int main(void)
{
int i = 100000000;
int j = 10000000;
int cnt = 1000;
delay_init();
led_Configuration();
MPU6050_Configuration();
// PWM_Configuration();
TIM3_PWM_Init();
TIM1_PWM_Init();
TIM2_PWM_Init();
// SysTick_Config(SystemCoreClock / 1000); // ms
CtrData = CTRL_UP;
while (i-- > 0) {
while (j-- > 0) {
;
}
}
while (1) {
if(schedulercnt_2ms >= 2)
{
if (cnt > 0)
{
//读加速度计和陀螺仪数据
READ_MPU6050();
//飞控函数
Control();
//PWM波输出函数
PWMControl(PWM);
cnt--;
}
else {
CtrData = CTRL_STOP;
Control();
PWMControl(PWM);
}
schedulercnt_2ms = 0;
}
}
}
void Steering_Init(void) {
STMFLASH_Read(STEERING_DATA_ADDR, (u16*)(&steering_data), sizeof(struct steering_type));
TIM2_PWM_Init(20000,71);
TIM3_PWM_Init(20000,71);
TIM5_PWM_Init(20000,71);
TIM1_PWM_Init(20000,71);
TIM8_PWM_Init(20000,71);
TIM4_PWM_Init(20000,71);
if(STEERING_INIT_MARK==steering_data.mark)
Steering_Move(steering_data.init);
else
Steering_Move(default_init);
}
int main(void)
{
u16 sta , i=0;
int t = 200;
delay_init(); //延时函数初始化
LED_Init();
LED0 = 0;delay_ms(200); LED0 = 1;
LED1 = 0;delay_ms(200); LED1 = 1;
LED2 = 0;delay_ms(200); LED2 = 1;
LED3 = 0;delay_ms(200); LED3 = 1;
NVIC_Configuration(); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
uart_init(9600); //串口初始化为9600
EXTIX_Init( );
NRF24L01_Init(); //初始化NRF24L01
NRF24L01_RX_Mode();
while(NRF24L01_Check() == 1)//检查NRF24L01是否在位.
{
LED3=!LED3; printf("NRF ERROR!!\r\n");
delay_ms(100 );
}
printf("NRF okk!!\r\n");
sta=NRF24L01_Read_Reg(STATUS); //读取状态寄存器的值
NRF24L01_Write_Reg(WRITE_REG_NRF+STATUS,sta); //清除TX_DS或MAX_RT中断标志
NRF24L01_Write_Reg(FLUSH_RX,0xff);//清除RX FIFO寄存器
TIM2_PWM_Init(999,9); //PWM OUT
TIM3_Int_Init(0xffff,71); //做计时器用
IIC_Init();
InitMPU6050();
Init_HMC5883();
suanfa_GetOrigin(); //初始欧拉角
TIM4_Int_Init(49,7199); //PID调速中断 放在最后初始化，防止打断角度校准
LOCK = 1;
UN_LOCK = 0;
while(1){
if(LOCK)
{
lock();
LED0 = 0;delay_ms(500);LED0 = 1;
Power = 0;
Target_x = 0;
Target_y = 0;
}
if(UN_LOCK)
{
suanfa();
printf("%.2lf %.2lf %.2lf\r\n",EA.Roll,EA.Pitch,EA.Yaw);
// TIM_Cmd(TIM4, ENABLE);
Data_Receive_Anl();
}
// printf("--p\r\n");
}
}
