void ADC1_Init(void)
{
INIT_ADC_GPIO();
ADC_DMA_Init();
ConfigADC();
timer3_init(500,(72-1));//500
memset(&adc_param,0,sizeof(adc_param));
ADC1_DMA_Start();
}
int main(void) {
setup_systemclock();
//TODO:TimerInitに切り出し
// Setup SysTick Timer to interrupt at 10 msec intervals
SysTick_Config(CGU_GetPCLKFrequency(CGU_PERIPHERAL_M4CORE)/100);
GPIO_SetDir(0,1<<8, 1); // GPIO0[8](LED)を出力に設定
GPIO_ClearValue(0,1<<8);// GPIO0[8](LED)出力L
////////////////////wave_gen///////////////////////////////
gen_dac_cfg_t cfg;
cfg.amplitude=5000;
cfg.dcOffset=0;
cfg.frequency=150;
cfg.waveform=GEN_DAC_CFG_WAVE_TRIANGLE;
wave_gen(&cfg, &buf);
////////////////////fft///////////////////////////////
fft_gen();
////////////////spi///////////////////////////////////
lcd_init();
lcd_clear();
////////////////lcd///////////////////////////////////
// uint16_t lcd_x;
// uint16_t lcd_y;
// uint8_t scale_time = 2;//横軸データ数を2倍表示
// uint8_t scale_fft = 2;//横軸データ数を2倍表示
//////////////////////////////////////////////////////
// uint16_t i;
// int j;
ADC_DMA_Init();
NVIC_SetPriority(DMA_IRQn, ((0x01<<3)|0x01));
// Enter an infinite loop
while(1) {
//wav_genタイムドメイン表示
// for (i = 0; i < 240; i++) {
// for (j = 0; j < 25; j++) {
// lcd_data[i][j]=0x0000;
// }
// }
// for (i = 0; i < 400*scale_time; i++ ){
// lcd_x = ((int16_t)(i/scale_time) -200) * -1 + 200;//左右逆転(LCD都合
// lcd_y = (buf.LUT_BUFFER[i]-2048)/17 + 120;//0~240に正規化
// lcd_data[lcd_y][lcd_x/16] = lcd_data[lcd_y][lcd_x/16] | 0x01<<(lcd_x%16);
// }
// lcd_write(lcd_data);
systick_delay(50);
}
ADC_DMA_Exit();
return 0 ;
}
/*
* @brief Read the analog value of a pin.
* Should return a 16-bit value, 0-65536 (0 = LOW, 65536 = HIGH)
* Note: ADC is 12-bit. Currently it returns 0-4096
*/
int32_t analogRead(uint16_t pin)
{
// Allow people to use 0-7 to define analog pins by checking to see if the values are too low.
if (pin < FIRST_ANALOG_PIN)
{
pin = pin + FIRST_ANALOG_PIN;
}
// SPI safety check
if (SPI.isEnabled() == true && (pin == SCK || pin == MOSI || pin == MISO))
{
return LOW;
}
// I2C safety check
if (Wire.isEnabled() == true && (pin == SCL || pin == SDA))
{
return LOW;
}
// Serial1 safety check
if (Serial1.isEnabled() == true && (pin == RX || pin == TX))
{
return LOW;
}
if (pin >= TOTAL_PINS || PIN_MAP[pin].adc_channel == NONE )
{
return LOW;
}
int i = 0;
if (adcChannelConfigured != PIN_MAP[pin].adc_channel)
{
digitalPinModeSaved = PIN_MAP[pin].pin_mode;
pinMode(pin, AN_INPUT);
}
if (adcInitFirstTime == true)
{
ADC_DMA_Init();
adcInitFirstTime = false;
}
if (adcChannelConfigured != PIN_MAP[pin].adc_channel)
{
// ADC1 regular channel configuration
ADC_RegularChannelConfig(ADC1, PIN_MAP[pin].adc_channel, 1, ADC_Sample_Time);
// ADC2 regular channel configuration
ADC_RegularChannelConfig(ADC2, PIN_MAP[pin].adc_channel, 1, ADC_Sample_Time);
// Save the ADC configured channel
adcChannelConfigured = PIN_MAP[pin].adc_channel;
}
for(i = 0 ; i < ADC_DMA_BUFFERSIZE ; i++)
{
ADC_DualConvertedValues[i] = 0;
}
// Reset the number of data units in the DMA1 Channel1 transfer
DMA_SetCurrDataCounter(DMA1_Channel1, ADC_DMA_BUFFERSIZE);
// Enable ADC2 external trigger conversion
ADC_ExternalTrigConvCmd(ADC2, ENABLE);
// Enable DMA1 Channel1
DMA_Cmd(DMA1_Channel1, ENABLE);
// Enable ADC1 DMA
ADC_DMACmd(ADC1, ENABLE);
// Start ADC1 Software Conversion
ADC_SoftwareStartConvCmd(ADC1, ENABLE);
// Test on Channel 1 DMA1_FLAG_TC flag
while(!DMA_GetFlagStatus(DMA1_FLAG_TC1));
// Clear Channel 1 DMA1_FLAG_TC flag
DMA_ClearFlag(DMA1_FLAG_TC1);
// Disable ADC1 DMA
ADC_DMACmd(ADC1, DISABLE);
// Disable DMA1 Channel1
DMA_Cmd(DMA1_Channel1, DISABLE);
uint16_t ADC1_ConvertedValue = 0;
uint16_t ADC2_ConvertedValue = 0;
uint32_t ADC_SummatedValue = 0;
uint16_t ADC_AveragedValue = 0;
for(int i = 0 ; i < ADC_DMA_BUFFERSIZE ; i++)
{
// Retrieve the ADC2 converted value and add to ADC_SummatedValue
ADC2_ConvertedValue = ADC_DualConvertedValues[i] >> 16;
ADC_SummatedValue += ADC2_ConvertedValue;
// Retrieve the ADC1 converted value and add to ADC_SummatedValue
ADC1_ConvertedValue = ADC_DualConvertedValues[i] & 0xFFFF;
ADC_SummatedValue += ADC1_ConvertedValue;
}
ADC_AveragedValue = (uint16_t)(ADC_SummatedValue / (ADC_DMA_BUFFERSIZE * 2));
// Return ADC averaged value
return ADC_AveragedValue;
}
void ADC_exInit(void)
{
ADC_LP_UVP_NTC_Config();
ADC_CSOUT_ISMON_Config();
ADC_DMA_Init();
}
int main(void)
{
u8 i;
u8 RecvBuf[32];
u8 SendBuf[32];
u8 offline = 0;
u8 recv_flag = 0;
u32 pd2ms=0,pd20ams=0,pd20bms=0,pd100ms=0;
SystemInit();
RCC_Configuration();
NVIC_Configuration();
GPIO_Configuration();
USART1_Configuration();
dbgPrintf(" Init Ticktack !\r\n");
cycleCounterInit();
SysTick_Config(SystemCoreClock / 1000);
for(i=0;i<2;i++)
{
OP_LED1;OP_LED2;OP_LED3;OP_LED4;
delay_ms(500);
OP_LED1;OP_LED2;OP_LED3;OP_LED4;
delay_ms(500);
}
FilterInit();
controllerInit();
dbgPrintf(" Init eeprom!\r\n");
FLASH_Unlock();
EE_Init();
EE_Read_ACC_GYRO_Offset();
/* 如果PID丢失或者错误，将下面两行注释去掉，重新编译烧写，运行一遍，可将PID还原，然后重新注释，再烧写一遍 */
//EE_Write_PID();
//EE_Write_Rate_PID();
EE_Read_PID();
EE_Read_Rate_PID();
dbgPrintf(" Init adc!\r\n");
ADC_DMA_Init();
dbgPrintf(" Init NRF24L01 !\r\n");
SPI_NRF_Init();
Nrf24l01_Init();
NRF24l01_SetRxMode();
while(Nrf24l01_Check())
{
dbgPrintf("NRF24L01 Fault !\r\n");
delay_ms(500);
}
dbgPrintf("NRF24L01 Is Detected !\r\n");
dbgPrintf("Init MPU6050...\r\n");
IIC_Init();
MPU6050_initialize();
dbgPrintf("Init Motor...\r\n");
Motor_Init();
Motor_SetPwm(0,0,0,0);
pd20bms = TIMIRQCNT + 10*ITS_PER_MS;
while(1)
{
if(TIMIRQCNT>pd2ms + 2*ITS_PER_MS-1) // every 4ms
{
GetEulerAngle();
if(lock_flag==UNLOCK)
AttitudeToMotors(angle.y,angle.x,angle.z);
else
{
MOTOR1=0;
MOTOR2=0;
MOTOR3=0;
MOTOR4=0;
}
Motor_SetPwm(MOTOR1,MOTOR2,MOTOR3,MOTOR4);
pd2ms = TIMIRQCNT;
}
if(TIMIRQCNT>pd20ams + 20*ITS_PER_MS-1) // every 20ms
{
if(NRF24l01_Recv(RecvBuf)>10)
{
if((RecvBuf[RecvBuf[2]+3]==CheckSum(RecvBuf, RecvBuf[2]+3))&&(RecvBuf[0]==0xAA))
{
if(RecvBuf[1]!=0xC0)
OP_LED1;
offline=0;
switch(RecvBuf[1])
{
case 0xC0: //control
Getdesireddata(RecvBuf);
OP_LED2;
break;
case 0x10: //W PID
SetPID(RecvBuf);
break;
case 0x11: //W Attitude
SetAccGyroOffset(RecvBuf);
break;
case 0x12: //W Control offset
break;
case 0x14: //W Rate PID
SetRatePID(RecvBuf);
break;
case 0x20: //R PID
recv_flag = RESEND;
GetPID(SendBuf);
break;
case 0x21: //R Attitude
recv_flag = RESEND;
GetAccGyroOffset(SendBuf);
break;
case 0x22: //R Control offset
break;
case 0x24: //R Rate PID
recv_flag = RESEND;
GetRatePID(SendBuf);
break;
case 0x40: //校准姿态
EnableCalibration();
break;
case 0x41: //校准遥控器零点
break;
default:
break;
}
}
}
pd20ams = TIMIRQCNT;
}
if(TIMIRQCNT>pd20bms + 20*ITS_PER_MS-1) // every 20ms
{
if(recv_flag==0)
GetState(SendBuf);
else
recv_flag--;
NRF_SendData(SendBuf);
OP_LED3;
pd20bms = TIMIRQCNT;
}
if(TIMIRQCNT>pd100ms + 100*ITS_PER_MS-1) // every 100ms
{
if(offline>20)
lock_flag = LOCK;
offline++;
// OP_LED4;
pd100ms = TIMIRQCNT;
}
}
}
/*
* @brief Read the analog value of a pin.
* Should return a 16-bit value, 0-65536 (0 = LOW, 65536 = HIGH)
* Note: ADC is 12-bit. Currently it returns 0-4096
*/
int32_t analogRead(uint16_t pin)
{
// Allow people to use 0-7 to define analog pins by checking to see if the values are too low.
if (pin < FIRST_ANALOG_PIN)
{
pin = pin + FIRST_ANALOG_PIN;
}
// SPI safety check
if (SPI.isEnabled() == true && (pin == SCK || pin == MOSI || pin == MISO))
{
return -1;
}
// I2C safety check
if (Wire.isEnabled() == true && (pin == SCL || pin == SDA))
{
return -1;
}
// Serial1 safety check
if (Serial1.isEnabled() == true && (pin == RX || pin == TX))
{
return -1;
}
if (pin >= TOTAL_PINS || PIN_MAP[pin].adc_channel == NONE )
{
return -1;
}
if (adcChannelConfigured != PIN_MAP[pin].adc_channel)
{
digitalPinModeSaved = PIN_MAP[pin].pin_mode;
pinMode(pin, AN_INPUT);
}
if (adcInitFirstTime == true)
{
ADC_DMA_Init();
adcInitFirstTime = false;
}
if (adcChannelConfigured != PIN_MAP[pin].adc_channel)
{
// ADC1 regular channel configuration
ADC_RegularChannelConfig(ADC1, PIN_MAP[pin].adc_channel, 1, ADC_SAMPLING_TIME);
// ADC2 regular channel configuration
ADC_RegularChannelConfig(ADC2, PIN_MAP[pin].adc_channel, 1, ADC_SAMPLING_TIME);
adcChannelConfigured = PIN_MAP[pin].adc_channel;
}
// Start ADC1 Software Conversion
ADC_SoftwareStartConvCmd(ADC1, ENABLE);
// Test on Channel 1 DMA1_FLAG_TC flag
while(!DMA_GetFlagStatus(DMA1_FLAG_TC1));
// Clear Channel 1 DMA1_FLAG_TC flag
DMA_ClearFlag(DMA1_FLAG_TC1);
uint16_t ADC_ConvertedValues[ADC_DMA_BUFFERSIZE * 2];
uint32_t ADC_SummatedValue = 0;
uint16_t ADC_AveragedValue = 0;
uint16_t j = 0;
for(uint16_t i = 0 ; i < ADC_DMA_BUFFERSIZE ; i++)
{
// Fill the table with ADC2 converted values
ADC_ConvertedValues[j++] = ADC_DualConvertedValues[i] >> 16;
// Fill the table with ADC1 converted values
ADC_ConvertedValues[j++] = ADC_DualConvertedValues[i] & 0xFFFF;
}
for(j = 0 ; j < (ADC_DMA_BUFFERSIZE * 2) ; j++)
{
ADC_SummatedValue += ADC_ConvertedValues[j];
}
ADC_AveragedValue = (uint16_t)(ADC_SummatedValue / (ADC_DMA_BUFFERSIZE * 2));
// Return ADC averaged value
return ADC_AveragedValue;
}