/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32l1xx_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32l1xx.c file
*/
/* LCD GLASS Configuration */
LCD_Glass_Config();
/* ADC1 configuration: channel (18 or 31) and channel (5 or 1b) */
ADC_Config();
/* Configure the STM32L1XX-EVAL KEY Push button */
STM_EVAL_PBInit(BUTTON_KEY, BUTTON_MODE_EXTI);
#ifdef USE_STM32L152D_EVAL
/* Set VALUEUNIT_MILLIAMPERE */
LCD_GLASS_ValueUnitConfig(VALUEUNIT_MILLIAMPERE);
#endif
/* TIM2 Configuration */
TIM2_Config();
/* Request LCD RAM update */
LCD_UpdateDisplayRequest();
while (1)
{
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
void main(void)
{
/* GPIO configuration -----------------------------------------*/
GPIO_Config();
/* TIM2 configuration -----------------------------------------*/
TIM2_Config();
while (1)
{}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
void main(void)
{
/* GPIO configuration -----------------------------------------*/
GPIO_Config();
/* TIM2 configuration -----------------------------------------*/
TIM2_Config();
enableInterrupts();
while (1)
{}
}
static int timer_init(void)
{
int i ;
for(i = 0; i < 1; i++){
tim[i].tim_dev.enable = tim_enable_timer;
timer_init_cfg(&(tim[i].tim_dev.cfg),TIM2_PERIOD_US);
register_timer_device(&(tim[i].tim_dev));
}
TIM2_Config();
return 1;
}
/*
* 函数名：main
* 描述 : "主机"的主函数
* 输入 ：无
* 输出 : 无
*/
int main(void)
{
LED_GPIO_Config();
TIM2_Config();
USART2_Config(115200);
LED1(OFF);
LED2(OFF);
Get_ChipID();
printf("USART2 Test OK!!\r\n");
printf("Chip ID is 0x%08X 0x%08X 0x%08X.\r\n",
ChipUniqueID[0],ChipUniqueID[1],ChipUniqueID[2]);
printf("Chip Size is %d KBytes.\r\n",(*(__IO uint32_t *)(0X1FFF7A22))&0xFFFF);
while(1)
{
}
}
void main(void)
{
/* Clock configuration -----------------------------------------*/
CLK_Config();
/* GPIO configuration ------------------------------------------*/
GPIO_Config_Init();
TIM3_Config();
TIM4_Config();
UART1_Config();
UART3_Config();
enableInterrupts();
DeviceStatus.workState = 16;
Delay(200);
//beep
Set_Beep_OptionByte();
Beep_Init(BEEP_FREQUENCY_4KHZ);
BEEP_LSICalibrationConfig(LSI_128kHz);
showAll();
PowerOnBeep();
clear();
TIM2_Config();
showTemp(Temperature[DeviceStatus.workState], ON);
showSymbol(SYMBOL_DEFAULT);
FunctionReport(DeviceStatus.workState);
while (1)
{
if(DeviceStatus.Time_100ms == 1)
{
if(UART1_GetFlagStatus(UART1_FLAG_IDLE) == SET)
{
if(DataSize != 0)
{
DataResolve(RxRecvBuffer, DataSize);
DataSize = 0;
}
}
DeviceStatus.Time_100ms = 0;
}
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
void main(void)
{
/*--------------------- TIM2 Clock = 16Mhz ----------------*/
CLK_MasterPrescalerConfig(CLK_MasterPrescaler_HSIDiv1);
/*--------------------- TIM3 Config------------------------*/
TIM3_Config();
/*--------------------- TIM2 Config------------------------*/
TIM2_Config();
/* Compute TIM3 CC2 clock frequency */
TIM3ClockFreq = (8 * TIM2ClockFreq) / (ICValue2 - ICValue1);
/* Insert a break point here */
nop();
while (1)
{}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
void main(void)
{
static u16 i=0;
CLK_Config();
UART_Config();
TIM2_Config();
enableInterrupts();
printF("TIM2_Config finish !\n",FALSE,0);
/* Infinite loop */
while (1)
{
_Delay(100);
printF("LOG MSG (%4d) !\n",TRUE,i++);
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f0xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f0xx.c file
*/
/* Preconfiguration before using DAC----------------------------------------*/
DAC_Config();
/* TIM2 configuration to trigger DAC */
TIM2_Config();
/* Configures User Button */
STM_EVAL_PBInit(BUTTON_USER, BUTTON_MODE_EXTI);
while (1)
{
/* If the User Button is pressed */
if (KeyPressed == RESET)
{
DAC_DeInit();
/* select waves forms according to the Key Button status */
if (SelectedWavesForm == 1)
{
/* The sine wave and the escalator wave has been selected */
DAC_Sine_EscalatorConfig();
}
else
{
/* The triangle wave and the noise wave has been selected */
DAC_Noise_TriangleConfig();
}
KeyPressed = SET;
}
}
}
void System_Time_Init(void)
{
MPU6050_READ();//读取
Get_Accel_Angle(MPU6050_ACC_LAST.X,MPU6050_ACC_LAST.Y,MPU6050_ACC_LAST.Z,&Q_ANGLE.ROLL,&Q_ANGLE.PITCH);//加速度算出的角度为初始角度
TIM2_Config();
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f4xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f4xx.c file
*/
//initiate user button
//PB_Config();
STM_EVAL_PBInit(BUTTON_USER, BUTTON_MODE_EXTI);
//initiate LEDs and turn them on
LED_Config();
/* -----------------------------------------------------------------------
TIM3 Configuration: Output Compare Timing Mode:
In this example TIM3 input clock (TIM3CLK) is set to 2 * APB1 clock (PCLK1),
since APB1 prescaler is different from 1.
TIM3CLK = 2 * PCLK1
PCLK1 = HCLK / 4
=> TIM3CLK = HCLK / 2 = SystemCoreClock /2
To get TIM3 counter clock at 50 MHz, the prescaler is computed as follows:
Prescaler = (TIM3CLK / TIM3 counter clock) - 1
Prescaler = ((SystemCoreClock /2) /0.5 MHz) - 1
CC1 update rate = TIM3 counter clock / CCR1_Val = 10.0 Hz
==> Toggling frequency = 5 Hz
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
Each time the core clock (HCLK) changes, user had to call SystemCoreClockUpdate()
function to update SystemCoreClock variable value. Otherwise, any configuration
based on this variable will be incorrect.
----------------------------------------------------------------------- */
//=======================Configure and init Timer======================
/* Compute the prescaler value */
PrescalerValue = (uint16_t) ((SystemCoreClock / 2) / 500000) - 1; //configures clock speed at 500 KHz. Both Tim2 and Tim3 use the same prescsaler and therefore run at the same speed.
/* TIM Configuration */
TIM3_Config();
TIM2_Config();
// configure the output compare
TIM3_OCConfig();
TIM2_OCConfig();
/* TIM Interrupts enable */
TIM_ITConfig(TIM3, TIM_IT_CC1, ENABLE);
TIM_ITConfig(TIM2, TIM_IT_CC1, ENABLE);
/* TIM3 enable counter */
TIM_Cmd(TIM3, ENABLE);
TIM_Cmd(TIM2, ENABLE);
//======================================configure and init LCD ======================
/* LCD initiatization */
LCD_Init();
/* LCD Layer initiatization */
LCD_LayerInit();
/* Enable the LTDC */
LTDC_Cmd(ENABLE);
/* Set LCD foreground layer */
LCD_SetLayer(LCD_FOREGROUND_LAYER);
//================EEPROM init====================================
/* Unlock the Flash Program Erase controller */
FLASH_Unlock();
/* EEPROM Init */
EE_Init();
//============ Set up for random number generation==============
RNG_Config();
Ext_PushButton_Interrupt(); //configures external push button
//with the default font, LCD can display 12 lines of chars, they are LINE(0), LINE(1)...LINE(11)
//with the default font, LCD can display 15 columns, they are COLUMN(0)....COLUMN(14)
LCD_Clear(LCD_COLOR_WHITE); //change the background colour of LCD
//Display a string in one line, on the first line (line=0)
LCD_DisplayString(0, 2, (uint8_t *) "Best: "); //the line will not wrap
while (1){
if (UBPressed==1) { //press user button
if (pause==1){ //pause mode
randnum = ((RNG_GetRandomNumber()%2000)+1000); //generates a random number between 1000 and 3000
Pause_Random(randnum); //see below function to see how the pause is implemented
}
else { //measure time mode
TIM_ITConfig(TIM2, TIM_IT_CC1, DISABLE); //turns off timer 2
TIM_Cmd(TIM2, DISABLE);
time = timer; //gets user's time
if (initial == 1) { //sets initial best_time to first time
best_time = time;
initial = 0;
LCD_DisplayInt((uint16_t) 0, (uint16_t) 7, best_time);
}
LCD_DisplayString(2, 1, (uint8_t *) "Time: "); //print time
LCD_DisplayString(2, 7, (uint8_t *) " "); //clears line
LCD_DisplayInt((uint16_t) 2, (uint16_t) 7, time); //displays user's time
LCD_DisplayString(2, 11, (uint8_t *) "ms"); //print ms
if (time > 10 && time < best_time) { //set new best time
best_time = time;
LCD_DisplayString(0, 7, (uint8_t *) " "); //clears line
LCD_DisplayInt((uint16_t) 0, (uint16_t) 7, best_time);
}
TIM_ITConfig(TIM2, TIM_IT_CC1, ENABLE); //turns on timer 2
TIM_Cmd(TIM2, ENABLE);
pause = 1; //this makes it so that you can use the user button to repeat the cycle in case you don't have an external push button
}
UBPressed=0;
}
}
}
/********************************************************************//**
* @brief Initializes the TIMx peripheral according to the specified
* parameters.
* @param[in] TIMx Timer peripheral selected, should be:
* - LPC_TIM0: TIMER0 peripheral
* - LPC_TIM1: TIMER1 peripheral
* - LPC_TIM2: TIMER2 peripheral
* - LPC_TIM3: TIMER3 peripheral
* @param[in] IntFlag: interrupt type, should be:
* - None : No Pin Configuration
* - TIM_MR0: Configure for Ext Match channel 0
* - TIM_MR1: Configure for Ext Match channel 1
* - TIM_MR2: Configure for Ext Match channel 2 for only Timer2
* - TIM_MR3: Configure for Ext Match channel 3 for only Timer2
* - TIM_CR0: Configure for Capture channel 0
* - TIM_CR1: Configure for Capture channel 1
* @return None
*********************************************************************/
void TIM_Config(LPC_TIM_TypeDef *TIMx, TIM_PCFG_TYPE PCfg)
{
// Pin configuration for TIM
PINSEL_CFG_Type PinCfg;
if (TIMx == LPC_TIM0)
{
switch (PCfg)
{
case TIM_MR1:
// Configure P3.26 as MAT0.1
PinCfg.Funcnum = 2;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Portnum = 3;
PinCfg.Pinnum = 26;
PINSEL_ConfigPin(&PinCfg);
break;
case None:
break;
default:
//Error match value
//Error loop
while(1);
}
// Pin Configuration
TIM0_Config(); // Timer0 Configuration
}
else if (TIMx == LPC_TIM1)
{
switch (PCfg)
{
case TIM_MR0:
// Configure P1.22 as MAT1.0
PinCfg.Funcnum = 3;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Portnum = 1;
PinCfg.Pinnum = 22;
PINSEL_ConfigPin(&PinCfg);
break;
case TIM_MR1:
// Configure P1.25 as MAT1.1
PinCfg.Funcnum = 3;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Portnum = 1;
PinCfg.Pinnum = 25;
PINSEL_ConfigPin(&PinCfg);
break;
case TIM_CR0:
// Configure P1.18 as CAP1.0
PinCfg.Funcnum = 3;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Portnum = 1;
PinCfg.Pinnum = 18;
PINSEL_ConfigPin(&PinCfg);
break;
case TIM_CR1:
// Configure P1.19 as CAP1.1
PinCfg.Funcnum = 3;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Portnum = 1;
PinCfg.Pinnum = 19;
PINSEL_ConfigPin(&PinCfg);
break;
case None:
break;
default:
//Error match value
//Error loop
while(1);
}
TIM1_Config(); // Timer1 Configuration
}
else if (TIMx == LPC_TIM2)
{
switch (PCfg)
{
case TIM_MR0:
// Configure P4.28 as MAT2.0
PinCfg.Funcnum = 2;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Portnum = 4;
PinCfg.Pinnum = 28;
PINSEL_ConfigPin(&PinCfg);
break;
case None:
break;
default:
//Error match value
//Error loop
while(1);
}
// Pin Configuration
TIM2_Config(); // Timer2 Configuration
}
else if (TIMx == LPC_TIM3)
{
switch (PCfg)
{
case TIM_MR0:
// Configure P0.10 as MAT3.0
PinCfg.Funcnum = 3;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Portnum = 0;
PinCfg.Pinnum = 10;
PINSEL_ConfigPin(&PinCfg);
break;
case TIM_MR1:
// Configure P0.11 as MAT3.1
PinCfg.Funcnum = 3;
PinCfg.OpenDrain = 0;
PinCfg.Pinmode = 0;
PinCfg.Portnum = 0;
PinCfg.Pinnum = 11;
PINSEL_ConfigPin(&PinCfg);
break;
case None:
break;
default:
//Error match value
//Error loop
while(1);
}
// Pin Configuration
TIM3_Config(); // Timer3 Configuration
}
}
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this is done through SystemInit() function which is called from startup
file (startup_stm32f4xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f4xx.c file
*/
//initiate user button
PB_Config();
//initiate LEDs and turn them on
LED_Config();
/* -----------------------------------------------------------------------
TIM3 Configuration: Output Compare Timing Mode:
In this example TIM3 input clock (TIM3CLK) is set to 2 * APB1 clock (PCLK1),
since APB1 prescaler is different from 1.
TIM3CLK = 2 * PCLK1
PCLK1 = HCLK / 4
=> TIM3CLK = HCLK / 2 = SystemCoreClock /2
To get TIM3 counter clock at 50 MHz, the prescaler is computed as follows:
Prescaler = (TIM3CLK / TIM3 counter clock) - 1
Prescaler = ((SystemCoreClock /2) /50 MHz) - 1
CC1 update rate = TIM3 counter clock / CCR1_Val = 9.154 Hz
==> Toggling frequency = 4.57 Hz
Note:
SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
Each time the core clock (HCLK) changes, user had to call SystemCoreClockUpdate()
function to update SystemCoreClock variable value. Otherwise, any configuration
based on this variable will be incorrect.
----------------------------------------------------------------------- */
//=======================Configure and init Timer======================
/* Compute the prescaler value */
PrescalerValue = (uint16_t) ((SystemCoreClock / 2) / 200000) - 1;
/* TIM Configuration */
TIM2_Config();
// configure the output compare
TIM2_OCConfig();
/* TIM Interrupts enable */
TIM_ITConfig(TIM2, TIM_IT_CC1, ENABLE);
/* TIM3 enable counter */
TIM_Cmd(TIM2, ENABLE);
while (1){
if (UBPressed==1) {
STM_EVAL_LEDOff(LED3);
STM_EVAL_LEDOff(LED4);
hardwareBlinking();
UBPressed=0;
}
}
}
/*
* fill INS_delay_buffer
* wait GPS signal
*/
void vINSAligTask(void* pvParameters)
{
char printf_buffer[100];
/*odometry sensor data*/
float direction;
u8 temp;
float *p_insBuffer;
GPSDataType gdt;
u16 GPS_validate_cnt=0;
float uw_height;
portBASE_TYPE xstatus;
/*Enable ultrasonic sensor TIMER*/
TIM2_Config();
TIM2_IT_Config();
/**/
xQueueReceive(AHRSToINSQueue,&p_insBuffer,portMAX_DELAY); //capture an INS frame
p_insBuffer[INDEX_DT]=0.0; //the last number in buffer represent time interval, not time
Blinks(LED1,2);
#ifdef INS_DEBUG
/*GPS data is not needed in debug mode*/
while(1)
{
/*receive ins data and fill the IMU_delay_buffer*/
xQueueReceive(AHRSToINSQueue,&p_insBuffer,portMAX_DELAY);
PutToBuffer(p_insBuffer);
/*clear time interval*/
p_insBuffer[INDEX_DT]=0.0;
/*INS_delay_buffer is full filled*/
if(buffer_header == 0) break;
}
navParamK[0] = 0.0;
navParamK[1] = 0.0;
navParamK[2] = 0.0;
navParamK[3] = 0.0;
navParamK[4] = 0.0;
navParamK[5] = 0.0;
navParamK[6] = 0.0;
navParamK[7] = 0.0;
navParamK[8] = 0.0;
x[0]=0.0;
x[1]=0.0;
x[2]=0.0;
x[3]=0.0;
x[4]=0.0;
x[5]=0.0;
x[6]=0.0;
x[7]=0.0;
x[8]=0.0;
#else
//normol mode
/*wait while GPS signal not stable*/
while(GPS_validate_cnt<=100)
{
xstatus = xQueueReceive(xUartGPSQueue,&gdt,0);
if(xstatus == pdPASS)
{
GPS_validate_cnt ++;
}
if(GetUltraSonicMeasure(&uw_height))
{
sprintf(printf_buffer,"%1.3f\r\n",uw_height);
UartSend(printf_buffer,7);
}
/*receive ins data and fill the IMU_delay_buffer*/
xQueueReceive(AHRSToINSQueue,&p_insBuffer,portMAX_DELAY);
PutToBuffer(p_insBuffer);
/*clear time interval*/
p_insBuffer[INDEX_DT]=0.0;
}
/************initialize navParamK*********************/
temp=(u8)(gdt.Lati*0.01);
initPos[0]=0.01745329*(temp+(gdt.Lati-temp*100.0)*0.0166667);
temp=(u8)(gdt.Long*0.01);
initPos[1]=0.01745329*(temp+(gdt.Long-temp*100.0)*0.0166667);
initPos[2]=gdt.Alti;
if(gdt.type != GPGMV)
{
direction = gdt.COG*0.0174533;
gdt.speedN = gdt.SPD*0.51444*arm_cos_f32(direction);
gdt.speedE = gdt.SPD*0.51444*arm_sin_f32(direction);
}
navParamK[0] = 0.0;
navParamK[1] = 0.0;
navParamK[2] = 0.0;
navParamK[3] = gdt.speedN;
navParamK[4] = gdt.speedE;
navParamK[5] = 0.0;
navParamK[6] = 0.0;
navParamK[7] = 0.0;
navParamK[8] = 0.0;
/*initialize filter state param x*/
x[0]=0.0;
x[1]=0.0;
x[2]=0.0;
x[3]=0.0;
x[4]=0.0;
x[5]=0.0;
x[6]=0.0;
x[7]=0.0;
x[8]=0.0;
#endif
xstatus=xTaskCreate(vIEKFProcessTask,(signed portCHAR *)"ins_ekf",configMINIMAL_STACK_SIZE+1024,(void *)NULL,tskIDLE_PRIORITY+1,NULL);
if(xstatus!=pdTRUE)
{
sprintf(printf_buffer, "failed to initialize\r\n");
UartSend(printf_buffer, strlen(printf_buffer));
}
vTaskDelete(NULL);
}
void main(void)
{
/* Clock configuration -----------------------------------------*/
CLK_Config();
/* GPIO configuration ------------------------------------------*/
GPIO_Config_Init();
UART1_Config();
UART3_Config();
PWM_Config();
TIM2_Config();
TIM3_Config();
TIM4_Config();
I2C_RTC_Init();
/* Enable general interrupts */
enableInterrupts();
//【秒, 分, 时, 日, 星期, 月, 年】
uint8_t time[] = {00, 12, 10, 1, 1, 6, 15};
//Set_RT8563(time, 2, 7);
ResetNetMode();
#if 0
uint8_t Alarm[5][3] = {1, 16, 31, 1, 16, 33, 1, 16, 35};
uint8_t Time[7] = {0};
uint8_t AlarmState = 0;
uint8_t AlarmDelay = 1;
unsigned int NET_AUTO_SEND = 0;
#endif
while (1)
{
#if 0
Delay(1000);
Send_BAT_Voltage(Get_BAT_Value());
UART3_SendString("\n", 1);
AQI2PM25(Get_DS_Value());
#endif
if(DeviceStatus.Time_30ms == 1)
{
TouchKey_Read();
DeviceStatus.Time_30ms = 0;
}
if(DeviceStatus.Time_100ms == 1)
{
if(UART1_GetFlagStatus(UART1_FLAG_IDLE) == SET)
{
if(DataSize != 0)
{
DataResolve(RxRecvBuffer, DataSize);
NetProcess();
DataSize = 0;
}
}
DeviceStatus.Time_100ms = 0;
}
if(DeviceStatus.Time_1_s == 1)
{
Get_RT8563(time, 2, 7);
#if 0
ArrayCopy((uint8_t *)&NetMode.SendData, time, 7);
UART3_SendString((uint8_t *)&NetMode.SendData, 7);
if(NetMode.Status & NET_CONNECT)
{
NET_LED_FLASH;
NET_AUTO_SEND++;
if(NET_AUTO_SEND == 10)//自动发送数据
{
NetSendDataLength();
NET_AUTO_SEND = 0;
}
}
else NET_AUTO_SEND = 0;
#endif
DeviceStatus.Time_1_s = 0;
}
if(DeviceStatus.Time_30_s == 1)
{
NetModeErrorFix();
DeviceStatus.Time_30_s = 0;
}
#if 0
GetTime(Time);
if(ArrayCMP(Alarm, Time, 3) == 0 && AlarmState == 0)
{
GPIO_WriteHigh(GPIOF, GPIO_PIN_5);
FAN_SPEED_HIGH; //高速
Alarm[2] += AlarmDelay;
AlarmState = 1;
}
else if(ArrayCMP(Alarm, Time, 3) == 0 && AlarmState == 1)
{
GPIO_WriteLow(GPIOF, GPIO_PIN_5);
FAN_SPEED_OFF;
AlarmState = 0;
Alarm[2] -= AlarmDelay;
}
#endif
}
}
