int main(void)
{
char lcd_text_main[100];
lcd_init();
lcd_drawBackground(20,60,250);
lcd_drawBGPersimmon(20, 60, 250);
LCD_SetColors(LCD_COLOR_WHITE-1,LCD_COLOR_WHITE);
LCD_SetFont(&Font8x12);
terminalBufferInitilization();
/* Begin timer period capture example */
TIM2_Initialization();
terminalWrite("Welcome to our termainal .\n"); Delay_1us(1000000);
while (1){
sprintf(lcd_text_main,"\nPeriod = %ld us",timebaseCapture_output);
terminalWrite(lcd_text_main);
Delay_1us(10000);
}
}
int main(void)
{
uint8_t colorR =0 ,colorG =0 ,colorB =0 ;
uint8_t colorR_dir =0 ,colorG_dir =0 ,colorB_dir =0 ;
char lcd_text_buff[100];
float GyX =0.0f, GyY =0.0f, GyZ =0.0f;
float X_offset =0.0f,Y_offset =0.0f,Z_offset =0.0f;
uint32_t i=0;
float delay_count=1000.0f;
GPIO_Configuration();
USART1_Configuration();
CANx_Config();
CANx_NVIC_Config();
lcd_init();
lcd_drawBackground(20,60,250);
lcd_drawBGPersimmon(20, 60, 250);
LCD_SetColors(LCD_COLOR_WHITE-1,LCD_COLOR_WHITE);
LCD_SetFont(&Font16x24);
LCD_DisplayStringLine(LINE(1), (uint8_t*)" CAN Bus DEMO ");
DrawNeedle(120,120,60,300.0f,0.0f,200.0f);
while (1)
{
CANx_Transmit();
GPIO_ToggleBits(LED4);
Delay_1us(1000);
}
}
void Delay_Nus(u16 Cnt)
{
while (Cnt--)
{
Delay_1us();
}
}
void IMU_Initialization(){
// receivedData = readSPI4(0x75); //75 WHO_AM_I
// sprintf(lcd_text_main,"My Name is : %d \n", receivedData); terminalWrite(lcd_text_main);
// Delay_1us(500000);
writeSPI4(0x6B,0x80); //PWR_MGMT_1
Delay_1us(100000);
writeSPI4(0x6B,0x03); //PWR_MGMT_1
//writeSPI4(0x1A,0x02); //CONFIG
writeSPI4(0x1B,0x18); //GYRO_CONFIG
// receivedData = readSPI4(0x6B);
// sprintf(lcd_text_main,"PWR_MGMT_1 : %X \n", receivedData); terminalWrite(lcd_text_main);
// Delay_1us(100000);
// receivedData = readSPI4(0x1A);
// sprintf(lcd_text_main,"CONFIG : %X \n", receivedData); terminalWrite(lcd_text_main);
// Delay_1us(100000);
// receivedData = readSPI4(0x1B);
// sprintf(lcd_text_main,"GYRO_CONFIG : %X \n", receivedData); terminalWrite(lcd_text_main);
// Delay_1us(100000);
EstV.G.X = 0.0; //pitch
EstV.G.Y = 0.0; //roll 0
EstV.G.Z = -1.0; //yaw 1
}
/*=====================================================================================================*/
int main( void )
{
u32 i = PWM_MOTOR_MIN;
SystemInit();
GPIO_Config();
PWM_Config();
while(1) {
LED_G = ~LED_G;
while(KEY_WU == 1) {
PWM1 = i;
PWM2 = i;
PWM3 = i;
PWM4 = i;
PWM5 = i;
PWM6 = i;
PWM7 = i;
PWM8 = i;
PWM9 = i;
PWM10 = i;
PWM11 = i;
i++;
if(i>=PWM_MOTOR_MAX) {
i = PWM_MOTOR_MIN;
LED_R = ~LED_R;
}
Delay_1us(500);
}
Delay_10ms(10);
}
}
/******************************************************************************
* Function Definitions
*******************************************************************************/
static void cs_low()
{
#ifdef __GNUC__
printf( "CS_LOW\n" );
#else
MAGNETO_CS = 0;
Delay_1us(); // tL Time between CS falling edge and CLK rising edge 350ns
#endif
}
/*引脚初始化*/
void Rest(void)
{
LPC_GPIO2->FIODIR |= (1<<0); //复位脚设置成输出
LPC_GPIO2->FIODIR |= (1<<7); //数据脚设置成输出
LPC_GPIO2->FIOPIN &= ~(1<<0); //复位脚拉低
Delay_1us(100);
LPC_GPIO2->FIOPIN |= (1<<7); //数据较保持高电平
LPC_GPIO2->FIOPIN |= (1<<0); //复位脚拉高
}
static void cs_high()
{
#ifdef __GNUC__
printf( "CS_HIGH\n" );
#else
//Delay_1us(); // tH Time between last falling edge of CLK and rising edge of CS 50ns
MAGNETO_CS = 1;
Delay_1us(); // TcsnH High time of CS bwtween two transmissions 350ns
#endif
}
/*=====================================================================================================*/
void LED_PWM( u8 LED_Mode , u16 LED_Sel, u16 LED_DelayTime )
{
u16 i = 0;
if(LED_Mode == LED_ON) {
for(i=LED_PWM_Min; i<LED_PWM_Max-10; i=i+2) {
if((LED_Sel&0x01) == 0x01) LED5 = i;
if((LED_Sel&0x02) == 0x02) LED6 = i;
if((LED_Sel&0x04) == 0x04) LED7 = i;
if((LED_Sel&0x08) == 0x08) LED8 = i;
Delay_1us(LED_DelayTime);
}
}
else {
for(i=LED_PWM_Max; i>LED_PWM_Min+10; i=i-2) {
if((LED_Sel&0x01) == 0x01) LED5 = i;
if((LED_Sel&0x02) == 0x02) LED6 = i;
if((LED_Sel&0x04) == 0x04) LED7 = i;
if((LED_Sel&0x08) == 0x08) LED8 = i;
Delay_1us(LED_DelayTime);
}
}
}
/*=====================================================================================================*/
void nRF_TX_Mode(void)
{
NRF_CE = 0;
nRF_WriteBuf(NRF_WRITE + TX_ADDR, TX_ADDRESS, TX_ADR_WIDTH); // 寫TX節點地址
nRF_WriteBuf(NRF_WRITE + RX_ADDR_P0, RX_ADDRESS, RX_ADR_WIDTH); // 設置TX節點地址, 主要為了使能ACK
nRF_WriteReg(NRF_WRITE + EN_AA, 0x01); // 使能通道0的自動應答
nRF_WriteReg(NRF_WRITE + EN_RXADDR, 0x01); // 使能通道0的接收地址
nRF_WriteReg(NRF_WRITE + SETUP_RETR, 0x05); // 設置自動重發間隔時間:250us + 86us;最大自動重發次數:5次
nRF_WriteReg(NRF_WRITE + RF_CH, CHANAL); // 設置RF通道為CHANAL
nRF_WriteReg(NRF_WRITE + RF_SETUP, 0x0f); // 設置TX發射參數,0db增益,2Mbps,低噪聲增益開啟
nRF_WriteReg(NRF_WRITE + CONFIG, 0x0e); // 配置基本工作模式的參數;PWR_UP,EN_CRC,16BIT_CRC,發射模式,開啟所有中斷
NRF_CE = 1;
Delay_1us(12); // CE要拉高一段時間才進入發送模式
}
/***********************************************
函数名称：sFLASH_SendByte
功 能：向W25Q64 FLASH发送一个字节数据。
入口参数：dat:发送的数据
返 回 值：无
备 注：无
************************************************/
void sFLASH_SendByte(unsigned char dat)
{
unsigned char i; //定义计数器
//送出数据
for(i=0;i<8;i++)
{ W25Q64_WCK_Clr();
//先发送高字节
if( (dat&0x80)==0x80 )
{W25Q64_WDI_Set();}
else
{W25Q64_WDI_Clr();}
Delay_1us();
W25Q64_WCK_Set();
//数据左移
dat<<=1;
}
}
/***********************************************
函数名称：sFLASH_ReadByte
功 能：从W25Q64 FLASH读取一个字节数据。
入口参数：无
返 回 值：unsigned char：读出的数据。
备 注：无
************************************************/
unsigned char sFLASH_ReadByte(void)
{
unsigned char i;
unsigned char dat = 0;
W25Q64_WDO_Set();
W25Q64_WCK_Clr();
for (i=0; i<8; i++) //8位计数器
{W25Q64_WCK_Set(); //时钟线拉高
Delay_1us();
dat <<= 1; //数据右移一位
if (WDO)
{dat |= 0x01; //读取数据
}
W25Q64_WCK_Clr(); //时钟线拉低
}
return dat;
}
//硬复位MP3
//返回1:复位失败;0:复位成功
u8 VS_HD_Reset(void) {
u8 retry = 0;
VS_RST_LOW;
Delay_1ms(20);
VS_XDCS_HIGH; //取消数据传输
VS_XCS_HIGH; //取消数据传输
VS_RST_HIGH;
while (VS_DREQ_STATE == 0 && retry < 200) //等待DREQ为高
{
retry++;
Delay_1us(50);
};
Delay_1ms(20);
if (retry >= 200)
return 1;
else
return 0;
}
void LCD_init(void) //
{
LCD_GPIO_Init();
#if 1
Delay_1ms(20);
w_4bit_INIT_LCD1602(0x30); //写第一次0x3N命令（N为任意值）
Delay_1ms(10); //至少延迟4.1ms
w_4bit_INIT_LCD1602(0x30); //写第二次0x3N命令（N为任意值）
Delay_1us(200); //至少延迟100us
w_4bit_INIT_LCD1602(0x30); //写第三次0x3N命令（N为任意值）
Delay_1us(100); //至少延迟40us
w_4bit_INIT_LCD1602(0x20); //设置为4位模式
Delay_1us(100); //至少延迟40us
LCD_write_command(0x28); //设置为4位模式，2行字符，5 x 7点阵/每字符
Delay_1us(100); //至少延迟40us
LCD_write_command(0x06); //写入新数据后光标右移，写入新数据后显示屏不移动
Delay_1us(100); //至少延迟40us
LCD_write_command(0x0e); //显示功能开，有光标，光标不闪烁
Delay_1us(100); //至少延迟40us
LCD_write_command(0x01); //清除液晶显示器
Delay_1ms(10); //至少延迟1.64ms
GPIO_ResetBits(LCD1602_RW_PORT, LCD1602_RW_PIN);
Delay_1ms(10);
#else
LCD_write_command(0x33);
Delay_1ms(5);
LCD_write_command(0x28);
Delay_1ms(5);
LCD_write_command(0x28);
Delay_1ms(5);
LCD_write_command(0x28);
Delay_1ms(5);
LCD_en_write();
Delay_1ms(5);
LCD_write_command(0x28); //4
Delay_1ms(5);
LCD_write_command(0x0c); // 显示开
Delay_1ms(5);
LCD_write_command(0x01); // 清屏
Delay_1ms(5);
GPIO_ResetBits(LCD1602_RW_PORT, LCD1602_RW_PIN);
#endif
}
/*发送命令函数：参数H = 1 为高速，H = 0 为低速 ; m 为接收字节的个数*/
void ReceArt(char H,char m)
{
unsigned char i,n;
unsigned char cIO;
LPC_GPIO2->FIODIR = 0x0000007f;// io口为输入
for(n=0;n<m;n++)
{
while(LPC_GPIO2->FIOPIN & (1<<7));
cIO = 0x00;
if(H == 1) //H = 1 时为高速通讯
{
Delay_1us(1);
}
else if(H == 0) //H = 0 时为低速通讯
{
Delay_1us(30);
}
for(i=0;i<8;i++) //读一个字节函数
{
if(H == 1) //H = 1 时为高速通讯每位时间
{
Delay_1us(4);
}
else if(H == 0) //H = 0 时为高速通讯每位时间
{
Delay_1us(100);
}
cIO >>= 1;
if(LPC_GPIO2->FIOPIN & (1<<7))
{
cIO |= 0x80;
}
}
buf[n] =cIO;
if(H == 1)
{
Delay_1us(12);
}
else if(H == 0)
{
Delay_1us(100);
Delay_1us(200);
}
}
}
int main(void)
{
RCC_Configuration();
LED_Initialization(); //PG13 (GREEN) & PG14 (RED)
USART1_Initialization(); //PA9 (TX) & PA10 (RX)
SPI1_Initialization(); //PB3 (SCK) & PB4 (MISO) & PB5 (MOSI)
Delay_1us(1000000);
NRF2401_Initialization();
Timer2_Initialization();
// LED3_On();
USART1_puts("\r\nHello World\r\n");
// Delay_1us(500000);
// LED3_Off();
// Delay_1us(500000);
while(1)
{
if(task == 1){
LED4_Toggle();
/* NRF2401 TX Mode */
NRF2401_SendData_1CH("KU");
/* NRF2401 RX Mode */
// uint8_t i;
// for(i = 0; i < 24; i++){
// receivedData = NRF2401_ReceiveData_1CH()[i];
// USART_SendData(USART1, receivedData);
// }
// USART1_puts("\r\n");
// NRF2401_ReceiveData_1CH();
task = 0;
}
}
while(1); // Don't want to exit
}
/*发送命令函数：参数H = 1 为高速，H = 0 为低速 ; m 为发送字节的个数 ; SendBuf[]发送命令数组*/
void SendChar(char H,char m,char SendBuf[])
{
char i,n,flag,uChar;
LPC_GPIO2->FIODIR = 0x000000ff; //设置成输出
for(n = 0 ;n<m ; n++)
{
uChar = SendBuf[n] ;
flag = 0;
LPC_GPIO2->FIOPIN &= ~(1<<7);
for(i=0;i<8;i++) //发送一个字节
{
if(H == 1)
{
Delay_1us(4);
}
else if(H == 0)
{
Delay_1us(103);
}
if(uChar & 0x01)
{
LPC_GPIO2->FIOPIN |= (1<<7); //用于判断偶校验位
flag++;
}
else
{
LPC_GPIO2->FIOPIN &= ~(1<<7);
}
uChar >>=1;
}
if(H == 1)
{
Delay_1us(4);
}
else if(H == 0)
{
Delay_1us(100);
}
if(flag%2 == 1) //判断校验位
{
LPC_GPIO2->FIOPIN |= (1<<7);
}
else
{
LPC_GPIO2->FIOPIN &= ~(1<<7);
}
if(H == 1) //延时一个校验位
{
Delay_1us(4);
}
else if(H == 0)
{
Delay_1us(100);
}
LPC_GPIO2->FIOPIN |= (1<<7); //延时两个停止位
if(H == 1)
{
Delay_1us(8);
}
else if(H == 0)
{
Delay_1us(200);
}
}
}
int main(void)
{
CanTxMsg TxMessage;
float X_offset =0.0f,Y_offset =0.0f,Z_offset =0.0f;
float test_float=0.0f; uint8_t test_int=0;
float GyX =0.0f, GyY =0.0f, GyZ =0.0f;
float GyX_prev=0.0f,GyY_prev=0.0f,GyZ_prev=0.0f;
uint16_t x_len=240;
uint16_t y_len=320;
uint16_t i=0;
uint16_t buffer_screen[x_len][y_len];
/* For gyro receiving */
float receivedGyro1=0,receivedGyro1_prev=0;
float receivedGyro2=0,receivedGyro2_prev=0;
float receivedGyro3=0,receivedGyro3_prev=0;
uint8_t *ptr = & receivedGyro1;
// uint16_t *buf_ptr = &buffer_screen;
float runner=-8.0;
rectangular_t rect1;
rectangular_t prev_rect;
rectangular_t rect_screen;
char lcd_text_main[100];
/* LCD Initialization */
lcd_init();
lcd_drawBackground(20,60,250);
//lcd_drawBGPersimmon(20, 60, 250);
/* LED Initialization */
LED_Initialization();
/* CAN Initialization */
CAN2_Config();
CAN2_NVIC_Config();
/* MEMS Initialization */
Demo_GyroConfig();
Delay_1us(10000);
#define CALIBRATE_COUNT 1000
for (i=0;i<CALIBRATE_COUNT ;i++){
Demo_GyroReadAngRate (Buffer);
X_offset+= Buffer[0];
Y_offset+= Buffer[1];
Z_offset+= Buffer[2];
}
X_offset = X_offset/ (float)CALIBRATE_COUNT;
Y_offset = Y_offset/ (float)CALIBRATE_COUNT;
Z_offset = Z_offset/ (float)CALIBRATE_COUNT;
rect_screen.xlen = x_len;
rect_screen.ylen = y_len;
rect_screen.xpos = 0;
rect_screen.ypos = 0;
#define NEEDLE_RADIUS 65
#define NEEDLE_BASE_WIDTH 14
#define NEEDLE_FRAME_THICKNESS 5
#define NEEDLE1_CENTER_X 80
#define NEEDLE1_CENTER_Y 100
#define NEEDLE2_CENTER_X 80
#define NEEDLE2_CENTER_Y 200
#define NEEDLE3_CENTER_X 80
#define NEEDLE3_CENTER_Y 300
/* Drawing Needle frame 1 */
LCD_SetLayer(LCD_BACKGROUND_LAYER);
DrawThickCircle(NEEDLE1_CENTER_X ,NEEDLE1_CENTER_Y,NEEDLE_RADIUS+NEEDLE_FRAME_THICKNESS, 4,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
DrawThickCircle(NEEDLE1_CENTER_X ,NEEDLE1_CENTER_Y,NEEDLE_BASE_WIDTH, 6,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_BACKGROUND_LAYER);
LCD_SetColors(ASSEMBLE_RGB(20, 60, 250),LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE1_CENTER_X- NEEDLE_RADIUS-NEEDLE_FRAME_THICKNESS*2,NEEDLE1_CENTER_Y+ NEEDLE_BASE_WIDTH+3,NEEDLE_RADIUS*2+NEEDLE_FRAME_THICKNESS*4,NEEDLE_RADIUS);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE1_CENTER_X- NEEDLE_RADIUS,NEEDLE1_CENTER_Y+ NEEDLE_BASE_WIDTH,NEEDLE_RADIUS*2,NEEDLE_FRAME_THICKNESS-1);
/* Drawing Needle frame 2 */
LCD_SetLayer(LCD_BACKGROUND_LAYER);
DrawThickCircle(NEEDLE2_CENTER_X ,NEEDLE2_CENTER_Y,NEEDLE_RADIUS+NEEDLE_FRAME_THICKNESS, 4,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
DrawThickCircle(NEEDLE2_CENTER_X ,NEEDLE2_CENTER_Y,NEEDLE_BASE_WIDTH, 6,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_BACKGROUND_LAYER);
LCD_SetColors(ASSEMBLE_RGB(20, 60, 250),LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE2_CENTER_X- NEEDLE_RADIUS-NEEDLE_FRAME_THICKNESS*2,NEEDLE2_CENTER_Y+ NEEDLE_BASE_WIDTH+3,NEEDLE_RADIUS*2+NEEDLE_FRAME_THICKNESS*4,NEEDLE_RADIUS);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE2_CENTER_X- NEEDLE_RADIUS,NEEDLE2_CENTER_Y+ NEEDLE_BASE_WIDTH,NEEDLE_RADIUS*2,NEEDLE_FRAME_THICKNESS-1);
/* Drawing Needle frame 2 */
LCD_SetLayer(LCD_BACKGROUND_LAYER);
DrawThickCircle(NEEDLE3_CENTER_X ,NEEDLE3_CENTER_Y,NEEDLE_RADIUS+NEEDLE_FRAME_THICKNESS, 4,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
DrawThickCircle(NEEDLE3_CENTER_X ,NEEDLE3_CENTER_Y,NEEDLE_BASE_WIDTH, 6,LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
LCD_SetLayer(LCD_BACKGROUND_LAYER);
LCD_SetColors(ASSEMBLE_RGB(20, 60, 250),LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE3_CENTER_X- NEEDLE_RADIUS-NEEDLE_FRAME_THICKNESS*2,NEEDLE3_CENTER_Y+ NEEDLE_BASE_WIDTH+3,NEEDLE_RADIUS*2+NEEDLE_FRAME_THICKNESS*4,NEEDLE_RADIUS);
LCD_SetLayer(LCD_FOREGROUND_LAYER);
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_BLACK);
LCD_DrawFullRect(NEEDLE3_CENTER_X- NEEDLE_RADIUS,NEEDLE3_CENTER_Y+ NEEDLE_BASE_WIDTH,NEEDLE_RADIUS*2,NEEDLE_FRAME_THICKNESS-1);
/* Clear drawing buffer */
PadRectangular(&buffer_screen,x_len,y_len,LCD_COLOR_WHITE, &rect_screen);
while(1)
{
board_ID = PIN_ID_Read();
LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
sprintf(lcd_text_main," CAN Demo ID:%d ",board_ID);
LCD_DisplayStringLine(LINE(0), (uint8_t*)lcd_text_main);
Demo_GyroReadAngRate (Buffer);
//Delay_1us(1000);
/* MEMS Filtering */
#define LP_ALPHA 0.1f
GyX = GyX*(1.0f - LP_ALPHA) + (Buffer[0] - X_offset)*LP_ALPHA;
GyY = GyY*(1.0f - LP_ALPHA) + (Buffer[1] - Y_offset)*LP_ALPHA;
GyZ = GyZ*(1.0f - LP_ALPHA) + (Buffer[2] - Z_offset)*LP_ALPHA;
if(GyX > 90.0f) GyX = 90.0f;
if(GyX < -90.0f) GyX = -90.0f;
if(GyY > 90.0f) GyY = 90.0f;
if(GyY < -90.0f) GyY = -90.0f;
if(GyZ > 90.0f) GyZ = 90.0f;
if(GyZ < -90.0f) GyZ = -90.0f;
/* Start drawing rectangular */
prev_rect = rect1;
rect1.xlen = 25;
rect1.ylen = 30;
rect1.xpos = x_len/2+ (int16_t)(GyY)-10;
rect1.ypos = y_len/2 + (int16_t)(GyX)-10;
if(board_ID == 1){
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_GREEN,NEEDLE1_CENTER_X,NEEDLE1_CENTER_Y,-GyZ,-GyZ_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
}else if(board_ID == 2){
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_GREEN,NEEDLE2_CENTER_X,NEEDLE2_CENTER_Y,-GyZ,-GyZ_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
}else {
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_GREEN,NEEDLE3_CENTER_X,NEEDLE3_CENTER_Y,-GyZ,-GyZ_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
}
CAN2_TransmitGyro(board_ID,GyZ);
/* Received Data */
if( can2_rx_isr_flag ==1){
do{
if( can2_rx_isr_flag ==1){
can2RxMessage = CAN2_PassRXMessage();
can2_rx_isr_flag=0;
}else{
CAN_Receive(CAN2, CAN_FIFO0, &can2RxMessage);
}
GPIO_ToggleBits(GPIOG,GPIO_Pin_14);
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
if(( can2RxMessage.ExtId & 0x0000FFFF) == 1){
ptr = & receivedGyro1;
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_RED,NEEDLE1_CENTER_X,NEEDLE1_CENTER_Y,-receivedGyro1,-receivedGyro1_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
receivedGyro1_prev = receivedGyro1;
}else if (( can2RxMessage.ExtId & 0x0000FFFF) == 2){
ptr = & receivedGyro2;
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_RED,NEEDLE2_CENTER_X,NEEDLE2_CENTER_Y,-receivedGyro2,-receivedGyro2_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
receivedGyro2_prev = receivedGyro2;
}else if (( can2RxMessage.ExtId & 0x0000FFFF) == 3){
ptr = & receivedGyro3;
ptr[0] = can2RxMessage.Data[0];
ptr[1] = can2RxMessage.Data[1];
ptr[2] = can2RxMessage.Data[2];
ptr[3] = can2RxMessage.Data[3];
MoveNeedle(LCD_BACKGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_RED,NEEDLE3_CENTER_X,NEEDLE3_CENTER_Y,-receivedGyro3,-receivedGyro3_prev,NEEDLE_RADIUS,NEEDLE_BASE_WIDTH);
receivedGyro3_prev = receivedGyro3;
}
// LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
// sprintf(lcd_text_main," ID :%d ", can2RxMessage.StdId);
// LCD_DisplayStringLine(LINE(1), (uint8_t*)lcd_text_main);
// LCD_SetColors(LCD_COLOR_BLACK,LCD_COLOR_WHITE-1);
// sprintf(lcd_text_main," Data :%f ", receivedGyro);
// LCD_DisplayStringLine(LINE(2), (uint8_t*)lcd_text_main);
}while(CAN_MessagePending(CAN2, CAN_FIFO0) > 0);
}
// {
// uint8_t status=0;
// while(CAN_TransmitStatus(CAN2, 0) != CAN_TxStatus_Ok ){
// status = CAN_TransmitStatus(CAN2, 0);
// if(status == CAN_TxStatus_Failed){
// GPIO_ToggleBits(GPIOG,GPIO_Pin_14);
// }
// }
// }
// TxMessage.StdId = (uint32_t)board_ID;
// TxMessage.RTR = CAN_RTR_DATA;
// TxMessage.IDE = CAN_ID_STD;
// TxMessage.DLC = 8;
// TxMessage.Data[0] = 0x01;
// TxMessage.Data[1] = 0x01;
// TxMessage.Data[2] = 0x01;
// TxMessage.Data[3] = 0x01;
// TxMessage.Data[4] = 0x01;
// TxMessage.Data[5] = 0x01;
// TxMessage.Data[6] = 0x01;
// TxMessage.Data[7] = 0x01;
// CAN_Transmit(CAN2, &TxMessage);
//CAN2_TransmitGyro(test_int++,test_float);
test_float += 0.1f;
GyX_prev = GyX;
GyZ_prev = GyZ;
GyY_prev = GyY;
runner += 1.0f;
/* Faster method */
//MoveAndUpdateRectangular(LCD_FOREGROUND_LAYER,&buffer_screen,x_len,y_len,LCD_COLOR_BLACK,&prev_rect, &rect1);
/* Regular method */
// PadRectangular(&buffer_screen,x_len,y_len,LCD_COLOR_WHITE, &prev_rect);
// PadRectangular(&buffer_screen,x_len,y_len,LCD_COLOR_BLACK, &rect1);
//DrawBufferToScreen(LCD_FOREGROUND_LAYER,buf_ptr,0,0, x_len,y_len);
}
}
int main(void)
{
RCC_Configuration();
GPIO_Configuration();
LED_Initialization();
uint8_t i=1,c=1;
while(1)
{
//sevro
if(PushButton_Read())
{
if(c==1)
{
c=0;
if(PushButton_Read())
{
if(i==1)
{
i=2;
}
else if(i==2)
{
i=3;
}
else
{
i=1;
}
}
}
}
if(PushButton_Read())
{
c=0;
}
else
{
c=1;
}
//
if(i==1)
{
v13_on();
v14_on();
v15_on();
Delay_1us(1000);
v13_off();
Delay_1us(500);
v14_off();
Delay_1us(500);
v15_off();
Delay_1us(18500);
}
if(i==2)
{
v13_on();
v14_on();
v15_on();
Delay_1us(1000);
v14_off();
Delay_1us(500);
v15_off();
Delay_1us(500);
v13_off();
Delay_1us(18500);
}
if(i==3)
{
v13_on();
v14_on();
v15_on();
Delay_1us(1000);
v15_off();
Delay_1us(500);
v13_off();
Delay_1us(500);
v14_off();
Delay_1us(18500);
}
// if(PushButton_Read())
// {
// LED4_Off();
// for(i=0;i<90;i++)
// {
// LED3_Toggle();
// Delay_1us(100000-i*1000);
// if (PushButton_Read())
// {
// }
// else
// break;
// }
// }
// else
// {
// LED4_Toggle();
// Delay_1us(100000);
// LED3_Off();
// }
}
while(1); // Don't want to exit
}
void Disarm_Func(){
if(f.arm == 1){
f.arm = 0;
Delay_1us(500000);
}
}
void Arm_Func(){
if(f.arm == 0){
f.arm = 1;
Delay_1us(500000);
}
}
int main(void)
{
PWM_Initialization();
TIM1->CCR2 = 1000;
TIM1->CCR3 = 1000;
Delay_1us(500000);
RCC_Configuration();
PushButton_Initialization();
LED_Initialization();
//LCD_Initialization();
//terminalBufferInitilization();
Delay_1us(100000);
SPI_Initialization();
Delay_1us(100000);
IMU_Initialization();
Delay_1us(100000);
Timer5_Initialization(); //Filter
Timer2_Initialization(); //Print
Timer4_Initialization(); //Read IMU
USART3_Configuration();
USART3_puts("\r\nHello World!\r\n");
while(1)
{
if(PushButton_Read()){
if(f.arm == 0){
f.arm = 1;
Delay_1us(500000);
}
else if(f.arm == 1){
f.arm = 0;
Delay_1us(500000);
}
}
if(f.imu == 1){
//LED3_Toggle();
readIMU(gyroRaw, GYRO_DATA_REGISTER);
gyro_remove_offset(gyroRaw);
readIMU(accRaw, ACC_DATA_REGISTER);
f.imu = 0;
// }
// if(f.filter == 1){
//LED4_Toggle();
Filter(gyroRaw, gyroAngle, accRaw, accAngle, Angle);
if(f.arm == 1){
PID_control(Angle);
}
else{
TIM1->CCR2 = 1000;
TIM1->CCR3 = 1000;
errorI = 0;
errorD = 0;
previous_error = 0;
}
//f.filter = 0;
}
strcmd_main();
//if(f.print == 1){
// sprintf(lcd_text_main,"%.4f %.4f %d", Angle[0], Angle[1], f.arm);
// //sprintf(lcd_text_main,"G: %.3f %.3f %.3f", EstV.G.X, EstV.G.Y, EstV.G.Z);
// LCD_DisplayStringLine(LINE(1), lcd_text_main);
// //sprintf(lcd_text_main,"A: %.3f %.3f %.3f", EstV.A.X, EstV.A.Y, EstV.A.Z);
// //sprintf(lcd_text_main,"A: %.3f %.3f", sqX_sqZ, EstV.GA.X*EstV.GA.X + EstV.GA.Z*EstV.GA.Z);
// // sprintf(lcd_text_main,"%.4f %.4f %.4f \n", gyroAngle[0], gyroAngle[1], gyroAngle[2]);
// sprintf(lcd_text_main,"%d ", gyroRaw[2]);
// LCD_DisplayStringLine(LINE(2), lcd_text_main);
// sprintf(lcd_text_main,"GA: %.3f %.3f %.3f", EstV.GA.X, EstV.GA.Y, EstV.GA.Z);
// LCD_DisplayStringLine(LINE(3), lcd_text_main);
//sprintf(lcd_text_main,"%.3f %.3f %.3f\n", EstV.G.Z, EstV.A.Z, EstV.GA.Z);
//LCD_DisplayStringLine(LINE(2), (uint8_t*)" Ming6842 @ github");
//terminalWrite(lcd_text_main);
//PRINT_USART();
//f.print = 0;
//}
}
while(1); // Don't want to exit
}
void USART1_Configuration(void)
{
USART_InitTypeDef USART_InitStructure;
/* USARTx configuration ------------------------------------------------------*/
/* USARTx configured as follow:
* - BaudRate = 57600 baud
* - Word Length = 8 Bits
* - One Stop Bit
* - No parity
* - Hardware flow control disabled (RTS and CTS signals)
* - Receive and transmit enabled
*/
USART_InitStructure.USART_BaudRate = 57600;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(USART1, &USART_InitStructure);
USART_Cmd(USART1, ENABLE);
USART_ClearFlag(USART1, USART_FLAG_TC);
USART_ITConfig(USART1, USART_IT_TXE, DISABLE);
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
/* NVIC Initialization */
NVIC_InitTypeDef NVIC_InitStruct = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = 0,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE
};
NVIC_Init(&NVIC_InitStruct);
}
void USART1_puts(char* s)
{
while(*s) {
while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
USART_SendData(USART1, *s);
s++;
}
}
/**************************************************************************************/
int main(void)
{
RCC_Configuration();
GPIO_Configuration();
USART1_Configuration();
LED_Initialization();
USART1_puts("Hello World!\r\n");
USART1_puts("Just for STM32F429I Discovery verify USART1 with USB TTL Cable\r\n");
while(1)
{
LED3_Toggle();
Delay_1us(10000);
}
}