/*-----------------------------------------------------------*/
void prvSetupHardware( void )
{
/* Set the Vector Table base address at 0x08000000 */
NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );
NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
/* Configure LED IOs as output push-pull */
/* Initialize LEDs on STM32F4_Discovery board */
//prvLED_Config(GPIO);
/* Configure User button pin (PA0) as external interrupt -> modes switching */
STM_EVAL_PBInit(BUTTON_USER,BUTTON_MODE_EXTI);
/* Configuration of Timer4 to control LEDs based on MEMS data */
//prvTIM4_Config();
/* Configure LIS302 in order to produce data used for TIM4 reconfiguration and LED control */
prvMEMS_Config();
RCC_Configuration();
GPIO_Configuration();
TIM_Configuration();
USART_Configuration();
prvGRYO_Config();
}
/* Main Initfunction --------------------------------------------------------*/
void initSystem()
{
/* Configure the system clocks */
RCC_Configuration();
/* Configure TIMs */
TIM_Configuration();
/* Configure the GPIO ports UART */
GPIO_Configuration();
/* UART Interrupt */
NVIC_Configuration();
initUART1();
initUART2();
initUART3();
//initUART4();
/* initDMA for Sensors */
initDMA();
/* initADC for Sensros */
initADC();
/* inti System Ticker */
/* does not work in Interrupt */
/* Pause(ms) function */
initSysTick();
/* init I2C1 for Compas */
initI2C();
}
int main(void)
{
RCC_Configuration();
GPIO_Configuration();
TIM_Configuration();
while(1);
}
void adc_hw_init(void)
{
GPIO_Configuration();
TIM_Configuration();
DMA_Configuration();
ADC_Configuration();
NVIC_Configuration();
}
void BSPINIT(void)
{
RCC_Init(); //所有时钟使能
GPIO_init();
adc_init();
TIM3_Int_Init(999,10);
TIM8_PWM_Init(999,10); //1200Hz
TIM_Configuration(); // TIM7主中断设置
flag=0;
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main()
{
RCC_Configuration();
GPIO_Configuration();
SysTick_Configuration();
TIM_Configuration();
while(1)
{
GPIO_SetBits(GPIOC,GPIO_PIN_0);
Delay_1ms(1000);
GPIO_ResetBits(GPIOC, GPIO_PIN_0);
Delay_1ms(1000);
}
}
/**
* @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_stm32f10x_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f10x.c file
*/
/* Configure the system clocks */
RCC_Configuration();
/* Initialize Leds mounted on STM3210X-EVAL board */
STM_EVAL_LEDInit(LED1);
STM_EVAL_LEDInit(LED2);
STM_EVAL_LEDInit(LED3);
STM_EVAL_LEDInit(LED4);
/* Configure TIMs */
TIM_Configuration();
/* Configure two bits for preemption priority */
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
/* Enable the TIM2 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* Enable the TIM3 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
NVIC_Init(&NVIC_InitStructure);
/* Enable the TIM4 Interrupt */
NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_Init(&NVIC_InitStructure);
while (1)
{
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* System Clocks Configuration */
RCC_Configuration();
/* GPIO Configuration */
GPIO_Configuration();
/* Timer Configuration */
TIM_Configuration();
/* Network Configuration */
Network_Configuration();
while (1)
{
Network_Process();
}
}
void vidInit(void)
{
/*Populate DMA_TEST*/
//int i=0;
//int a=0xFF;
/*for(i=0; i<100;i++){
if(i%2 != 0)
DMA_TEST[0][i]=a;
}*/
vidClearScreen();
TIM8_Init();
TIM_Configuration();
DMA_Config();
//TIM5_Init();
}
//------------------------------------------------------------------------------
// === Initialize Function ===
//------------------------------------------------------------------------------
void Init_Main(void)
{
RCC_Configuration();
//RCC_GetClocksFreq(&rcc_clocks);
GPIO_Configuration();
NVIC_Configuration();
DMA_Configuration();
ADC_Configuration();
TIM_Configuration();
EXTI_Configuration();
Tim_Encoder_initial();
USART1_Init(57600); // in 36mhz error 0%
USART3_Init(115200);// in 72mhz error 0%
//if (SysTick_Config(rcc_clocks.SYSCLK_Frequency / 1000))
//{
/* Capture error */
// while (1);
//}
}
//**************************************************************************************
int main(void)
{
RCC_Configuration();
GPIO_Configuration();
ClearSoundBuffers();
TIM_Configuration();
uint8_t i=0;
while (1)
{
OutFrequence(200,1,500,100);
OutFrequence(900,0,500,100);
/*OutFrequence(277,0,500,750);
OutFrequence(294,0,500,750);
OutFrequence(311,0,500,750);
OutFrequence(329,0,500,750);
OutFrequence(349,0,500,750);
OutFrequence(370,0,500,750);
OutFrequence(392,0,500,750);
OutFrequence(415,0,500,750);
OutFrequence(440,0,500,750);
OutFrequence(466,0,500,750);
OutFrequence(494,0,500,750);*/
};
}
void PWM_init(void)
{
RCC_Configuration();
TIM_Configuration();
GPIO_Configuration();
}
int main()
{
RCC_Configuration();
NVIC_Configuration();
GPIO_Configuration();
USART_Configuration(USART3, 230400);
USART_Configuration(USART2, 9600);
USART_Configuration(UART4, 9600);
TIM_Configuration();
initailze_wifiSet();
Initailze_value();
GPIO_SetBits(GPIOB, GPIO_Pin_0);
delay_ms(100);
while(!Wifi_fly_Set)
{
if(Wifi_Connect)
{
printf("AT+CIPSEND=0,21\n");
delay_ms(150);
printf("Angle,NN\n");
delay_ms(350);
}
}
delay_ms(150);
Send_Count = 0;
while(1) {
if((Send_Count%5) == 0) Tx_Data16t(USART3, 0x5555);
else if((Send_Count%5) == 1) Tx_Data16t(USART3, Drone_Control.axis[ROLL].Target);
else if((Send_Count%5) == 2) Tx_Data16t(USART3, Drone_Control.axis[PITCH].Target);
else if((Send_Count%5) == 3) Tx_Data16t(USART3, Drone_Control.Throttle);
else if((Send_Count%5) == 4) Tx_Data16t(USART3, 0xFFFF);
if(Send_Exit)
{
GPIO_ResetBits(GPIOB, GPIO_Pin_1);
if(Send_Exit > 200) { Drone_Control.Throttle = 100; /*Send_Throttle = 0; */ }
else { Send_Exit++; }
}
if(Wifi_Land_Set) {
Send_Throttle = 0;
if(Drone_Control.axis[HEIGHT].Current < 3000){ Send_Exit = 1; Wifi_Land_Set = 0;}
else Drone_Control.Throttle -= 2;
}
if(Send_Count == 4){
GPIO_SetBits(GPIOA, GPIO_Pin_8);
delay_us(10);
GPIO_ResetBits(GPIOA, GPIO_Pin_8);
if(Send_Throttle) PID_Control();
Send_Count++;
}
else if(Send_Count == 9)
{
GPIO_SetBits(GPIOA, GPIO_Pin_5);
delay_us(10);
GPIO_ResetBits(GPIOA, GPIO_Pin_5);
Send_Count = 0;
if(Send_Throttle) PID_Control();
}
else Send_Count++;
delay_ms(1);
}
}
