/********************************************
飞控主函数入口
功能：
1.初始化各个硬件
2.初始化系统参数
3.开定时器4等待数据中断到来
4.开定时器3串口广播实时姿态以及相关信息
********************************************/
int main(void)
{
//int i;
SystemClock_HSE(9); //系统时钟初始化，时钟源外部晶振HSE
//SystemClock_HSI(4); //系统时钟初始化，时钟源内部HSI
UART1_init(SysClock,115200); //串口1初始化
NVIC_INIT(); //中断初始化
STMFLASH_Unlock(); //内部flash解锁
LedInit(); //IO初始化
delay_init(SysClock); //滴答延时初始化
BT_PowerInit(); //蓝牙电源初始化完成，默认关闭
MotorInit(); //马达初始化
BatteryCheckInit(); //电池电压监测初始化
IIC_Init(); //IIC初始化
MPU6050_DMP_Initialize(); //初始化DMP引擎
//HMC5883L_SetUp(); //初始化磁力计HMC5883L
PID_INIT(); //PID参数初始化
ParameterRead(); //Flash参数读取
NRF24L01_INIT(); //NRF24L01初始化
SetRX_Mode(); //设无线模块为接收模式
PowerOn(); //开机等待
BT_on(); //蓝牙开
TIM3_Init(SysClock,10); //定时器3初始化，调试串口输出
TIM4_Init(SysClock,50); //定时器4初始化，定时采样传感器数据，更新PID输出
while (1); //等待数据更新中断到来
}
/*!
@brief Program entry point
*/
int main (void) {
Mode currentMode;
mainThread_ID = osThreadGetId();
// start threads. Low priority ensures main will finish
osThreadDef (tM_run, osPriorityBelowNormal, 1, 0);
tempThread_ID = osThreadCreate( osThread (tM_run), NULL);
osThreadDef (aM_run, osPriorityBelowNormal, 1, 0);
accThread_ID = osThreadCreate( osThread (aM_run), NULL);
LED_init();
buttonInit();
tM_init();
aM_init();
// lock both mode semaphores, they are both in "used" mode
osSemaphoreWait( tempSema, osWaitForever);
osSemaphoreWait( accSema, osWaitForever);
// start in TEMP_MODE
currentMode = TEMP_MODE;
osSemaphoreRelease( tempSema);
TIM3_Init(ACC_FREQ);
while(1) {
//will start and wait for a tap before anything happends
//it will run the threads though
osSignalWait(0x1, osWaitForever);
// once we're past here, it means a tap has been detected!
switch( currentMode) {
case TEMP_MODE:
// we wait until the semaphore becomes available
osSemaphoreWait( tempSema, osWaitForever);
osDelay (500);
acc_clearLatch();
osSemaphoreRelease(accSema);
currentMode = ACC_MODE;
break;
case ACC_MODE:
osSemaphoreWait( accSema, osWaitForever);
osDelay (500);
acc_clearLatch();
osSemaphoreRelease(tempSema);
currentMode = TEMP_MODE;
break;
}
}
}
/********************************************
飞控主函数入口
功能：
1.初始化各个硬件
2.初始化系统参数
3.开定时器4等待数据中断到来
4.开定时器3串口广播实时姿态以及相关信息
********************************************/
int main(void)
{
SystemClock(9); //系统时钟初始化
UART1_init(SysClock,115200); //串口1初始化
NVIC_INIT(); //中断初始化
STMFLASH_Unlock(); //内部flash解锁
LedInit(); //IO初始化
delay_init(SysClock); //滴答延时初始化
BT_PowerInit(); //蓝牙电源初始化完成，默认关闭
MotorInit(); //马达初始化
BatteryCheckInit(); //电池电压监测初始化
IIC_Init(); //IIC初始化
MPU6050_DMP_Initialize(); //初始化DMP引擎
PID_INIT(); //PID参数初始化
ParameterRead(); //Flash参数读取
NRF24L01_INIT(); //NRF24L01初始化
SetRX_Mode(); //设无线模块为接收模式
PowerOn(); //开机等待
BT_on(); //蓝牙开
TIM3_Init(36,2000); //定时器3初始化，调试串口输出
TIM4_Init(36,1000); //定时器4初始化，定时采样传感器数据，更新PID输出
while (1) //等待数据更新中断到来
{
// switch(UART1_Get_Char())//检测串口发送数据，做相应处理
// {
// case 'w':
// LedA_on;LedB_on;LedC_on;LedD_on;
// //TxBuf[0]++;
// //UART1_Put_Package(TxBuf);
// LedA_on;LedB_on;LedC_on;LedD_on;
// MotoPWM+=10;
// UART1_Put_Char(0x5a);
// break;
// case 's':
// LedA_off;LedB_off;LedC_off;LedD_off;
// UART1_Put_Char(0xaa);
// MotoPWM-=10;
// break;
// default :break;
// }
// MotorPwmFlash(MotoPWM,MotoPWM,MotoPWM,MotoPWM);
//
}
}
void IAC_Init(void)
{
delay_init(72); //延时函数初始化
Nvic_Init(); //中断初始化
LED_Init(); //led初始化
KEY_Init(); //按键初始化
OLED_Init(); //oled初始化
//Draw_LibLogo(); //logo
paramLoad(); //pid参数初始化
State_Display();//OLED数据显示
Moto_Init(); //电机初始化//200hz
usart1_init(72,115200); //串口1初始化 摄像头
usart2_Init(36,9600); //ks103数据 9600
usart3_config(460800); //串口3初始化 上位机
TIM3_Init(2500); //定时器初始化 2.5MS
}
void IAC_Init(void)
{
delay_init(72);
MCO_INIT();
Nvic_Init();
LED_GPIO_Config();
I2C_INIT();
delay(0XFFF);
TIM3_Init(2500);
usart1_config();
ADC1_Init();
NRF24L01_Init();
Moto_Init();
LED_SHOW();
FLASH_Unlock();
EE_Init();
}
int main(){
usart2_init();
delay_init();
MPU6050_I2C_Init();
MPU6050_Initialize();
MPU6050_Exti_Config();
TIM3_Init(72,10000);
printf("start\n");
while(1)
{
}
return 0;
}
int main(void)
{
// u8 a[] = {0xAA, 0xAA, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88,0x99,0xa0,0x04,0x10,0x08,0x01,0x08,0x99};
u8 a[] = {0x11, 0x22, 0x33,0x44, 0x55, 0x66, 0x77};
RobotRate rate;
WheelSpeed wheelspeed;
SystemInit();
USART1_Init(115200);
USART2_Init(115200);
USART3_Init(38400);
UART4_Init(115200);
CAN1_Init();
LED_Init();
// TIM2_Init();
TIM3_Init();
SysTick_Init();
Motor_init();
amp_init();
mag_sensor_init();
flash_init();
DelayMs(1000); //Time for Motor Driver Board to init
//set_all_speedctl();
t3 = micros();
//*************************initial sensor***************************************************************//
while(t < 0x15)
{
if(UART4RecvPtrR != UART4RecvPtrW)
{
op = AHRSCheckDataFrame();
if(op == ACC_METER || op == GYRO || op == ANGLE_OUTPUT || op == MAG_METER )
{
SensorInitial(op);
t++;
}
}
t4 = micros();
time_taken = t4 - t3;
if(time_taken > 3000000)
{
//break;
}
}
sch_init();
sch_add_task(sensors, 6, 20);
sch_add_task(AHRS_compute, 1, 50);
// sch_add_task(led_task, 4, 100);
sch_add_task(UART2Proc, 10, 20);
// sch_add_task(UART3Proc, 3, 20);
// sch_add_task(UART3Proc, 4, 20);
// sch_add_task(FRIDCheck, 2, 20);
sch_start();
while (1)
{
sch_dispatch_tasks();
//Welcome();
}
}
/*
* 函数名：USART2_Init()
* 输入：uint32_t bound：要设置的波特率
* 输出：void
* 功能：对USART2进行初始化设置
*/
void USART2_Init(uint32_t bound)
{
NVIC_InitTypeDef NVIC_InitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
//开启外设时钟
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOA,ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2,ENABLE);
//UART2_RX端口配置
GPIO_InitStructure.GPIO_Pin = UART2_RX_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽输出 因为复用的时候端口方向由内部控制，所以这里设置成输出相当于浮空输入
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_40MHz; //40MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; //上拉
GPIO_Init(UART2_RX_PORT,&GPIO_InitStructure);
//UART2_TX端口配置
GPIO_InitStructure.GPIO_Pin = UART2_TX_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; //复用功能
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; //推挽输出
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_40MHz; //40MHz
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; //上拉
GPIO_Init(UART2_TX_PORT,&GPIO_InitStructure);
//开启串口2对应引脚的复用映射
GPIO_PinAFConfig(UART2_TX_PORT,UART2_TX_AF_PINSOURCE,GPIO_AF_USART2); //GPIOA2复用为USART2--TX
GPIO_PinAFConfig(UART2_RX_PORT,UART2_RX_AF_PINSOURCE,GPIO_AF_USART2); //GPIOA3复用为USART2--RX
//UART2初始化
USART_InitStructure.USART_BaudRate = bound; //波特率一般设置为bound
USART_InitStructure.USART_WordLength = USART_WordLength_8b; //字长为8位数据格式
USART_InitStructure.USART_StopBits = USART_StopBits_1; //一个停止位
USART_InitStructure.USART_Parity = USART_Parity_No; //无奇偶校验位
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //无硬件控制流
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //收发模式
USART_Init(USART2, &USART_InitStructure); //初始化串口2
//DMA波特率设置
USART_DMACmd(USART2,USART_DMAReq_Tx,ENABLE); //使能串口2的DMA发送
//DMA配置 DMA1通道7,外设为串口2,存储器为USART2_TX_BUF
//DMA各通道表参考STM32参考手册的DMA中断表
UART2_DMA_Config(DMA1_Channel7,(uint32_t)&USART2->DR,(uint32_t)USART2_TX_BUF);
USART_Cmd(USART2,ENABLE); //使能USART2串口
//接收配置
USART_ITConfig(USART2,USART_IT_RXNE,ENABLE); //开启接收中断
//USART2中断配置
NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn; //串口2中断通道
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2; //抢断优先级2
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //子优先级3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器
//TIM3初始化
TIM3_Init(99,3199); //10ms中断 T = 100 * 1/（3200/32000000）= 10ms
USART2_RX_STA = 0; //数据获取标志位清0
TIM3_Set(0); //关闭定时器3
}
void Encoder_Init(void){
TIM3_Init();
TIM2_Init();
EXTI4_Encoder_Init();
}
int main(void)
{
static char ledsta;
/***********************************/
SystemClock_HSI(9); //系统时钟初始化，时钟源内部HSI
cycleCounterInit(); // Init cycle counter
SysTick_Config(SystemCoreClock / 1000); //SysTick开启系统tick定时器并初始化其中断，1ms
UART1_init(SysClock,uart1baudSet); //串口1初始化
NVIC_INIT(); //中断初始化
STMFLASH_Unlock(); //内部flash解锁
LoadParamsFromEEPROM(); //加载系统参数配置表
LedInit(); //IO初始化
Adc_Init(); //摇杆AD初始化
KeyInit(); //按键初始化
NRF24L01_INIT(); //NRF24L01初始化
SetTX_Mode(); //设无线模块为接收模式
controlClibra(); //遥控摇杆校准
#ifdef UART_DEBUG
TIM3_Init(SysClock,2000); //定时器初始化，1s为周期打印摇杆值
#endif
TIM4_Init(SysClock,TIME4_Preiod); //定时器4初始化，定时时间单位：(TIME4_Preiod)微秒
LedSet(led2,1);
LedSet(led3,1);
LoadRCdata(); //摇杆赋值
//RockerUnlockcrazepony(); //摆杆启动
Lockflag = 0; //解锁标志，1表示产生了一次按键操作，0表示该按键操作已经发送到飞控
LedSet(led2,0);
LedSet(led3,0);
while (1)
{
//10Hz loop
if(flag10Hz == 1) //10Hz
{
flag10Hz = 0;
/*status led*/
ledsta = !ledsta;
LedSet(signalLED,ledsta);
/*crazepony Lock*/
KeyLockcrazepony();
/*IMUcalibrate */
IMUcalibrate();
/*remote calibrate*/
Remotecalibrate();
}
//50Hz loop
if(flag50Hz == 1)
{
LoadRCdata();
flag50Hz = 0;
}
// 80Hz 12.5ms
if(flag80Hz)
{
flag80Hz = 0;
CommUAVUpload(MSP_SET_4CON);
}
}
}
/*
*berif: Initialize the encoding module
*param: None
*reval: None
*/
void Init_Encoder(void)
{
TIM2_Init(); //Timer
TIM3_Init(); //Counter(R)
TIM4_Init(); //Counter(L)
}
