int main(void)
{
uint16_t cnt=0;
uint8_t c,div;
DDRA = 0;
PORTA = 0xff;
DDRB = (1 << 4); //TXD
DDRC = 0xff;
PORTC = 0;
DDRD = 0xfe;
USART_Init(8); // 115.2K
ADCSRA = 0x87; // init ADC
// TCCR0 = 1;
// TIMSK = 1;
// sei();
for( ; ; ) {
_WDR();
if(USART_Ready()) {
c = USART_Receive(STD_TIMEOUT);
switch(c) {
case 'g':
div = rhex();
if(USART_Timeout()) break;
ADCSRA = 0x80 | div;
div = rhex();
if(USART_Timeout()) break;
PORTC = div; // gain
get_wave();
send_wave();
break;
case 'q':
div = rhex();
if(USART_Timeout()) break;
ADCSRA = 0x80 | div;
div = rhex();
if(USART_Timeout()) break;
PORTC = div; // gain
div = rhex(); // ch
if(USART_Timeout()) break;
get_sync_wave(div);
send_wave();
break;
default:;
}
}
if(++cnt > 1000) {
PORTB = PINB ^ (1<<4); // blink
cnt = 0;
}
}
return 0;
}
int main(void)
{
int dianya_fly = 0;
SysTick_Init();
Tim3_Init(500);
Nvic_Init();
LED_Init();
ADC1_Init();
USART1_Config(115200);
KEY_Init();
NRF24L01_Init();
while (NRF24L01_Check()) //检查NRF24L01是否在位.要放在设置TX_MODE之前，否则设置的发送地址会变成check中的0XA5 ,将与原接收地址对不上
{
LED2_ON;
LED1_OFF;
printf("no");
}
LED1_ON;
LED2_OFF;
//TX mode
//NRF24L01_TX_Mode();
//NRF24L01_Mode_Config(2);
//RX mode
NRF24L01_Mode_Config(3);
while (1)
{
key = KEY_scan();
if (NRF24L01_RxPacket(tmp_buf) == 0)
{
NRF24L01_TxPacket_AP(rc_buf);
LED1_ON;
if(tmp_buf[0]==0x88 && tmp_buf[1]==0xAE && tmp_buf[2]==0x1C)
{
dianya_fly = tmp_buf[17]<<8|tmp_buf[18];
if(dianya_fly<36 && dianya_fly>20)
{
LED2_ON;
}
}
send_wave(32,tmp_buf);
}
else
{
LED1_OFF;
}
}
}
int main(void)
{
float q[4];
u8 tmp_buf[32] = {0};
float test = 0;
static u8 led_on = 0;
RCC_HSE_Configuration();
SysTick_Init();
NVIC_Configuration();
USART1_Config(115200);
LED_Init();
LED3_Flash(2,100);
ANO_TC_I2C2_INIT(0xA6, 400000, 1, 1, 3, 3);
//硬实时
Tim3_Init(500);//0.005s
TIM2_Init(999, 0);
Mpu6050init();
MOT_GPIO_init();
MOT_PWM_init();
Set_PWM(0, 0, 0, 0);
NRF24L01_Init();
while (NRF24L01_Check())
{
LED2_Flash(2,500000);
}
//TX mode
NRF24L01_Mode_Config(4);
PID_Init();
ADC1_Init();
while (1)
{
if (getMpu6050Data == 1)
{
//0.01ms?
Read_Mpu6050();
Mpu6050_Analyze();
getMpu6050Data = 0;
}
if (calculateAngle == 1)//2ms period
{
//0.2ms T
//LED2_ON;
//100us
IMU_Quateration_Update((float)fGYRO_X , (float)fGYRO_Y , (float)fGYRO_Z , (float)fACCEL_X, (float)fACCEL_Y, (float)fACCEL_Z,ypr);
//LED2_OFF;
calculateAngle = 0;
}
if (sendData == 1)//2ms period
{
if(led_on)
{
LED2_OFF;
led_on = 0;
}
else
{
LED2_ON;
led_on = 1;
}
if (NRF24L01_RxPacket(tmp_buf) == 0)
{
//10us
Rc_Data_Analyze(tmp_buf,&Rc_Data);
}
//if wait for the IRQ it need 9ms
//if not wait for IRQ it runtime need 100us*1.2=0.12ms
sendSenser((int16_t)fACCEL_X, (int16_t)fACCEL_Y, (int16_t)fACCEL_Z, (int16_t)fGYRO_X, (int16_t) fGYRO_Y, (int16_t)fGYRO_Z, (int16_t)(ypr[0] * 100), (signed short int)(ypr[1] * 100));
send_wave(32);
//0.14ms run time
sendPwmVoltage(&Rc_Data,(uint16_t)(motor0 / 1000.0 * 100), (uint16_t)(motor1 / 1000.0 * 100), (uint16_t)(motor2 / 1000.0 * 100), (uint16_t)(motor3 / 1000.0 * 100));//0.00003974s
send_wave(32);
sendData = 0;
}
//moveFilterAccData(fACCEL_X, fACCEL_Y, fACCEL_Z, AngleOut);
if (!strcmp(Rc_Data.status, "stop"))
{
Set_PWM(0, 0, 0, 0);
}
else if (!strcmp(Rc_Data.status, "start"))
{
//LED2_ON;
expRoll = Rc_Data.roll;
expPitch = Rc_Data.pitch;
expThro = Rc_Data.throttle;
surRoll = ypr[2];
surPitch = ypr[1];
PID_Set();
Set_PWM(motor0, motor1, motor2, motor3);
//LED2_OFF;
}
////Uart1_Send_PID(320,PID_ROLL.KI,PID_ROLL.KD,1,0,0);
////send_wave(32);
// if (STA == 1)
// {
// receive_Data();
// STA = 0;
// p = 0;
// }
}
}
void main( void )
{
unsigned int ucState=0xffff;
unsigned char test[10];
memset(test,'\0',10);
int i=0;
halBoardInit();
hal430SetSystemClock();
halButtonsInit();
Init_Uart(115200);
Init_Lcd();
Msp430_ADC12_Init();
Write_NByte((unsigned char *)eeprom,10,0);
Read_NByte_Randomaddress(test,10,0);
printf("main %s\r\n",test);
while(1)
{
if(flag==1)
{
//WDTCTL = WDTPW + WDTNMI + WDTTMSEL + WDTSSEL + WDTCNTCL; // Start watchdog timer
//IE1 |= WDTIE; // Enable WDT interrupt
printf("we are in active state\r\n");
//这里写自己的程序，把程序做在一个有限的循环里，这样做完之后就可以自动结束并关机。
for(i=0;i<1000;i++){
ucState = halButtonsPressed();
if(ucState!=0xffff)
{
i=0;
send_wave();
hal_buzzer(2);
Get_Power();
//printf("%x is pressed\r\n",ucState);
switch(ucState)
{
case BUTTON_MATL:
printf("matl is pressed\r\n");
break;
case BUTTON_HARD:
printf("hard is pressed\r\n");
break;
case BUTTON_DIREC:
printf("direc is pressed\r\n");
break;
case BUTTON_TIMES:
printf("times is pressed\r\n");
break;
case BUTTON_SAVE:
printf("save is pressed\r\n");
break;
case BUTTON_UP:
printf("up is pressed\r\n");
break;
case BUTTON_DEL:
printf("del is pressed\r\n");
break;
case BUTTON_AVE:
printf("ave is pressed\r\n");
break;
case BUTTON_LEFT:
printf("left is pressed\r\n");
break;
case BUTTON_MENU:
printf("menu is pressed\r\n");
break;
case BUTTON_RIGHT:
printf("right is pressed\r\n");
break;
case BUTTON_BACKLIGHT:
printf("backlight is pressed\r\n");
break;
case BUTTON_ESC:
printf("esc is pressed\r\n");
break;
case BUTTON_DOWN:
printf("down is pressed\r\n");
break;
case BUTTON_ENTER:
printf("enter is pressed\r\n");
break;
default:
break;
}
}
//LPM3;
Delay(100);
}
//如需定时，上边这个LPM3要被包括在那个有循环的循环体中，这样才能实现类似便携式仪表5分钟自动关机的效果。如果不使用定时也可以不要LPM3这句话。
//WDTCTL = WDTPW + WDTHOLD + WDTNMI; // Stop watchdog timer
flag=0;
}
else
{
//如果周边设备在关机时有需要复位的或是关闭的在这里处理
printf("we are in power off state\r\n");
}
hal_buzzer(0);
printf("we going to LPM4\r\n");
LPM4;
}
}
