int main(void){
uint8_t received_data[2];
init_I2C1(); // initialize I2C peripheral
while(1){
I2C_start(I2C1, SLAVE_ADDRESS, I2C_Direction_Transmitter); // start a transmission in Master transmitter mode
I2C_write(I2C1, 0x20); // write one byte to the slave
I2C_write(I2C1, 0x03); // write another byte to the slave
I2C_stop(I2C1); // stop the transmission
}
}
int main(void)
{
int timerID = 1;
int timerID1 = 2;
/*A Timer used to count how long there is no signal come in*/
xTimerNoSignal = xTimerCreate("TurnOffTime", 10000 / portTICK_RATE_MS, pdFALSE, (void *) timerID, vTimerSystemIdle);
xTimerSampleRate = xTimerCreate("SensorSampleRate", 4 / portTICK_RATE_MS, pdTRUE, (void *) timerID1, vTimerSample);
/*a queue for tansfer the senddate to USART task*/
xQueueUARTSend = xQueueCreate(15, sizeof(serial_str_msg));
xQueueUARTRecvie = xQueueCreate(15, sizeof(serial_ch_msg));
xQueueShell2PWM = xQueueCreate(3, sizeof(pwm_ch_msg));
xQueuePitchdirection = xQueueCreate(3, sizeof(pitch_direction_msg));
xQueueRolldirection = xQueueCreate(3, sizeof(roll_direction_msg));
/* initialize hardware... */
prvSetupHardware();
init_I2C1();
xTimerStart(xTimerNoSignal, 0);
/* Start the tasks defined within this file/specific to this demo. */
xTaskCreate(vPWMctrlTask, ( signed portCHAR * ) "pwmctrl", configMINIMAL_STACK_SIZE, NULL,tskIDLE_PRIORITY, NULL );
xTaskCreate(vUsartSendTask, ( signed portCHAR * ) "USART", configMINIMAL_STACK_SIZE, NULL,tskIDLE_PRIORITY, NULL);
xTaskCreate(shell, ( signed portCHAR * ) "shell", configMINIMAL_STACK_SIZE, NULL,tskIDLE_PRIORITY + 5, NULL);
xTaskCreate(vBalanceTask, ( signed portCHAR * ) "Balance", configMINIMAL_STACK_SIZE, NULL,tskIDLE_PRIORITY, NULL);
xTaskCreate(vPitchctrlTask, ( signed portCHAR * ) "Pitchctrl", configMINIMAL_STACK_SIZE, NULL,tskIDLE_PRIORITY, NULL );
xTaskCreate(vRollctrlTask, ( signed portCHAR * ) "Rollctrl", configMINIMAL_STACK_SIZE, NULL,tskIDLE_PRIORITY, NULL );
/* Start the scheduler. */
vTaskStartScheduler();
/* Will only get here if there was not enough heap space to create the idle task. */
return 0;
}
int main(void)
{
SystemInit();
STM32F4_Discovery_LEDInit(LED3); //Orange
STM32F4_Discovery_LEDInit(LED4); //Green
STM32F4_Discovery_LEDInit(LED5); //Red
STM32F4_Discovery_LEDInit(LED6); //Blue
STM32F4_Discovery_PBInit(BUTTON_USER, BUTTON_MODE_GPIO);
USBD_Init(&USB_OTG_dev,USB_OTG_FS_CORE_ID,&USR_desc,&USBD_CDC_cb,&USR_cb);
SystemCoreClockUpdate(); // inicjalizacja dystrybucji czasu procesora
init_I2C1(); // na podstawie: http://eliaselectronics.com/stm32f4-tutorials/stm32f4-i2c-mastertutorial/
//acc
I2C_start(I2C1, LSM303DL_A_ADDRESS, I2C_Direction_Transmitter);
I2C_write(I2C1,0x20); // LSM303_CTRL_REG1_A 0x20
I2C_write(I2C1,0x27); // Enable Accelerometer
// 0x27 = 0b00100111
// Normal power mode, all axes enabled
I2C_stop(I2C1); // stop the transmission
//acc
//mag
I2C_start(I2C1, LSM303DL_M_ADDRESS, I2C_Direction_Transmitter);
I2C_write(I2C1,0x02); //LSM303_MR_REG_M 0x02
I2C_write(I2C1,0x00); // Enable Magnetometer
// 0x00 = 0b00000000
// Continuous conversion mode
I2C_stop(I2C1);
//mag
//gyro
I2C_start(I2C1, LSM303DL_G_ADDRESS, I2C_Direction_Transmitter);
I2C_write(I2C1, 0x20); //L3G_CTRL_REG1 0x20
I2C_write(I2C1, 0x0F); // 0x0F = 0b00001111
// Normal power mode, all axes enabled
I2C_stop(I2C1);
//gyro
char start='0';
while(1)
{
Delay(5);
read_acc();
read_mag();
read_gyro();
start='0';
while(1)
{
start = usb_cdc_getc();
if(start=='1')
{
break;
}
}
}
/*while (1){
if(usb_cdc_kbhit()){
char c, buffer_out[15];
c = usb_cdc_getc();
switch(c){
case '3':
STM32F4_Discovery_LEDToggle(LED3);
sprintf(buffer_out,"LED%c = %u\r\n",c,GPIO_ReadInputDataBit(GPIOD,LED3_PIN));
usb_cdc_printf(buffer_out);
break;
case '4':
STM32F4_Discovery_LEDToggle(LED4);
sprintf(buffer_out,"LED%c = %u\r\n",c,GPIO_ReadInputDataBit(GPIOD,LED4_PIN));
usb_cdc_printf(buffer_out);
break;
case '5':
STM32F4_Discovery_LEDToggle(LED5);
sprintf(buffer_out,"LED%c = %u\r\n",c,GPIO_ReadInputDataBit(GPIOD,LED5_PIN));
usb_cdc_printf(buffer_out);
break;
case '6':
STM32F4_Discovery_LEDToggle(LED6);
sprintf(buffer_out,"LED%c = %u\r\n",c,GPIO_ReadInputDataBit(GPIOD,LED6_PIN));
usb_cdc_printf(buffer_out);
break;
}
}
button_sts = STM32F4_Discovery_PBGetState(BUTTON_USER);
if(button_sts){
STM32F4_Discovery_LEDOff(LED3);
STM32F4_Discovery_LEDOff(LED5);
STM32F4_Discovery_LEDOff(LED3);
STM32F4_Discovery_LEDOff(LED5);
}
}*/
}
int main(void)
{
int i=1;
USART3_Config();
SysTick_Init();
init_I2C1();
sensor_ayarla();
printf("l3g4200d\r\n");
while (1){
if((I2C_readreg(L3G4200D_ADDR,STATUS_REG)&0x08)==0x08)
{
/* read the rate from the register */
gyrox_l_temp=I2C_readreg(L3G4200D_ADDR,OUT_X_L);
gyrox_h_temp=I2C_readreg(L3G4200D_ADDR,OUT_X_H);
gyrox_temp=((gyrox_h_temp << 8) | gyrox_l_temp);
gyroy_l_temp=I2C_readreg(L3G4200D_ADDR,OUT_Y_L);
gyroy_h_temp=I2C_readreg(L3G4200D_ADDR,OUT_Y_H);
gyroy_temp=((gyroy_h_temp << 8) | gyroy_l_temp);
gyroz_l_temp=I2C_readreg(L3G4200D_ADDR,OUT_Z_L);
gyroz_h_temp=I2C_readreg(L3G4200D_ADDR,OUT_Z_H);
gyroz_temp=((gyroz_h_temp << 8) | gyroz_l_temp);
printf("gyrox_temp=%d gyroy_temp=%d gyroz_temp=%d\r\n",gyrox_temp,gyroy_temp,gyroz_temp);
/* compute the value of rate */
gyrox = gyrox_temp * gyro_sensitivity_250 /1000 ;
gyroy = gyroy_temp * gyro_sensitivity_250 /1000 ;
gyroz = gyroz_temp * gyro_sensitivity_250 /1000 ;
/* print the value of rate*/
gyrox_int = (int16_t)gyrox;
gyrox_decimal = (gyrox - gyrox_int)*1000;
if(gyrox_decimal < 0)
gyrox_decimal=-gyrox_decimal;
gyroy_int = (int16_t)gyroy;
gyroy_decimal = (gyroy - gyroy_int)*1000;
if(gyroy_decimal < 0)
gyroy_decimal=-gyroy_decimal;
gyroz_int = (int16_t)gyroz;
gyroz_decimal = (gyroz - gyroz_int)*1000;
if(gyroz_decimal < 0)
gyroz_decimal=-gyroz_decimal;
printf("gyrox_float=%d.%d\r\n",gyrox_int,gyrox_decimal);
printf("gyroy_float=%d.%d\r\n",gyroy_int,gyroy_decimal);
printf("gyroz_float=%d.%d\r\n",gyroz_int,gyroz_decimal);
/* 頃角計算 */
i=1;
for(i;i<=50;i++)
gyro_sample();
//gyrox_angle=gyrox_angle+gyrox*0.5;
//gyroy_angle=gyroy_angle+gyroy*0.5;
//gyroz_angle=gyroz_angle+gyroz*0.5;
/* print the value of angle */
gyrox_angle_int = (int16_t)gyrox_angle;
gyrox_angle_decimal = (gyrox_angle - gyrox_angle_int)*1000;
if(gyrox_angle_decimal < 0)
gyrox_angle_decimal=-gyrox_angle_decimal;
gyroy_angle_int = (int16_t)gyroy_angle;
gyroy_angle_decimal = (gyroy_angle - gyroy_angle_int)*1000;
if(gyroy_angle_decimal < 0)
gyroy_angle_decimal=-gyroy_angle_decimal;
gyroz_angle_int = (int16_t)gyroz_angle;
gyroz_angle_decimal = (gyroz_angle - gyroz_angle_int)*1000;
if(gyroz_angle_decimal < 0)
gyroz_angle_decimal=-gyroz_angle_decimal;
printf("gyrox_angle_float=%d.%d\r\n",gyrox_angle_int,gyrox_angle_decimal);
printf("gyroy_angle_float=%d.%d\r\n",gyroy_angle_int,gyroy_angle_decimal);
printf("gyroz_angle_float=%d.%d\r\n",gyroz_angle_int,gyroz_angle_decimal);
printf("\r\n-------------------------------------------------------\r\n");
Delay(500);
}
}
}
