int main(void)
{
//init_USART();
init_SPI();
init_ster();
lcd_init();
LCD_DISPLAY(LCDDISPLAY);
lcd_puts("KAROL");
if(GetRegister(STATUS) == 0x0E)
{
LED_ON;
_delay_ms(1000);
LED_OFF;
_delay_ms(1000);
}
LCD_CLEAR;
NRF24L01_init();
while(1)
{
reset();
receive_payload();
if(((GetRegister(STATUS) & (1<<RX_DR)) != 0))
{
LED_ON;
_delay_ms(10);
//LCD_CLEAR;
receive_buffer=WriteReadToNrf(R,R_RX_PAYLOAD,receive_buffer,5);
X_acc=receive_buffer[0];
Y_acc=receive_buffer[1];
Z_acc=receive_buffer[2];
ster(X_acc,Y_acc);
LCD_LOCATE(0,0);
sprintf(Text_buff,"%3d",X_acc);
lcd_puts(Text_buff);
LCD_LOCATE(0,1);
sprintf(Text_buff,"%3d",Y_acc);
lcd_puts(Text_buff);
LED_OFF;
}
}
}
int main(void)
{
uint8_t year=0, month=0, day=0, hour=0, minute=0, second=0;
char str[16];
uint8_t count = 0, men = 0;
UCSRB = (1<<RXEN)|(1<<TXEN)|(1<<RXC); //odblokowanie przerwania z odbiorem na urat
lcd_init();
USART_Init(MYUBRR);
initI2C();
LCD_DISPLAY(LCDDISPLAY);
LCD_CLEAR;
LCD_LOCATE(0,0);
lcd_puts("Hello!");
ds1307_setdate(91, 1, 14, 12, 00, 00);
sei();
while(1)
{
ds1307_getdate(&year, &month, &day, &hour, &minute, &second);
if (a == "N")
{
LCD_CLEAR;
men ++;
_delay_ms(20);
}
switch(men){
case 0:
LCD_LOCATE(5,1);
lcd_puts(itoa(hour, str, 10));
lcd_puts(":");
lcd_puts(itoa(minute, str, 10));
lcd_puts(":");
lcd_puts(itoa(second, str, 10));
lcd_puts(a);
break;
case 1:
LCD_LOCATE(5,1);
lcd_puts("20");
lcd_puts(itoa(year, str, 10));
lcd_puts("-");
lcd_puts(itoa(month, str, 10));
lcd_puts("-");
lcd_puts(itoa(day, str, 10));
break;
case 2:
men = 0;
break;
}
if (count == 20)
{
Send_Znak(a);
count=0;
}
count++;
_delay_ms(50);
}
}
/*-----------------------------------------------------------------------*/
void init_all_and_POST(void)
{
int i = 0;
disable_watchdog();
init_modes_and_clock();
initEMIOS_0MotorAndSteer();
/* PIT：光编读值&速度控制 */
// init_pit_10ms();
/* PIT：步进电机控制&角度控制标志位 */
init_pit_1ms();
//init_Stepmotor(); /* 初始化步进电机 */
init_led();
//init_DIP(); /* 拨码开关 */
init_serial_port_1(); /* BlueTooth */
init_ADC(); /* 陀螺仪读值 - 其中一路ADC与MPU9250片选冲突，不要同时打开*/
init_optical_encoder(); /* 光编 */
//init_I2C();
//init_choose_mode(); /* 拨码开关模式选择 */
/* 初始化SPI总线 */
init_DSPI_1();
/* 开启外部总中断 */
enable_irq();
/* 初始化显示屏 */
initLCD();
LCD_DISPLAY();
LCD_Fill(0xFF); /* 亮屏 */
delay_ms(50);
LCD_Fill(0x00); /* 黑屏 */
delay_ms(50);
/*初始化螺旋桨电机，给1000占空比*/
set_PropellerA_motor_pwm(1000);
set_PropellerB_motor_pwm(1000);
/* 初始化TF卡 */
//test_init_TF();
/* 读取设备号 */
//read_device_no();
/* 初始化陀螺仪 */
// init_MPU9250();
//delay_ms(1000);
/* 换屏 */
//LCD_Fill(0x00);
/* 读取舵机参数 */
//read_display_helm();
/* 读取拨码开关模式号 */
//read_DIP_mode();
//delay_ms(1000);
/* 换屏 */
//LCD_Fill(0x00);
/* 速度闭环开启及测试 速度=0 */
//init_speed_control();
// g_f_enable_supersonic=1;
//delay_ms(2000);
/* 换屏 */
//LCD_Fill(0x00);
}
