TIM3, ENABLE); //使能TIM3中断
LED0=0;
}
temp1=1;
if(flag_cycle==0&&flag_cycle_1==0)
{
SPI_Flash_Write((u8*)TEXT_Buffer2,FLASH_SIZE+counter*SIZE,SIZE);
counter++;
flag_cycle_1=1;
}
if(flag_cycle==1&&flag_cycle_1==0)
{
SPI_Flash_Write((u8*)TEXT_Buffer1,FLASH_SIZE+counter*SIZE,SIZE);
counter++;
flag_cycle_1=1;
}
}
//功能：将Flash中采集到的数据上传至上位机
//说明：1.使用temp1是为了保证上传是在采集之后进行
// 2.使用temp3是为了避免由于按键误操作使得该程序重复被执行
// 3.flag1=0代表按键再次被按下，上传开始 ；若再次被按下，则上传被终止；之后再按就没有作用了
// 4.上传过程中，红灯（DS0）以一定频率闪烁
if(temp1==1&&temp3==0&&flag1==0)
{
TIM_Cmd(TIM3, DISABLE); //失能TIM3中断
//用于解决当采集时间不是42ms的倍数时，部分采集数据未写入FLash的问题
if((time_collect-1)%42!=0)
{
data_residue=(time_collect-1)%42*6;
if(flag_cycle==0)
{
SPI_Flash_Write((u8*)TEXT_Buffer2,FLASH_SIZE+(counter+1)*SIZE,SIZE);
}
if(flag_cycle==1)
{
SPI_Flash_Write((u8*)TEXT_Buffer1,FLASH_SIZE+(counter+1)*SIZE,SIZE);
}
}
LCD_ShowString(20,170,200,16,16,"Data collection complete!");
LCD_ShowString(20,190,200,16,16,"Data is being uploaded...");
temp2=1;
for(a=1;a<counter;a++)
{
LED0=!LED0;
SPI_Flash_Read(Data_PC,FLASH_SIZE+a*SIZE,SIZE);
for(b=0;b<SIZE;b++)
{
if(flag1==1) //上传中途使用按键停止传送
{
break;
}
USART_GetFlagStatus(USART1, USART_FLAG_TC);
USART_SendData(USART1,Data_PC[b]);
while(USART_GetFlagStatus(USART1,USART_FLAG_TC)==RESET);
}
if(flag1==1) //上传中途使用按键停止传送
{
LCD_ShowString(20,210,200,16,16,"Data upload is terminated!");
break;
}
}
//用于解决当采集时间不是42ms的倍数时，部分采集数据未写入FLash的问题
if(flag1!=1&&(time_collect-1)%42!=0)
{
LED0=!LED0;
SPI_Flash_Read(Data_PC,FLASH_SIZE+(a+1)*SIZE,SIZE);
for(b=0;b<data_residue;b++)
{
if(flag1==1) //上传中途使用按键停止传送
{
break;
}
USART_GetFlagStatus(USART1, USART_FLAG_TC);
USART_SendData(USART1,Data_PC[b]);
while(USART_GetFlagStatus(USART1,USART_FLAG_TC)==RESET);
}
if(flag1==1) //上传中途使用按键停止传送
{
LCD_ShowString(20,210,200,16,16,"Data upload is terminated!");
break;
}
}
if(flag1!=1) //要么显示数据上传完成，要么显示数据上传完成
{
LCD_ShowString(20,210,200,16,16,"Data upload is completed!");
}
temp3=1;
}
//功能：关机并擦除Flash
//说明：1.flag2=0代表关机，与上temp1,temp2是要保证前面的已被执行
// 2.关机过程中擦除Flash，完成之后红绿灯同时亮一秒后灭
if(temp1==1&&temp2==1&&flag2==0) //关机机状态显示
{
flag1=0;
flag2=0;
temp1=0;
temp2=0;
LED0=1;
LED1=1;
SPI_Flash_Erase_Chip();
LED0=0;
LED1=0;
delay_ms(1000);
LED0=1;
LED1=1;
LCD_ShowString(80,230,200,16,16,"Shutdown!");
}
}
}
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
}
/**************************************************************/
//程 序 名： main()
//开 发 者： MingH
//入口参数： 无
//功能说明： 主函数
//**************************************************************/
int main(void)
{
unsigned char err_code;
RCC_Config(); // 时钟初始化配置
Beep_Init(); // 蜂鸣器初始化配置
Touch_Init();
Pcie_Gpio_Init();
Tim3_Init();
RGB_Init(); //RGB 初始化
RCC_GetClocksFreq(&RCC_ClockFreq);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
USB2Serial_Init(); // 串口初始化配置
Pwm_Init();
Adc_Init();
I2C_GPIO_Configuration();
err_code = LIS3DH_Init();
if (NO_ERROR == err_code)
{
printf("\r\nLIS3DH Init is succeed! \r\n");
}
else
{
printf("\r\nLIS3DH Init is failed! \r\n");
}
RTC_Init(); // RTC 初始化配置
if(SD_Init() == SD_OK) {
printf ("\r\n发现SD卡!\r\n");
}
else {
printf("\r\n没有发现 SD 卡设备! \r\n");
}
printf("\r\n\r\n");
save_sd_detect = SD_Detect(); //初始化SD卡插入状态
SysTick_Delay_ms(500);
TIM_Cmd(TIM1, DISABLE);
TIM_CtrlPWMOutputs(TIM1, DISABLE);
while (1)
{
if(read_sd_detect_flag){
if (save_sd_detect != SD_Detect()){
/* 蜂鸣器响 */
TIM_Cmd(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
sd_detect_change = 1; //SD卡插入状态有变
buzzer_delay = 0;
if (SD_Detect() != SD_NOT_PRESENT){
if(SD_Init() == SD_OK) {
printf ("\r\n发现SD卡!\r\n");
}
else {
printf("\r\n没有发现 SD 卡设备! \r\n");
}
printf("\r\n\r\n");
}
}
save_sd_detect = SD_Detect();
read_sd_detect_flag = 0;
}
Time_Show();
Test_Pcie_Gpio();
Touch_Key_Proc();
if (read_lis3dh_flag){
Collect_Data(ACCdata);
for (i=0; i<3; i++){
if (oldACCdata[i] < ACCdata[i]){
ACCdiff[i] = ACCdata[i] - oldACCdata[i];
}
else{
ACCdiff[i] = oldACCdata[i] - ACCdata[i];
}
}
RGB_Control(ACCdiff[0]<<1, ACCdiff[1]<<1, ACCdiff[2]<<1);
for (i=0; i<3; i++){
oldACCdata[i] = ACCdata[i];
}
read_lis3dh_flag = 0;
}
if (one_second_flag){
printf("X=%d, Y=%d, Z=%d\r\n\r\n", ACCdata[1], ACCdata[0], ACCdata[2]);
Adc_Proc();
one_second_flag = 0;
}
}
}
/**
******************************************************************************
** \brief ADC0 initialization and single conversion start
******************************************************************************/
void Main_adc_irq( void )
{
stc_adcn_t *pstcAdc = (stc_adcn_t *)&ADC_UNIT;
uint32_t u32SamplingCount = 0;
stc_adc_config_t stcConfig;
stc_adc_scan_t stcScanCfg;
stc_adc_irq_en_t stcIrqEn;
stc_adc_irq_cb_t stcIrqCallBack;
// Clear structures
PDL_ZERO_STRUCT(stcConfig);
PDL_ZERO_STRUCT(stcScanCfg);
PDL_ZERO_STRUCT(stcIrqEn);
PDL_ZERO_STRUCT(stcIrqCallBack);
// Scan conversion configuration
stcScanCfg.u32ScanCannelSelect.u32AD_CHn = ADC_INPUT_CH;
stcScanCfg.enScanMode = ScanSingleConversion;
stcScanCfg.enScanTimerTrigger = AdcNoTimer;
stcScanCfg.bScanTimerStartEnable = FALSE;
stcScanCfg.u8ScanFifoDepth = ADC_INPUT_NUM - 1;
// Initialize interrupt structures
stcIrqCallBack.pfnScanIrqCb = Main_adc_result_callback;
stcIrqEn.bScanIrq = TRUE;
// ADC configuration
// Conversion time = Sampling time + Compare time
// The sampling time should comply with a certain range to guarantee the accuracy (Tmin < Ts < Tmax).
// For the value of Tmin and Tmax (e.g. 10us), see the product datasheet for detail (12-bit A/D converter of Electrical Characteristics chapter)
///// For FM4 and FM0+, the calculation of sampling time and compare time is shown as following:
// Sampling time = HCLK cycle * Frequency division ratio * {(ST set value + 1) * STX setting multiplier + 3}
// At the following configuration:
// Sampling time = 5ns * 5 * {(8+1)*8+3} = 1.875us (if HCLK = 200MHz)
// Sampling time = 25ns * 5 * {(8+1)*8+3} = 9.375us (if HCLK = 40MHz)
// Compare time = Compare clock cycle * 14 = Base clock (HCLK) cycle * Frequency division ratio * 14
// At following configuration:
// Compare time = 5ns * 5 * 14 = 350ns (if HCLK = 200MHz)
// Compare time = 25ns * 5 * 14 = 1750ns (if HCLK = 40MHz)
///// For FM3, the calculation of sampling time and compare time is shown as following:
// Sampling time = HCLK cycle * {(ST set value + 1) * STX setting multiplier + 3}
// At the following configuration:
// Sampling time = 7ns * {(8+1)*8+3} = 0.52us (if HCLK = 144MHz)
// Compare time = Compare clock cycle * 14 = Base clock (HCLK) cycle * Frequency division ratio * 14
// At following configuration:
// Compare time = 7ns * 5 * 14 = 490ns (if HCLK = 144MHz)
stcConfig.bLsbAlignment = TRUE;
stcConfig.u32SamplingTimeSelect.u32AD_CHn = 0;
stcConfig.enSamplingTimeN0 = Value8; // STX setting multiplier 0: 8
stcConfig.u8SamplingTime0 = 8u; // ST value 0 : 8
stcConfig.enSamplingTimeN1 = Value8; // STX setting multiplier 1: 8
stcConfig.u8SamplingTime1 = 8u; // ST value 1 : 8
stcConfig.u8ComparingClockDiv = 3u; // Frequency division ratio: 5, 0:Ratio 2, 1:Ratio 3, ...
stcConfig.pstcScanInit = &stcScanCfg;
stcConfig.pstcIrqEn = &stcIrqEn;
stcConfig.pstcIrqCb = &stcIrqCallBack;
stcConfig.bTouchNvic = TRUE;
if (Ok == Adc_Init(pstcAdc, &stcConfig)) ///< Init ADC0
{
// enable ADC Scan IRQ
Adc_EnableWaitReady(pstcAdc); ///< Enable ADC0 and wait for ready
}
while (1)
{
if (u32SamplingCount++ >= SAMPLE_TIMES)
{
break;
}
Adc_SwTriggerScan(pstcAdc); ///< Trigger ADC0
while (FALSE == bADCFinished);
bADCFinished = FALSE;
}
PrintAdcData(mu32SampleRecord, SAMPLE_COUNT);
Adc_DeInit(pstcAdc, TRUE);
}
/**
* Part of STARTUP I
*
* @param ConfigPtr
*/
void EcuM_AL_DriverInitOne(const EcuM_ConfigType *ConfigPtr)
{
(void)ConfigPtr;
// VALIDATE_STATE( ECUM_STATE_STARTUP_ONE );
//lint --e{715} PC-Lint (715) - ConfigPtr usage depends on configuration of modules
#if defined(USE_MCU)
Mcu_Init(ConfigPtr->McuConfig);
/* Set up default clock (Mcu_InitClock requires initRun==1) */
/* Ignoring return value */
(void) Mcu_InitClock(ConfigPtr->McuConfig->McuDefaultClockSettings);
// Wait for PLL to sync.
while (Mcu_GetPllStatus() != MCU_PLL_LOCKED) {
;
}
Mcu_DistributePllClock();
#endif
#if defined(USE_DEM)
// Preinitialize DEM
NO_DRIVER(Dem_PreInit(ConfigPtr->DemConfig));
#endif
#if defined(USE_PORT)
// Setup Port
Port_Init(ConfigPtr->PortConfig);
#endif
#if defined(USE_GPT)
// Setup the GPT
Gpt_Init(ConfigPtr->GptConfig);
#endif
// Setup watchdog
#if defined(USE_WDG)
Wdg_Init(ConfigPtr->WdgConfig);
#endif
#if defined(USE_WDGM)
NO_DRIVER(WdgM_Init(ConfigPtr->WdgMConfig));
#endif
#if defined(USE_DMA)
// Setup DMA
Dma_Init(ConfigPtr->DmaConfig);
#endif
#if defined(USE_ADC)
// Setup ADC
Adc_Init(ConfigPtr->AdcConfig);
#endif
// Setup ICU
// TODO
// Setup PWM
#if defined(USE_PWM)
// Setup PWM
Pwm_Init(ConfigPtr->PwmConfig);
#endif
#if defined(CFG_SHELL)
SHELL_Init();
#endif
}
/**
******************************************************************************
** \brief ADC0 initialization and single conversion start
******************************************************************************/
void Main_adc_polling( void )
{
stc_adcn_t *pstcAdc = (stc_adcn_t *)&ADC_UNIT;
stc_adc_config_t stcConfig;
stc_adc_scan_t stcScanCfg;
uint32_t u32Data = 0;
uint32_t u32AdcValue = 0; ///< Result value
uint32_t u32AdcChannel = 0; ///< Result channel
uint32_t u32AdcCause = 0; ///< Trigger cause
uint32_t u32SamplingCount = 10;
// Clear structures
PDL_ZERO_STRUCT(stcConfig);
PDL_ZERO_STRUCT(stcScanCfg);
// Scan conversion configuration
stcScanCfg.u32ScanCannelSelect.u32AD_CHn = ADC_INPUT_CH;
stcScanCfg.enScanMode = ScanSingleConversion;
stcScanCfg.enScanTimerTrigger = AdcNoTimer;
stcScanCfg.bScanTimerStartEnable = FALSE;
stcScanCfg.u8ScanFifoDepth = 0;
// Common setting
// Conversion time = Sampling time + Compare time
// The sampling time should comply with a certain range to guarantee the accuracy (Tmin < Ts < Tmax).
// For the value of Tmin and Tmax (e.g. 10us), see the product datasheet for detail (12-bit A/D converter of Electrical Characteristics chapter)
///// For FM4 and FM0+, the calculation of sampling time and compare time is shown as following:
// Sampling time = HCLK cycle * Frequency division ratio * {(ST set value + 1) * STX setting multiplier + 3}
// At the following configuration:
// Sampling time = 5ns * 5 * {(8+1)*8+3} = 1.875us (if HCLK = 200MHz)
// Sampling time = 25ns * 5 * {(8+1)*8+3} = 9.375us (if HCLK = 40MHz)
// Compare time = Compare clock cycle * 14 = Base clock (HCLK) cycle * Frequency division ratio * 14
// At following configuration:
// Compare time = 5ns * 5 * 14 = 350ns (if HCLK = 200MHz)
// Compare time = 25ns * 5 * 14 = 1750ns (if HCLK = 40MHz)
///// For FM3, the calculation of sampling time and compare time is shown as following:
// Sampling time = HCLK cycle * {(ST set value + 1) * STX setting multiplier + 3}
// At the following configuration:
// Sampling time = 7ns * {(8+1)*8+3} = 0.52us (if HCLK = 144MHz)
// Compare time = Compare clock cycle * 14 = Base clock (HCLK) cycle * Frequency division ratio * 14
// At following configuration:
// Compare time = 7ns * 5 * 14 = 490ns (if HCLK = 144MHz)
stcConfig.bLsbAlignment = TRUE;
stcConfig.u32SamplingTimeSelect.u32AD_CHn = 0;
stcConfig.enSamplingTimeN0 = Value8; // STX setting multiplier 0: 8
stcConfig.u8SamplingTime0 = 8u; // ST value 0 : 8
stcConfig.enSamplingTimeN1 = Value8; // STX setting multiplier 1: 8
stcConfig.u8SamplingTime1 = 8u; // ST value 1 : 8
stcConfig.u8ComparingClockDiv = 3u; // Frequency division ratio: 5, 0:Ratio 2, 1:Ratio 3, ...
stcConfig.pstcScanInit = &stcScanCfg;
if (Ok == Adc_Init(pstcAdc, &stcConfig)) ///< Init ADC0
{
Adc_EnableWaitReady(pstcAdc); ///< Enable ADC0 and wait for ready
}
// repeat sampling start.
while (u32SamplingCount-- > 0)
{
Adc_SwTriggerScan(pstcAdc); ///< Trigger ADC0
while (1)
{
if (TRUE == Adc_GetIrqFlag(pstcAdc, AdcScanIrq))
{
Adc_ClrIrqFlag(pstcAdc, AdcScanIrq);
break;
}
}
// resolve the FIFO data.
u32Data = Adc_ReadScanFifo(pstcAdc);
if (0xFFFFFFFF == u32Data ||
AdcFifoDataValid != Adc_GetScanDataValid(pstcAdc, u32Data))
{
#ifdef DEBUG_PRINT
printf("Invalid Record\n");
#endif
}
else
{
u32AdcChannel = Adc_GetScanChannel(pstcAdc, u32Data);
u32AdcValue = Adc_GetScanData(pstcAdc, u32Data);
u32AdcCause = Adc_GetScanDataCause(pstcAdc, u32Data);
#ifdef DEBUG_PRINT
printf("CH:%d,val:%d,R=%d\n", u32AdcChannel, u32AdcValue, u32AdcCause);
#endif
}
}
Adc_DeInit(pstcAdc, TRUE);
return;
}
/**
* Part of STARTUP I
*
* @param ConfigPtr
*/
void EcuM_AL_DriverInitOne(const EcuM_ConfigType *ConfigPtr)
{
(void)ConfigPtr;
#if defined(USE_MCU)
Mcu_Init(ConfigPtr->McuConfig);
/* Set up default clock (Mcu_InitClock requires initRun==1) */
/* Ignoring return value */
(void) Mcu_InitClock(ConfigPtr->McuConfig->McuDefaultClockSettings);
// Wait for PLL to sync.
while (Mcu_GetPllStatus() != MCU_PLL_LOCKED) {
;
}
Mcu_DistributePllClock();
#endif
#if defined(USE_DEM)
// Preinitialize DEM
NO_DRIVER(Dem_PreInit(ConfigPtr->DemConfig));
#endif
#if defined(USE_PORT)
// Setup Port
Port_Init(ConfigPtr->PortConfig);
#endif
#if defined(USE_DIO)
// Setup Dio
Dio_Init(ConfigPtr->DioCfg);
#endif
#if defined(USE_GPT)
// Setup the GPT
Gpt_Init(ConfigPtr->GptConfig);
#endif
// Setup watchdog
#if defined(USE_WDG)
Wdg_Init(ConfigPtr->WdgConfig);
#endif
#if defined(USE_WDGM)
NO_DRIVER(WdgM_Init(ConfigPtr->WdgMConfig));
#endif
#if defined(USE_DMA)
// Setup DMA
Dma_Init(ConfigPtr->DmaConfig);
#endif
#if defined(USE_ADC)
// Setup ADC
Adc_Init(ConfigPtr->AdcConfig);
#endif
#if defined(USE_BSWM)
// Setup BSWM - not supporting configustructure for BswM
BswM_Init(NULL);
#endif
// Setup ICU
#if defined(USE_ICU)
Icu_Init(ConfigPtr->IcuConfig);
#endif
// Setup PWM
#if defined(USE_PWM)
// Setup PWM
Pwm_Init(ConfigPtr->PwmConfig);
#endif
// Setup OCU
#if defined(USE_OCU)
Ocu_Init(ConfigPtr->OcuConfig);
#endif
#if defined(CFG_SHELL)
SHELL_Init();
#endif
}
int main(void)
{
static char ledsta;
/***********************************/
SystemClock_HSI(9); //系统时钟初始化，时钟源内部HSI
cycleCounterInit(); // Init cycle counter
SysTick_Config(SystemCoreClock / 1000); //SysTick开启系统tick定时器并初始化其中断，1ms
UART1_init(SysClock,uart1baudSet); //串口1初始化
NVIC_INIT(); //中断初始化
STMFLASH_Unlock(); //内部flash解锁
LoadParamsFromEEPROM(); //加载系统参数配置表
LedInit(); //IO初始化
Adc_Init(); //摇杆AD初始化
KeyInit(); //按键初始化
NRF24L01_INIT(); //NRF24L01初始化
SetTX_Mode(); //设无线模块为接收模式
controlClibra(); //遥控摇杆校准
#ifdef UART_DEBUG
TIM3_Init(SysClock,2000); //定时器初始化，1s为周期打印摇杆值
#endif
TIM4_Init(SysClock,TIME4_Preiod); //定时器4初始化，定时时间单位：(TIME4_Preiod)微秒
LedSet(led2,1);
LedSet(led3,1);
LoadRCdata(); //摇杆赋值
//RockerUnlockcrazepony(); //摆杆启动
Lockflag = 0; //解锁标志，1表示产生了一次按键操作，0表示该按键操作已经发送到飞控
LedSet(led2,0);
LedSet(led3,0);
while (1)
{
//10Hz loop
if(flag10Hz == 1) //10Hz
{
flag10Hz = 0;
/*status led*/
ledsta = !ledsta;
LedSet(signalLED,ledsta);
/*crazepony Lock*/
KeyLockcrazepony();
/*IMUcalibrate */
IMUcalibrate();
/*remote calibrate*/
Remotecalibrate();
}
//50Hz loop
if(flag50Hz == 1)
{
LoadRCdata();
flag50Hz = 0;
}
// 80Hz 12.5ms
if(flag80Hz)
{
flag80Hz = 0;
CommUAVUpload(MSP_SET_4CON);
}
}
}
