/*********************************************************************************************************//**
* @brief Period_Reload program,the example main funtion.
* @retval None
***********************************************************************************************************/
void Period_Reload(void)
{
NVIC_Configuration(); /* NVIC configuration */
CKCU_Configuration(); /* System Related configuration */
USART_Configuration(); /* USART Related configuration */
SYSTICK_Configuration(); /* SYSTICK Related configuration */
LED_Configuration();
/* WatchDog configuration */
WDT_IntConfig(ENABLE); /* Enable WDT Interrupt */
WDT_SetPrescaler(WDT_PRESCALER_8); /* Set Prescaler Value as 2 */
WDT_SetReloadValue(0xEFF); /* Set Reload Value as 0xEFF */
WDT_Restart(); /* Reload Counter as WDTV Value */
WDT_SetDeltaValue(0xA00); /* Set Delta Value as 0xA00 */
WDT_ProtectCmd(ENABLE); /* Enable Protection */
//printf("\n\rWDT Period Reload Starts...\n\r");
//printf("The Program Is Still Working If LED3 Keep Flashing\n\r");
/* Enable the SYSTICK Counter */
SYSTICK_CounterCmd(SYSTICK_COUNTER_ENABLE);
while(1);
}
int main(void)
{
//设置NVIC中断分组2位抢占优先级，2位响应优先级
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2) ;
Ticker_Configuration();
LED_Configuration();
USART2_Configuration();
delay_init();
//Do_Loop_LED_Test();
//Do_Loop_Motor_Test();
//DISABLE_FOLLOWING_CODE(1);
//主控通信控制器初始化
Maincontrol_Configuration();
Encoder_Configuration();
Encoder_Start();
//速度采样控制器初始化
TIM2_Configuration(5);
TIM2_Start();
//电流检测
ADC_Configuration();
//电机初始化
Motor_Init();
while (1)
{
delay_ms(200);
LED_RED_TOGGLE();
LED_GREEN_TOGGLE();
}
}
int main(void) {
int brightness = 0;
init_HSI_24MHz();
LED_Configuration();
PWM_TIM3_Configuration();
while(1) {
for (brightness = 0; brightness < 120; brightness++) {
setTim3PWM1(brightness);
soft_delay();
}
for (brightness = 119; brightness >= 0; brightness--) {
setTim3PWM1(brightness);
soft_delay();
}
}
}
void BSP_Init (void)
{
// Clock Config: HSE 72 MHz
#if __RTC_ENABLE == ON
RTC_Configuration();
#else
RCC_Configuration();
#endif
#if __USART1_ENABLE == ON
// USART1 Config ==> FTDI
USART1_Configuration();
#endif
#if __USART3_ENABLE == ON
// USART3 Config ==> Trypano support card
USART3_Configuration();
#endif
#if __SRAM_ENABLE == OFF && __LED_ENABLE == ON
// LED Config
LED_Configuration();
#endif
#if __SWITCH_ENABLE == ON
// SWITCH Config
SWITCH_Configuration();
#endif
// I2C Config
#if __I2C_ENABLE == ON
I2C_Configuration();
#endif
#if __POT_ENABLE == ON
// Pot / ADC Config
ADC_POT_Configuration();
#endif
#if __USB_ENABLE == ON
//USB Config
USB_Configuration();
#endif
#if __DAC1_ENABLE == ON
//DAC Config and start
DAC1_Configuration();
#endif
#if __SRAM_ENABLE == ON
// RAM Config
SRAM_Configuration();
#endif
#if __SDCARD_ENABLE == ON
// SDCard Config
SDCARD_Configuration();
#endif
#if __DAC2_ENABLE == ON
DAC2_Configuration();
#endif
#if __ADCe1_ENABLE == ON
ADCe1_Configuration();
#endif
}
/**
* @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
*/
LED_Configuration();
SysTick_Configuration();
USART_Configuration();
Buzzer_Configuration();
LED_Interrupt();//¿ªÆô¶¨Ê±Æ÷ÖжÏ
PWM_Configuration();
LED_Set(0x00);
/* Infinite loop */
while (1)
{
// Set_Speed(1,50,0);
// Set_Speed(2,50,0);
// Buzzer_ON();
// delay_ms(1000);
// Set_Speed(1,50,1);
// Set_Speed(2,50,1);
// Buzzer_ON();
// delay_ms(1000);
switch(instruction)
{
case 'a':
Set_Speed(1,50,1);
Set_Speed(2,50,1);
break;
case 'b':
Set_Speed(1,50,1);
Set_Speed(2,50,0);
break;
case 'c':
Set_Speed(1,50,0);
Set_Speed(2,50,1);
break;
case 'd':
Set_Speed(1,50,0);
Set_Speed(2,50,0);
break;
case 's':
Set_Speed(1,0,0);
Set_Speed(2,0,0);
break;
case 'z':
Buzzer_ON();
break;
case 'y':
Buzzer_OFF();
break;
default: break;
}
}
}
int main(void)
{
int i;
Systick_Configuration();
LED_Configuration();
button_Configuration();
usart1_Configuration(9600);
SPI_Configuration();
TIM4_PWM_Init();
Encoder_Configration();
buzzer_Configuration();
ADC_Config();
//curSpeedX = 0;
//curSpeedW = 0;
//shortBeep(2000, 8000);
while(1) {
readSensor();
readGyro();
readVolMeter();
printf("LF %d RF %d DL %d DR %d aSpeed %d angle %d voltage %d lenc %d renc %d\r\n", LFSensor, RFSensor, DLSensor, DRSensor, aSpeed, angle, voltage, getLeftEncCount(), getRightEncCount());
displayMatrix("UCLA");
setLeftPwm(100);
setRightPwm(100);
delay_ms(1000);
}
//forwardDistance(4000,0,0,true);
//displayMatrix("Sped");
//targetSpeedX = 100;
//delay_ms(2000);
//
//targetSpeedX = 100;
//delay_ms(2000);
//printf("==============================================\n\r=======================================================\r\n");
//delay_ms(1000);
//displayMatrix("Wat");
//delay_ms(1000);
//displayMatrix("STOP");
//displayMatrix("GO");
turnRightAngle(LEFT);
targetSpeedW = 0;
delay_ms(1000);
turnRightAngle(RIGHT);
targetSpeedW = 0;
delay_ms(1000);
displayMatrix("STOP");
delay_ms(3000);
targetSpeedX = 0;
//
targetSpeedW = 10;
delay_ms(1000);
targetSpeedX = 0;
targetSpeedW = 0;
return 0;
}
/*********************************************************************************************************
* @brief Calendar program.
* @retval None
********************************************************************************************************/
void Calendar(void)
{
CKCU_APBPerip1ClockConfig(CKCU_APBEN1_RTC, ENABLE);
if(PWRCU_CheckReadyAccessed() != PWRCU_OK)
{
while(1);
}
/* Init LED3 and USART */
LED_Configuration();
USART_Configuration();
/* Enable NVIC RTC interrupt */
NVIC_EnableIRQ(RTC_IRQn);
/* Check if the Power On Reset flag is set */
if(PWRCU_GetFlagStatus() == PWRCU_FLAG_BAKPOR)
{
printf("\r\n\n Power On Reset occurred....");
}
if(PWRCU_ReadBackupRegister(PWRCU_BAKREG_0) != 0x5A5A)
{
u32 wInitTime = 0;
/* Backup data register value is not correct or not yet programmed (when
the first time the program is executed) */
printf("\r\n\n RTC not yet configured....");
/* RTC Configuration */
RTC_Configuration();
printf("\r\n RTC configured....");
/* Adjust time by values entred by the user on the hyperterminal,
Then store the init time to PWRCU_BAKREG_1. */
wInitTime = Time_Regulate() ;
PWRCU_WriteBackupRegister(PWRCU_BAKREG_1, wInitTime);
/* Reset RTC Counter when Time is 23:59:59 */
RTC_SetCompare(86400 - wInitTime) ;
PWRCU_WriteBackupRegister(PWRCU_BAKREG_0, 0x5A5A);
/* Enable RTC */
RTC_Cmd(ENABLE) ;
}
else
{
printf("\r\n No need to configure RTC....");
}
/* Display current time in infinite loop */
printf("\n\r");
while (1)
{
/* If 1s has paased */
if(gwTimeDisplay == 1)
{
/* Display current time.
Current time is sum of the RTC counter value and the init time(stored in PWRCU_BAKREG_1 register).
The init time (PWRCU_BAKREG_1 register) will be clear if the RTC Match flag(CMFLAG) is set.
Refer to RTC_IRQHandler. */
Time_Display(RTC_GetCounter() + PWRCU_ReadBackupRegister(PWRCU_BAKREG_1));
gwTimeDisplay = 0;
}
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* Periph clock enable */
RCC_Configuration();
/* Config the LED GPIO */
LED_Configuration();
/* Config the USART1 */
USART1_Configuration();
printf("NOR Flash Init!\n\r");
/* EXMC nor flash init */
EXMC_NorFlash_Init();
/* Read Nor Flash ID and printf */
NOR_ReadID(&NOR_ID);
printf("\n\rNor Flash ID:0x%X 0x%X 0x%X 0x%X\n\r",NOR_ID.Manufacturer_Code,NOR_ID.Device_Code,
NOR_ID.Block_Protection_Indicator,NOR_ID.Block_Protection_Status);
NOR_ReturnToReadMode();
/* Erase the nor flash block to be written data */
Status = NOR_EraseBlock(WRITE_READ_ADDR);
if(NOR_SUCCESS == Status)
{
printf("\n\rErase nor flash block successfully!\n\r");
}
else
{
printf("\n\rErase nor flash block failure!\n\r");
}
/* Whether address cross-border */
if((WRITE_READ_ADDR + BUFFER_SIZE ) > NOR_MAX_ADDRESS)
{
printf("\n\rAddress cross-border\n\r");
GPIO_SetBits(LED_GPIO, LED4_PIN | LED5_PIN);
while(1)
{
}
}
/* Fill WriteBuffer with the specified value */
Fill_Buffer(WriteBuffer, BUFFER_SIZE, 0x1234);
/* Write data to nor flash, WRITE_READ_ADDR: the starting address of the write data */
Status = NOR_WriteBuffer(WriteBuffer, WRITE_READ_ADDR, BUFFER_SIZE);
if(NOR_SUCCESS == Status)
{
printf("\n\rWrite data to nor flash block successfully!\n\r");
}
else
{
printf("\n\rWrite data to nor flash block failure!\n\r");
}
/* Read data from nor flash, WRITE_READ_ADDR: the starting address of the read data*/
NOR_ReadBuffer(ReadBuffer, WRITE_READ_ADDR, BUFFER_SIZE);
/* Read and write data comparison for equality */
WriteReadStatus = 0;
for (Index = 0x00; Index < BUFFER_SIZE; Index++)
{
if (ReadBuffer[Index] != WriteBuffer[Index])
{
WriteReadStatus++;
break;
}
}
printf("\n\rThe result to access the nor flash:\n\r");
if (WriteReadStatus == 0)
{
printf("\n\rAccess nor flash successfully!\n\r");
GPIO_SetBits(LED_GPIO, LED2_PIN | LED3_PIN | LED4_PIN | LED5_PIN);
}
else
{
printf("\n\rAccess nor flash failure!\n\r");
GPIO_SetBits(LED_GPIO, LED2_PIN | LED3_PIN);
}
printf("\n\rPrintf data to be read: \n\r");
printf("\n\r");
for(Index = 0; Index < BUFFER_SIZE; Index++)
{
printf("%X ",ReadBuffer[Index]);
}
while(1)
{
}
}
int main(void)
{
while (1);
/* Configuration */
SystemInit();
LED_Configuration();
BUZZ_Configuration();
//ADC_Configuration();
CAN_Configuration();
/****************************µ×Å̳õʼ»¯******************************/
Elmo_Init(elmo, 3);
// PositionPID_Init();
PositionIPD_Init();
MoveLock();
Delay_ms(100);
BLUETOOTH_Configuration();
Delay_ms(100);
Encoder_Clear();
Delay_ms(1000);
MPU6500_init();
TIM1_Configuration();
TIM2_Configuration();
TIM3_Configuration();
TIM4_Configuration();
if (SysTick_Config(SystemCoreClock / 1000)) /* Setup SysTick Timer for 1 msec interrupts */
{
while(1){LED_ON(LED2);}/* Capture error */
}
// IpdAxisX.setpoint = 200;
// IpdAngle.setpoint = 90;
// PidAxisX.setpoint = 200;
// CMDVelocity.X = 10;
// CMDVelocity.Y = 0;
// CMDVelocity.A = 0;//Degree/Second
// Elmo_Write(&elmo[0],0x01,0x01,50);
while (1)
{
if(MPU_FLAG == 1)
{
MPU_FLAG = 0;
}
if(MAPAN_FLAG == 1)
{
MAPAN_FLAG = 0;
// LED_TOGGLE(LED1);
MapanTask();//ÂëÅÌ
}
if(PID_PFLAG ==1)
{
PID_PFLAG = 0;
// PositionPIDCal();
PositionIPDCal();
VelocityTransform();
// LED_TOGGLE(LED2);
}
if (LED_FLAG == 1)
{
LED_FLAG = 0;
// SquareTracking();
// CircleTracking();
// GoBack();
// LED_TOGGLE(LED3);
// SignalTracking();
// angle_print();
// PositionVelocity_print();
}
}
}