/***************************************************************
** 作 者: Songyimiao
** 官 网：http://www.miaowlabs.com
** 淘 宝：http://miaowlabs.taobao.com
** 日 期: 2015年11月29日
** 函数名称: main()
** 功能描述: 主函数
** 输 入:
** 输 出:
** 备 注:
********************喵呜实验室版权所有**************************
***************************************************************/
void main()
{
DisableInterrupts;//禁止总中断
DriversInit(); //MCU底层驱动初始化
MPU6050Init(); //MPU6050配置初始化
CarStandInit(); //应用程序变量初始化
UltraInit(); //超声波配置初始化
Delaynms(50); //延时50ms
ON_LED0; //指示灯亮起，表示初始化完毕
EnableInterrupts; //使能总中断
while(1)
{
STC_ISP();
Delaynms(50); //延时50ms
if(g_ucUart2Flag>=1)
{
BluetoothControl(); //蓝牙遥控函数
g_ucUart2Flag = 0;
}
BatteryChecker(); //电池电量检测（电量不足时，亮红灯）
if(EchoFlag) //判断是否测距完成
{
g_ucUltraDis=UltraDis();//读取超声波测距结果
}
#if DEBUG_UART //调试启用 预编译命令
//若要观察波形进行调试，需将DEBUG_UART设置成1，该版本不需要注释蓝牙控制函数
OutData[0] = g_fCarAngle;
OutData[1] = g_fGyroAngleSpeed;
OutData[2] = g_fLeftMotorOut ;
OutData[3] = g_fAngleControlOut;
OutPut_Data();
#endif
}
}
int main(void)
{
/*
* System initializations.
* - HAL initialization, this also initializes the configured
* device drivers and performs the board-specific initializations.
* - Kernel initialization, the main() function becomes a thread
* and the RTOS is active.
*/
halInit();
chSysInit();
/*
*
* Initializes a serial-over-USB CDC driver.
*
*/
sduObjectInit(&SDU1);
sduStart(&SDU1, &serusbcfg);
/*
*
* Activates the USB driver and then the USB bus pull-up on D+.
*
*/
usbDisconnectBus(serusbcfg.usbp);
chThdSleepMilliseconds(500);
usbStart(serusbcfg.usbp, &usbcfg);
usbConnectBus(serusbcfg.usbp);
/*
*
* Start I2C and set up sensors
*
*/
i2cStart(&I2CD2, &i2cfg2);
/* Initialize Accelerometer and Gyroscope */
if (MPU6050Init(&mpu6050cfg) != MSG_OK)
panic("MPU6050 init failed"); /* Initialization failed */
/* Initialize Magnetometer */
if (HMC5983Init(&hmc5983cfg) != MSG_OK)
panic("HMC5983 init failed"); /* Initialization failed */
/* Initialize Barometer */
/* TODO: Add barometer code */
/* Initialize sensor readout */
if (SensorReadInit(&mpu6050cfg, &hmc5983cfg,
&mpu6050cal, &hmc5983cal) != MSG_OK)
panic("Sensor Read init failed"); /* Initialization failed */
/*
*
* Start the external interrupts
*
*/
extStart(&EXTD1, &extcfg);
/*
*
* Initialize the RC Outputs
*
*/
if (RCOutputInit(&rcoutputcfg) != MSG_OK)
panic("RC output init failed"); /* Initialization failed */
/*
*
* Start RC Inputs
*
*/
eicuInit();
eicuStart(&EICUD9, &rcinputcfg);
eicuEnable(&EICUD9);
/*
*
* Start test thread
*
*/
chThdCreateStatic( waThreadTestEvents,
sizeof(waThreadTestEvents),
HIGHPRIO,
ThreadTestEvents,
NULL);
while(1)
{
chThdSleepMilliseconds(100);
if (isUSBActive() == true)
chprintf((BaseSequentialStream *)&SDU1, "Input width: %u\r\n", ic_test);
}
}
void MPU6050_Init(void){
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C0);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlDelay(3);
ROM_GPIOPinConfigure(GPIO_PB2_I2C0SCL);
ROM_GPIOPinConfigure(GPIO_PB3_I2C0SDA);
ROM_GPIOPinTypeI2CSCL(GPIO_PORTB_BASE, GPIO_PIN_2);
ROM_GPIOPinTypeI2C(GPIO_PORTB_BASE, GPIO_PIN_3);
//ROM_GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, GPIO_PIN_0);
//GPIOIntEnable(GPIO_PORTB_BASE, GPIO_PIN_0);
//ROM_GPIOIntTypeSet(GPIO_PORTB_BASE, GPIO_PIN_0, GPIO_FALLING_EDGE);
//ROM_IntEnable(INT_GPIOB);
ROM_I2CMasterEnable(I2C0_BASE);
I2CMInit(&sI2CInst, I2C0_BASE, INT_I2C0, 0xff, 0xff, ROM_SysCtlClockGet());
g_bMPU6050Done = false;
MPU6050Init(&sMPU6050, &sI2CInst, 0x68, MPU6050_Callback, 0);
while(!g_bMPU6050Done);
g_bMPU6050Done = false;
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_PWR_MGMT_1,
~MPU6050_PWR_MGMT_1_SLEEP,
0, MPU6050_Callback,
0);//从Sleep模式中激活设备，否则无法写入寄存器
while(!g_bMPU6050Done);
// Configure the MPU6050 for +/- 4 g accelerometer range.
//
g_bMPU6050Done = false;
//先读取寄存器的值，再与上Mask，然后再或上Value，将得到的值写入寄存器
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_PWR_MGMT_1,
~MPU6050_PWR_MGMT_1_CLKSEL_M,
MPU6050_PWR_MGMT_1_CLKSEL_XG, MPU6050_Callback,
0);
while(!g_bMPU6050Done);
g_bMPU6050Done = false;
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_ACCEL_CONFIG,
~MPU6050_ACCEL_CONFIG_AFS_SEL_M,
MPU6050_ACCEL_CONFIG_AFS_SEL_4G, MPU6050_Callback,
0);
while(!g_bMPU6050Done);
g_bMPU6050Done = false;
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_CONFIG,
~MPU6050_CONFIG_DLPF_CFG_M,
MPU6050_CONFIG_DLPF_CFG_44_42, MPU6050_Callback,
0);
while(!g_bMPU6050Done);
g_bMPU6050Done = false;
MPU6050ReadModifyWrite(&sMPU6050, MPU6050_O_GYRO_CONFIG,
~MPU6050_GYRO_CONFIG_FS_SEL_M,
MPU6050_GYRO_CONFIG_FS_SEL_2000, MPU6050_Callback,
0);
while(!g_bMPU6050Done);
MPU6050Read(&sMPU6050,MPU6050_O_WHO_AM_I,&deviceID,1,MPU6050_Callback,0);//MPU-60X0设备号默认0x68
ROM_SysCtlDelay(ROM_SysCtlClockGet()/(3*1000));
MPU6050Read(&sMPU6050,MPU6050_O_PWR_MGMT_1,&PowerInfo,1,MPU6050_Callback,0);//若读到的值是0x00，则设备处于激活状态。0x40则为休眠状态
}
