/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
RCC_ClocksTypeDef RCC_Clocks;
/* SysTick end of count event each 10ms */
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 100);
/********************输出 初始化 ******************/
PWM_init();
STM324xG_LCD_Init();
LCD_Clear(BLACK);/* Clear the LCD */
LCD_SetBackColor(BLACK);/* Set the LCD Back Color */
LCD_SetTextColor(WHITE);/* Set the LCD Text Color */
LCD_DisplayStringLine(LINE(0), " Hello jaja. I'm xiaohei01");
/********************输入 初始化 ******************/
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_3);/*!< 3 bits for pre-emption priority 1 bits for subpriority */
Encoder_init(); //encoder tim8
usart_init();//通信COM usart2 115200
IMU_init();
if (get_mode()==1)
{
IMU_BE10();
}
KEY_init();
AD_Init();
GPS_int();
TIM2_Configuration();
printf("uart init OK 2 \r\n");
while(1)
{
if(LCD_flag)
{
LCD_flag=0;
lcd_refresh();
}
}
}
//ISR
void GPIOPortF_Handler(){
volatile unsigned int x;
if(((PORTF_DATA & 0x00000004)>>2)==0){
PORTF_DATA |= 0x00000004;
//I2C_Write_slv(SLV_ADDR_GYRO,CTRL1,0xF);
IMU_init();
//ST_RELOAD |= 0x000FFFFF;
ST_RELOAD |= 0x00000FFF;
//GetData(0x0F);
PORTF_DATA &= ~0x00000004;
}else{
int main(void)
{
int16_t data[9];
int16_t result[3];
int i=0;
SystemInit();
delay_init(72);
GPIO_Configuration();
Initial_UART1(115200L);
I2C_GPIO_Config();
NVIC_Configuration();
delay_ms(10);
Init_MPU6050();
delay_ms(10);
HMC5883L_Init();
delay_ms(10);
IMU_init();
Initial_Timer3();
system_microsec=micros();
while(1)
{
//delay_ms(10);
//if(micros()-system_microsec>upload_time)
{
Read_MPU6050_ACC(&data[0]);
Read_MPU6050_GYRO(&data[3]);
HMC5883L_Read(&data[6]);
IMU_getYawPitchRoll(result,data);
UART1_Put_Char(0xff);
UART1_Put_Char(0xaa);
/*out_int16_t(&data[0]);
out_int16_t(&data[1]);
out_int16_t(&data[2]);
out_int16_t(&data[3]);
out_int16_t(&data[4]);
out_int16_t(&data[5]);
out_int16_t(&data[6]);
out_int16_t(&data[7]);
out_int16_t(&data[8]);
*/
out_int16_t(&result[0]);
out_int16_t(&result[1]);
out_int16_t(&result[2]);
//out_int16_t(&_hlt);
//system_microsec = micros();
}
}
}
