//#=================================================================================================
//#=================================================================================================
int __attribute__((section("XCodeMain"))) main( void ) {
Tweeq_Init();
mOLED_Init();
mOLED_Clear();
i2c_Init();
MPU_SetAddr(0x68);
MPU_Init();
short Y, CPos;
CPos = 600;
while(1)
{
Y = MPU_Read_Y();
sprintf(OS_Str_1, "%d ", Y);
mOLED_Clear_Array();
mOLED_Print_Str(0, 0, "TweeQ");
mOLED_Print_Str(0, 1, "Y=");
mOLED_Print_Str(20, 1, OS_Str_1); //display accel
mOLED_Refresh(); //dont forget to refresh
LED_HIGH;
Delayms(25);
LED_LOW;
Delayms(25);
}
return (EXIT_SUCCESS);
}
int main(void)
{
float x=1;
float p=10;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
delay_init(168); //初始化延时函数
EXTIX_Init();
uart_init(115200);
TIM10_PWM_Init(10000-1,336-1); //84M/84=1Mhz的计数频率,重装载值500，所以PWM频率为 1M/500=2Khz.
TIM11_PWM_Init(10000-1,336-1);
TIM9_PWM_Inita(10000-1,336-1);
TIM9_PWM_Initb(10000-1,336-1);
//TIM3_Int_Init(5000-1,8400-1); //定时器时钟84M，分频系数8400，所以84M/8400=10Khz的计数频率，计数5000次为500ms
exp_point=set_point(0,0,0,750);
MPU_Init();
printf("aaa\r\n");
while(mpu_dmp_init()){}
//TIM3_Int_Init(100-1,8400-1);
init_omegax.data=x;
init_omegax.p=p;
init_roll.data=x;
init_roll.p=p;
while(1)
{
LED0=!LED0;//DS0翻转
delay_ms(200);//延时200ms
};
}
void MPU6500_init()
{
SPI_Config();
MPU_Init();
Delay_ms(1500);
Zero_Offset_Config();
LPF_Initial();
}
/*
******************************************************************************
** VOID BSP_Init (VOID)
**
** Description : BSP initialize
** Arguments :
** Returns : 无
** Author :
** Date :
**
******************************************************************************
*/
VOID BSP_Init (VOID)
{
BSP_GPIOInit();
BSP_SetPwmRegDefaultVal();
BSP_SetMacRegDefaultVal();
BSP_IntCtrlInit(NST_FALSE);
BSP_SDIOInit();
BSP_RFInit();
#ifdef ADD_IQ_CALIBRATION
IQCalibration();
#endif
#ifdef SPI_SDIO_CMD_TEST
BSP_Timer1Init(0x600000); // used for spi sdio command test
#endif
#if DEBUG_ON
#ifdef USE_CORTEX_M3
BSP_UartOpen(DEFAULT_UART_BAUDRATE); // for debug info printf
#endif
#endif
BSP_NvInfoInit();
MPU_Init();
//BSP_I2CInit(E2PROM_ADDR);
#ifdef HW_I2S_SUPPORT
BSP_I2SInit();
#endif //HW_I2S_SUPPORT
BSP_DmaInit(DMA_CHANNEL_0); //init dma channel 0
#ifdef DMA_MOVE_MEM
BSP_DmaMoveMemInit(DMA_CHANNEL_1); // init DMA CH 1 for memory move
#endif // DMA_MOVE_MEM //
}
/*
******************************************************************************
** VOID BSP_Init (VOID)
**
** Description : BSP initialize
** Arguments :
** Returns : 无
** Author :
** Date :
**
******************************************************************************
*/
void BSP_Init (void)
{
BSP_SetPwmRegDefaultVal(); //设置PWM默认值，切勿改变。
BSP_SetMacRegDefaultVal(); //设置MAC默认值，切勿改变。
BSP_IntCtrlInit(NST_FALSE); //Cortex-M3中断优先级
BSP_RFInit(); //RF射频初始化
MPU_Init(); //MPU内存规划
#ifdef ADD_IQ_CALIBRATION
IQCalibration(); //校准参数
#endif
USART_Init_Demo(DEFAULT_UART_BAUDRATE); //初始化串口，波特率115200
BSP_NvInfoInit(); //FLASH初始化，校验系统数据
NL6621_BSP_TEST(); //NL6621 BSP测试
}
static bool Drivers_SoundMusic_Init(bool enable)
{
Driver *sound;
Driver *music;
uint32 size;
uint8 i;
sound = g_driverSound;
music = g_driverMusic;
sound->index = 0xFFFF;
music->index = 0xFFFF;
if (!enable) return false;
if (!MPU_Init()) return false;
if (!Drivers_Init(sound, "C55")) return false;
memcpy(music, sound, sizeof(Driver));
Timer_Add(MPU_Interrupt, 1000000 / 120);
size = MPU_GetDataSize();
for (i = 0; i < 4; i++) {
MSBuffer *buf = g_bufferSound[i];
buf->buffer = calloc(1, size);
buf->index = 0xFFFF;
}
s_bufferSoundIndex = 0;
g_bufferMusic->buffer = calloc(1, size);
g_bufferMusic->index = 0xFFFF;
return true;
}
void Peripherals_Init(void)
{
#ifdef NVIC_AUTOINIT
NVIC_Init();
#endif /* NVIC_AUTOINIT */
#ifdef SIM_AUTOINIT
SIM_Init();
#endif /* SIM_AUTOINIT */
#ifdef MCM_AUTOINIT
MCM_Init();
#endif /* MCM_AUTOINIT */
#ifdef PMC_AUTOINIT
PMC_Init();
#endif /* PMC_AUTOINIT */
#ifdef PORTA_AUTOINIT
PORTA_Init();
#endif /* PORTA_AUTOINIT */
#ifdef PORTB_AUTOINIT
PORTB_Init();
#endif /* PORTB_AUTOINIT */
#ifdef PORTC_AUTOINIT
PORTC_Init();
#endif /* PORTC_AUTOINIT */
#ifdef PORTD_AUTOINIT
PORTD_Init();
#endif /* PORTD_AUTOINIT */
#ifdef PORTE_AUTOINIT
PORTE_Init();
#endif /* PORTE_AUTOINIT */
#ifdef ADC0_AUTOINIT
ADC0_Init();
#endif /* ADC0_AUTOINIT */
#ifdef ADC1_AUTOINIT
ADC1_Init();
#endif /* ADC1_AUTOINIT */
#ifdef AIPS0_AUTOINIT
AIPS0_Init();
#endif /* AIPS0_AUTOINIT */
#ifdef AIPS1_AUTOINIT
AIPS1_Init();
#endif /* AIPS1_AUTOINIT */
#ifdef AXBS_AUTOINIT
AXBS_Init();
#endif /* AXBS_AUTOINIT */
#ifdef CAN0_AUTOINIT
CAN0_Init();
#endif /* CAN0_AUTOINIT */
#ifdef CMP0_AUTOINIT
CMP0_Init();
#endif /* CMP0_AUTOINIT */
#ifdef CMP1_AUTOINIT
CMP1_Init();
#endif /* CMP1_AUTOINIT */
#ifdef CMP2_AUTOINIT
CMP2_Init();
#endif /* CMP2_AUTOINIT */
#ifdef CMT_AUTOINIT
CMT_Init();
#endif /* CMT_AUTOINIT */
#ifdef CRC_AUTOINIT
CRC_Init();
#endif /* CRC_AUTOINIT */
#ifdef DAC0_AUTOINIT
DAC0_Init();
#endif /* DAC0_AUTOINIT */
#ifdef DMAMUX_AUTOINIT
DMAMUX_Init();
#endif /* DMAMUX_AUTOINIT */
#ifdef DMA_AUTOINIT
DMA_Init();
#endif /* DMA_AUTOINIT */
#ifdef ENET_AUTOINIT
ENET_Init();
#endif /* ENET_AUTOINIT */
#ifdef EWM_AUTOINIT
EWM_Init();
#endif /* EWM_AUTOINIT */
#ifdef FB_AUTOINIT
FB_Init();
#endif /* FB_AUTOINIT */
#ifdef FMC_AUTOINIT
FMC_Init();
#endif /* FMC_AUTOINIT */
#ifdef FTFE_AUTOINIT
FTFE_Init();
#endif /* FTFE_AUTOINIT */
#ifdef FTM0_AUTOINIT
FTM0_Init();
#endif /* FTM0_AUTOINIT */
#ifdef FTM1_AUTOINIT
FTM1_Init();
#endif /* FTM1_AUTOINIT */
#ifdef FTM2_AUTOINIT
FTM2_Init();
#endif /* FTM2_AUTOINIT */
#ifdef FTM3_AUTOINIT
FTM3_Init();
#endif /* FTM3_AUTOINIT */
#ifdef I2C0_AUTOINIT
I2C0_Init();
#endif /* I2C0_AUTOINIT */
#ifdef I2C1_AUTOINIT
I2C1_Init();
#endif /* I2C1_AUTOINIT */
#ifdef I2C2_AUTOINIT
I2C2_Init();
#endif /* I2C2_AUTOINIT */
#ifdef I2S0_AUTOINIT
I2S0_Init();
#endif /* I2S0_AUTOINIT */
#ifdef LLWU_AUTOINIT
LLWU_Init();
#endif /* LLWU_AUTOINIT */
#ifdef LPTMR0_AUTOINIT
LPTMR0_Init();
#endif /* LPTMR0_AUTOINIT */
#ifdef MPU_AUTOINIT
MPU_Init();
#endif /* MPU_AUTOINIT */
#ifdef PDB0_AUTOINIT
PDB0_Init();
#endif /* PDB0_AUTOINIT */
#ifdef PIT_AUTOINIT
PIT_Init();
#endif /* PIT_AUTOINIT */
#ifdef PTA_AUTOINIT
PTA_Init();
#endif /* PTA_AUTOINIT */
#ifdef PTB_AUTOINIT
PTB_Init();
#endif /* PTB_AUTOINIT */
#ifdef PTC_AUTOINIT
PTC_Init();
#endif /* PTC_AUTOINIT */
#ifdef PTD_AUTOINIT
PTD_Init();
#endif /* PTD_AUTOINIT */
#ifdef PTE_AUTOINIT
PTE_Init();
#endif /* PTE_AUTOINIT */
#ifdef RCM_AUTOINIT
RCM_Init();
#endif /* RCM_AUTOINIT */
#ifdef RNG_AUTOINIT
RNG_Init();
#endif /* RNG_AUTOINIT */
#ifdef RTC_AUTOINIT
RTC_Init();
#endif /* RTC_AUTOINIT */
#ifdef SDHC_AUTOINIT
SDHC_Init();
#endif /* SDHC_AUTOINIT */
#ifdef SMC_AUTOINIT
SMC_Init();
#endif /* SMC_AUTOINIT */
#ifdef SPI0_AUTOINIT
SPI0_Init();
#endif /* SPI0_AUTOINIT */
#ifdef SPI1_AUTOINIT
SPI1_Init();
#endif /* SPI1_AUTOINIT */
#ifdef SPI2_AUTOINIT
SPI2_Init();
#endif /* SPI2_AUTOINIT */
#ifdef SystemControl_AUTOINIT
SystemControl_Init();
#endif /* SystemControl_AUTOINIT */
#ifdef SysTick_AUTOINIT
SysTick_Init();
#endif /* SysTick_AUTOINIT */
#ifdef UART0_AUTOINIT
UART0_Init();
#endif /* UART0_AUTOINIT */
#ifdef UART1_AUTOINIT
UART1_Init();
#endif /* UART1_AUTOINIT */
#ifdef UART2_AUTOINIT
UART2_Init();
#endif /* UART2_AUTOINIT */
#ifdef UART3_AUTOINIT
UART3_Init();
#endif /* UART3_AUTOINIT */
#ifdef UART4_AUTOINIT
UART4_Init();
#endif /* UART4_AUTOINIT */
#ifdef UART5_AUTOINIT
UART5_Init();
#endif /* UART5_AUTOINIT */
#ifdef USB0_AUTOINIT
USB0_Init();
#endif /* USB0_AUTOINIT */
#ifdef USBDCD_AUTOINIT
USBDCD_Init();
#endif /* USBDCD_AUTOINIT */
#ifdef VREF_AUTOINIT
VREF_Init();
#endif /* VREF_AUTOINIT */
#ifdef WDOG_AUTOINIT
WDOG_Init();
#endif /* WDOG_AUTOINIT */
}
int MUSIC_InitMidi
(
int card,
midifuncs *Funcs,
int Address
)
{
int status;
status = MUSIC_Ok;
if ( ( card == WaveBlaster ) || ( card == SoundCanvas ) ||
( card == GenMidi ) )
{
// Setup WaveBlaster Daughterboard clone
// (ie. SoundCanvas DB, TurtleBeach Rio)
BLASTER_SetupWaveBlaster();
}
if ( card == SoundScape )
{
Address = SOUNDSCAPE_GetMIDIPort();
if ( Address < SOUNDSCAPE_Ok )
{
MUSIC_SetErrorCode( MUSIC_SoundCardError );
return( MUSIC_Error );
}
}
if ( MPU_Init( Address ) != MPU_Ok )
{
MUSIC_SetErrorCode( MUSIC_MPU401Error );
return( MUSIC_Error );
}
Funcs->NoteOff = MPU_NoteOff;
Funcs->NoteOn = MPU_NoteOn;
Funcs->PolyAftertouch = MPU_PolyAftertouch;
Funcs->ControlChange = MPU_ControlChange;
Funcs->ProgramChange = MPU_ProgramChange;
Funcs->ChannelAftertouch = MPU_ChannelAftertouch;
Funcs->PitchBend = MPU_PitchBend;
Funcs->ReleasePatches = NULL;
Funcs->LoadPatch = NULL;
Funcs->SetVolume = NULL;
Funcs->GetVolume = NULL;
if ( card == WaveBlaster )
{
if ( BLASTER_CardHasMixer() )
{
BLASTER_SaveMidiVolume();
Funcs->SetVolume = BLASTER_SetMidiVolume;
Funcs->GetVolume = BLASTER_GetMidiVolume;
}
}
MIDI_SetMidiFuncs( Funcs );
return( status );
}
int PTexist(void)
{
char *env;
#ifdef MV_PT
env = getenv("enaPT");
#ifdef CONFIG_MV_LE
/* if LE page table disable is the default. ( MIPS - unstable, PPC need to change the page settings) */
if( ( (strcmp(env,"yes") == 0) || (strcmp(env,"Yes") == 0) ) ){
#else
/* if BE page table enable is the default. */
if(!env || ( (strcmp(env,"yes") == 0) || (strcmp(env,"Yes") == 0) ) ){
#endif
return 1;
}
#endif
return 0;
}
#endif
/***********************************************************************************/
/* hook function that is called after rellocating to the DRAM, Flash Init, PCI init*/
/* and malloc init are done, and before Gig port init. */
/***********************************************************************************/
void mon_extension_after_relloc(void)
{
#if defined(MV_INCLUDE_MONT_FFS)
unsigned int status;
#endif
#if defined(MV_INCLUDE_MONT_MMU)
if ((mvOsCpuPartGet() == CPU_PART_ARM926) ||
(mvOsCpuPartGet() == CPU_PART_MRVL131) ||
(mvOsCpuPartGet() == CPU_PART_MRVLPJ4B_UP) ||
(mvOsCpuPartGet() == CPU_PART_MRVLPJ4B_MP))
{
/* Page Table */
if(PTexist() )
{
pageTableInit();
setenv("enaPT","yes");
}
else
setenv("enaPT","no");
}
#endif /* MV_INCLUDE_MONT_MMU */
#if defined(MV_INCLUDE_MONT_MPU)
else if (mvOsCpuPartGet() == CPU_PART_ARM946)
{
char *env;
env = getenv("enaMPU");
if ((!env)||( (strcmp(env,"yes") == 0) || (strcmp(env,"Yes") == 0) ))
{
setenv("enaMPU","yes");
MPU_Init();
}
}
#endif /* MV_INCLUDE_MONT_MPU */
#if defined(CONFIG_CMD_BSP)
#if defined(MV_INCLUDE_MONT_FFS)
if (whoAmI() == MASTER_CPU)
{
status = mvFSInit(FS_NO_CACHE);
if(!(status == FS_NO_VALID_FAT_STRING || status == FS_OFFSET_OUT_OF_RANGE))
{
printf("File system present and initialized on the main Flash Memory\n");
}
}
else
{
printf("No File system on the main Flash Memory\n");
}
#endif /* MV_INCLUDE_MONT_FFS */
#endif
return;
}
