/*=====================================================================================================*/
int main( void )
{
SystemInit();
GPIO_Config();
#if FLASH_RW_U8
Flash_EraseSector(FLASH_SECTOR_6);
Flash_WriteDataU8(FLASH_SECTOR_6, WriteDataU8, 1024);
Flash_ReadDataU8(FLASH_SECTOR_6, ReadDataU8, 1024);
LED_R = (Cmp_ArrU8(WriteDataU8, ReadDataU8, 1024) == SUCCESS) ? 0 : 1;
#endif
#if FLASH_RW_U16
Flash_EraseSector(FLASH_SECTOR_6);
Flash_WriteDataU16(FLASH_SECTOR_6, WriteDataU16, 512);
Flash_ReadDataU16(FLASH_SECTOR_6, ReadDataU16, 512);
LED_G = (Cmp_ArrU16(WriteDataU16, ReadDataU16, 512) == SUCCESS) ? 0 : 1;
#endif
#if FLASH_RW_U32
Flash_EraseSector(FLASH_SECTOR_6);
Flash_WriteDataU32(FLASH_SECTOR_6, WriteDataU32, 256);
Flash_ReadDataU32(FLASH_SECTOR_6, ReadDataU32, 256);
LED_B = (Cmp_ArrU32(WriteDataU32, ReadDataU32, 256) == SUCCESS) ? 0 : 1;
#endif
Delay_10ms(100);
while(1) {
LED_R = !LED_R;
LED_G = !LED_G;
LED_B = !LED_B;
Delay_10ms(10);
}
}
/*=====================================================================================================*/
int main( void )
{
SystemInit();
GPIO_Config();
LED_R = 0;
if(KEY_WU == 1) {
Flash_ErasePage(FLASH_PAGE_ADDR(60));
Delay_10ms(100);
}
LED_R = 1;
while(1) {
LED_R = ~LED_R;
Delay_10ms(10);
if(KEY_BO == 1) { // Write Flash
Flash_WritePageU8(FLASH_PAGE_ADDR(60), WriteData, 1024);
if(CmpArr_U8(WriteData, ReadData, 1024) == SUCCESS)
LED_G = 0;
}
if(KEY_WU == 1) { // Read Flash
Flash_ReadPageU8(FLASH_PAGE_ADDR(60), ReadData, 1024);
if(CmpArr_U8(WriteData, ReadData, 1024) == SUCCESS)
LED_B = 0;
}
}
}
/*====================================================================================================*/
int main( void )
{
uint8_t test = 0x01;
GPIO_Config();
SF595_Config();
while(1) {
for(test = 0x01; test < 0x80; test = test << 1) {
LED_G_Toggle;
SF595_SendByte(~test);
Delay_10ms(5);
}
LED_G_Reset;
for(test = 0x80; test > 0x01; test = test >> 1) {
LED_B_Toggle;
SF595_SendByte(~test);
Delay_10ms(5);
}
LED_B_Reset;
LED_R_Toggle;
if(KEY_BO_Read == 1)
SF595_Cmd(ENABLE);
if(KEY_WU_Read == 1)
SF595_Cmd(DISABLE);
}
}
/*=====================================================================================================*/
int main( void )
{
s16 i = 0;
u8 TrData[4][16] = {0};
SystemInit();
System_SetVectorTable(IAP_FLASH_SIZE);
GPIO_Config();
RS232_Config();
while(1) {
PAO(1) = LED_R;
PAO(2) = LED_R;
PAO(3) = LED_R;
PAO(4) = LED_R;
PAO(5) = LED_R;
PAO(6) = LED_R;
PAO(7) = LED_R;
PAO(8) = LED_R;
PAO(11) = LED_R;
PAO(12) = LED_R;
PAO(15) = LED_R;
PBO(0) = LED_R;
PBO(1) = LED_R;
PBO(3) = LED_R;
PBO(4) = LED_R;
PBO(5) = LED_R;
PBO(6) = LED_R;
PBO(7) = LED_R;
PBO(8) = LED_R;
PBO(9) = LED_R;
PBO(10) = LED_R;
PBO(11) = LED_R;
PBO(12) = LED_R;
PBO(13) = LED_R;
PBO(14) = LED_R;
PBO(15) = LED_R;
LED_R = ~LED_R;
Delay_10ms(10);
if(KEY_BO == 1) {
LED_G = ~LED_G;
Delay_10ms(10);
}
if(KEY_WU == 1) {
LED_B = ~LED_B;
Delay_10ms(10);
}
i++;
if(i == 1024) i = -1024;
NumToChar(Type_I, 5, TrData[0], i);
RS232_Print(USART1, (u8*)"CH1,");
RS232_Print(USART1, TrData[0]);
RS232_Print(USART1, (u8*)"\r\n");
}
}
uint8_t MPU9250_Init( MPU_InitTypeDef *MPUx )
{
uint8_t status = ERROR;
uint8_t MPU6500_InitData[MPU6500_InitRegNum][2] = {
{0x80, MPU6500_PWR_MGMT_1}, // Reset Device
{0x01, MPU6500_PWR_MGMT_1}, // Clock Source
{0x30, MPU6500_USER_CTRL}, // Set I2C_MST_EN, I2C_IF_DIS
{0x00, MPU6500_PWR_MGMT_2}, // Enable Acc & Gyro
{0x07, MPU6500_CONFIG}, // DLPF_CFG[2:0] = 111;
{0x18, MPU6500_GYRO_CONFIG}, // +-2000dps
{0x08, MPU6500_ACCEL_CONFIG}, // +-4G
{0x48, MPU6500_ACCEL_CONFIG_2}, // Set Acc Data Rates
{0x10, MPU6500_INT_PIN_CFG}, // Set INT_ANYRD_2CLEAR
{0x10, MPU6500_INT_ENABLE}, //
{0x4D, MPU6500_I2C_MST_CTRL}, // I2C Speed 400 kHz
};
uint8_t AK8963_InitData[AK8963_InitRegNum][2] = {
{0x01, AK8963_CNTL2}, // Reset Device
{0x06, AK8963_CNTL1}, // Continuous measurement mode 2
};
MPU6500_InitData[5][0] = MPUx->MPU_Gyr_FullScale; // MPU6500_GYRO_CONFIG
MPU6500_InitData[4][0] = MPUx->MPU_Gyr_LowPassFilter; // MPU6500_CONFIG
MPU6500_InitData[6][0] = MPUx->MPU_Acc_FullScale; // MPU6500_ACCEL_CONFIG
MPU6500_InitData[7][0] = MPUx->MPU_Acc_LowPassFilter; // MPU6500_ACCEL_CONFIG_2
AK8963_InitData[1][0] |= MPUx->MPU_Mag_FullScale;
for(uint8_t i = 0; i < MPU6500_InitRegNum; i++) {
MPU9250_WriteReg(MPU6500_InitData[i][1], MPU6500_InitData[i][0]);
Delay_1ms(1);
}
status = MPU9250_Check();
if(status != SUCCESS)
return ERROR;
Delay_10ms(1);
#ifdef _USE_MAG_AK8963
for(uint8_t i = 0; i < AK8963_InitRegNum; i++) {
MPU9250_Mag_WriteReg(AK8963_InitData[i][1], AK8963_InitData[i][0]);
Delay_10ms(1);
}
MPU9250_WriteReg(MPU6500_I2C_SLV0_REG, AK8963_ST1);
MPU9250_WriteReg(MPU6500_I2C_SLV0_ADDR, AK8963_I2C_ADDR | 0x80);
MPU9250_WriteReg(MPU6500_I2C_SLV0_CTRL, 0x80 | 8);
#endif
MPU9250_SetSpeed(SPIx_SPEED_HIGH);
Delay_10ms(1);
return SUCCESS;
}
void system_init(void)
{
LED_Config();
KEY_Config();
RS232_Config();
Motor_Config();
PWM_Capture_Config();
Sensor_Config();
nRF24L01_Config();
#if configSD_BOARD
SDIO_Config();
#endif
PID_Init(&PID_Yaw);
PID_Init(&PID_Roll);
PID_Init(&PID_Pitch);
PID_Pitch.Kp = +4.0f;
PID_Pitch.Ki = 0;//0.002f;
PID_Pitch.Kd = +1.5f;
PID_Roll.Kp = +4.0f;
PID_Roll.Ki = 0;//0.002f;
PID_Roll.Kd = 1.5f;
PID_Yaw.Kp = +5.0f;
PID_Yaw.Ki = +0.0f;
PID_Yaw.Kd = +15.0f;
Delay_10ms(10);
Motor_Control(PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN);
#if configFLIGHT_CONTROL_BOARD
/* nRF Check */
while ( nRF_Check()== ERROR );
/* Sensor Init */
while(Sensor_Init() == ERROR);
#endif
Delay_10ms(10);
/* Lock */
LED_R = 0;
LED_G = 1;
LED_B = 1;
sys_status = SYSTEM_INITIALIZED;
}
/*=====================================================================================================*/
void QCopterFC_Init( void )
{
u8 Sta = ERROR;
SystemInit();
LED_Config();
KEY_Config();
RS232_Config();
Motor_Config();
Sensor_Config();
nRF24L01_Config();
PID_Init(&PID_Yaw);
PID_Init(&PID_Roll);
PID_Init(&PID_Pitch);
PID_Pitch.Kp = +1.5f;
PID_Pitch.Ki = +0.002f;
PID_Pitch.Kd = +1.0f;
PID_Roll.Kp = +1.5f;
PID_Roll.Ki = +0.002f;
PID_Roll.Kd = +1.0f;
PID_Yaw.Kp = +0.0f;
PID_Yaw.Ki = +0.0f;
PID_Yaw.Kd = +0.0f;
RF_SendData.Packet = 0x00;
/* Throttle Config */
if(KEY == KEY_ON) {
LED_B = 0;
BLDC_CtrlPWM(BLDC_PWM_MAX, BLDC_PWM_MAX, BLDC_PWM_MAX, BLDC_PWM_MAX);
}
while(KEY == KEY_ON);
LED_B = 1;
BLDC_CtrlPWM(BLDC_PWM_MIN, BLDC_PWM_MIN, BLDC_PWM_MIN, BLDC_PWM_MIN);
/* nRF Check */
while(Sta == ERROR)
Sta = nRF_Check();
Delay_10ms(10);
/* Sensor Init */
if(Sensor_Init() == SUCCESS)
LED_G = 0;
Delay_10ms(10);
}
/*====================================================================================================*/
int main( void )
{
GPIO_Config();
while(1) {
LED_3_Set();
LED_1_Reset();
Delay_10ms(8);
while(KEY_1_Read()) {
LED_1_Toggle();
Delay_10ms(8);
}
LED_1_Set();
LED_2_Reset();
Delay_10ms(8);
while(KEY_2_Read() == 0) {
LED_2_Toggle();
Delay_10ms(8);
}
LED_2_Set();
LED_4_Reset();
Delay_10ms(8);
while(KEY_4_Read() == 0) {
LED_4_Toggle();
Delay_10ms(8);
}
LED_4_Set();
LED_3_Reset();
Delay_10ms(8);
while(KEY_3_Read() == 0) {
LED_3_Toggle();
Delay_10ms(8);
}
}
}
/*=====================================================================================================*/
int main( void )
{
GPIO_Config();
W25Q_Config();
Delay_10ms(1);
while(W25Q_ReadDeviceID() != W25Q_DEVICE_ID);
while(1) {
LED_R = !LED_R;
LED_G = !LED_G;
LED_B = !LED_B;
Delay_10ms(5);
}
}
void applicationInit()
{
c6dofimu_i2cDriverInit( (T_C6DOFIMU_P)&_MIKROBUS1_GPIO, (T_C6DOFIMU_P)&_MIKROBUS1_I2C, _C6DOFIMU_I2C_ADDR );
Delay_100ms();
/* Initializes */
c6dofimu_writeData( _C6DOFIMU_CTRL1_XL, _C6DOFIMU_CTRL12_CONFIG );
Delay_10ms();
c6dofimu_writeData( _C6DOFIMU_CTRL2_G, _C6DOFIMU_CTRL12_CONFIG );
Delay_10ms();
c6dofimu_writeData( _C6DOFIMU_CTRL3_C, _C6DOFIMU_CTRL3_C_CONFIG );
Delay_10ms();
/* Start write log */
mikrobus_logWrite(" Accel Gyro Temp. °C",_LOG_LINE);
mikrobus_logWrite("---------------------------------------------------------", _LOG_LINE);
}
/*====================================================================================================*/
int main( void )
{
uint8_t i = 0;
uint8_t dir = 0;
GPIO_Config();
SF138_Config();
while(1) {
LED_R_Toggle;
LED_G_Toggle;
LED_B_Toggle;
SF138_WriteData(i);
switch(dir) {
case 0: i++; if(i == 7) dir = 1; break;
case 1: i--; if(i == 0) dir = 0; break;
}
Delay_10ms(5);
while(KEY_BO_Read == 1)
SF138_Cmd(ENABLE);
while(KEY_WU_Read == 1)
SF138_Cmd(DISABLE);
}
}
/*=====================================================================================================*/
void System_Init( void )
{
SystemInit();
LED_Config();
KEY_Config();
RS232_Config();
I2C_Config();
Motor_Config();
nRF24L01_Config();
PID_Init(&PID_Yaw);
PID_Init(&PID_Roll);
PID_Init(&PID_Pitch);
PID_Pitch.Kp = +3.5f;
PID_Pitch.Ki = +0.004f;
PID_Pitch.Kd = +4.0f;
PID_Roll.Kp = +3.5f;
PID_Roll.Ki = +0.004f;
PID_Roll.Kd = +4.0f;
PID_Yaw.Kp = +0.0f;
PID_Yaw.Ki = +0.0f;
PID_Yaw.Kd = +0.25f;
Delay_10ms(2);
}
/*=====================================================================================================*/
void System_Init(void)
{
SystemInit();
LED_Config();
KEY_Config();
RS232_Config();
Motor_Config();
PWM_Capture_Config();
Sensor_Config();
nRF24L01_Config();
PID_Init(&PID_Yaw);
PID_Init(&PID_Roll);
PID_Init(&PID_Pitch);
PID_Pitch.Kp = +1.5f;
PID_Pitch.Ki = +0.002f;
PID_Pitch.Kd = +1.0f;
PID_Roll.Kp = +1.5f;
PID_Roll.Ki = +0.002f;
PID_Roll.Kd = +1.0f;
PID_Yaw.Kp = +0.0f;
PID_Yaw.Ki = +0.0f;
PID_Yaw.Kd = +0.0f;
Delay_10ms(2);
}
/*=====================================================================================================*/
int main( void )
{
u32 i = PWM_MOTOR_MIN;
SystemInit();
GPIO_Config();
PWM_Config();
while(1) {
LED_G = ~LED_G;
while(KEY_WU == 1) {
PWM1 = i;
PWM2 = i;
PWM3 = i;
PWM4 = i;
PWM5 = i;
PWM6 = i;
PWM7 = i;
PWM8 = i;
PWM9 = i;
PWM10 = i;
PWM11 = i;
i++;
if(i>=PWM_MOTOR_MAX) {
i = PWM_MOTOR_MIN;
LED_R = ~LED_R;
}
Delay_1us(500);
}
Delay_10ms(10);
}
}
/*-----------------------------------------------------------------------------------*/
static void
delay(void)
{
unsigned char i;
for(i = 0; i < 1; ++i) {
Delay_10ms(1);
}
}
void NRF_FTLR( void ) // First Tx Last Rx
{
u8 i = 0;
u8 Sta = ERROR;
static u8 FSM_STA = 0;
switch(FSM_STA) {
/************************** FSM Tx **************************************/
case 0:
// FSM_Tx
// 資料寫入 TX BUF
for(i=0; i<32; i++) {
TxBuf[i] = RxBuf[i] + i;
if(TxBuf[i]>220)
TxBuf[i] = 0;
}
do {
Sta = NRF_TxPacket(TxBuf);
} while(Sta == NRF_STA_MAX_RT);
// FSM_Tx End
FSM_STA = 1;
break;
/************************** FSM Rx **************************************/
case 1:
// FSM_Rx
NRF_RX_Mode();
Sta = NRF_RxPacket(RxBuf);
if(Sta == NRF_STA_RX_DR) {
LED_B = !LED_B;
}
// FSM_Rx End
FSM_STA = 2;
break;
/************************** FSM USART **************************************/
case 2:
// FSM_USART
Delay_10ms(20);
RS232_SendStr((u8*)"\f");
RS232_SendStr((u8*)"***NRF_MODE_FTLR\r\n");
for(i=0; i<32; i++) {
RS232_SendStr((u8*)"RxBuf[");
RS232_SendNum(Type_D, 2, i);
RS232_SendStr((u8*)"] = ");
RS232_SendNum(Type_D, 3, TxBuf[i]);
RS232_SendStr((u8*)"\r\n");
}
RS232_SendStr((u8*)"\r\n");
// FSM_USART End
FSM_STA = 0;
break;
}
}
/*=====================================================================================================*/
int main( void )
{
SystemInit();
System_SetVectorTable(IAP_FLASH_SIZE);
GPIO_Config();
while(1) {
LED_B = ~LED_B;
Delay_10ms(10);
if(KEY_BO == 1) {
LED_R = ~LED_R;
Delay_10ms(10);
}
if(KEY_WU == 1) {
LED_G = ~LED_G;
Delay_10ms(10);
}
}
}
void tts_hal_reset( void )
{
#if defined( __GNUC__ )
#else
TTS_RST = 0;
Delay_10ms();
TTS_RST = 1;
Delay_ms( POR_TIME );
#endif
}
void system_init(void)
{
LED_Config();
Serial_Config(Serial_Baudrate);
Motor_Config();
PWM_Capture_Config();
//IMU Config
Sensor_Config();
nRF24L01_Config();
//SD Config
if ((SD_status = SD_Init()) != SD_OK)
system.status = SYSTEM_ERROR_SD;
PID_Init(&PID_Pitch, 4.0, 0.0, 1.5);
PID_Init(&PID_Roll, 4.0, 0.0, 1.5);
PID_Init(&PID_Yaw, 5.0, 0.0, 15.0);
Delay_10ms(10);
Motor_Control(PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN);
/* nRF Check */
while (nRF_Check() == ERROR);
/* Sensor Init */
while (Sensor_Init() == ERROR);
Delay_10ms(10);
/* Lock */
SetLED(LED_R, DISABLE);
SetLED(LED_G, ENABLE);
SetLED(LED_B, ENABLE);
//Check if no error
if (system.status != SYSTEM_ERROR_SD)
system.status = SYSTEM_INITIALIZED;
}
void applicationTask()
{
readData = manometer_getPressure();
Delay_10ms();
mikrobus_logWrite( " Pressure: ", _LOG_TEXT );
IntToStr( readData, textLog );
mikrobus_logWrite( textLog, _LOG_TEXT );
mikrobus_logWrite( " mbar", _LOG_LINE );
readData = manometer_getTemperature();
Delay_10ms();
mikrobus_logWrite( " Temperature: ", _LOG_TEXT );
IntToStr( readData, textLog );
mikrobus_logWrite( textLog, _LOG_TEXT );
mikrobus_logWrite( " °C", _LOG_LINE );
mikrobus_logWrite( "--------------------------", _LOG_LINE );
Delay_1sec();
Delay_1sec();
}
uint8_t MPU6500_Init( MPU_InitTypeDef *MPUx )
{
uint8_t status = ERROR;
uint8_t MPU6500_InitData[MPU6500_InitRegNum][2] = {
{0x80, MPU6500_PWR_MGMT_1}, // Reset Device
{0x01, MPU6500_PWR_MGMT_1}, // Clock Source
{0x30, MPU6500_USER_CTRL}, // Set I2C_MST_EN, I2C_IF_DIS
{0x00, MPU6500_PWR_MGMT_2}, // Enable Acc & Gyro
{0x07, MPU6500_CONFIG}, // DLPF_CFG[2:0] = 111;
{0x18, MPU6500_GYRO_CONFIG}, // +-2000dps
{0x08, MPU6500_ACCEL_CONFIG}, // +-4G
{0x48, MPU6500_ACCEL_CONFIG_2}, // Set Acc Data Rates
{0x10, MPU6500_INT_PIN_CFG}, // Set INT_ANYRD_2CLEAR
{0x10, MPU6500_INT_ENABLE}, //
{0x4D, MPU6500_I2C_MST_CTRL}, // I2C Speed 400 kHz
};
MPU6500_InitData[5][0] = MPUx->MPU_Gyr_FullScale; // MPU6500_GYRO_CONFIG
MPU6500_InitData[4][0] = MPUx->MPU_Gyr_LowPassFilter; // MPU6500_CONFIG
MPU6500_InitData[6][0] = MPUx->MPU_Acc_FullScale; // MPU6500_ACCEL_CONFIG
MPU6500_InitData[7][0] = MPUx->MPU_Acc_LowPassFilter; // MPU6500_ACCEL_CONFIG_2
for(uint8_t i = 0; i < MPU6500_InitRegNum; i++) {
MPU6500_WriteReg(MPU6500_InitData[i][1], MPU6500_InitData[i][0]);
Delay_1ms(1);
}
status = MPU6500_Check();
if(status != SUCCESS)
return ERROR;
Delay_10ms(1);
MPU6500_SetSpeed(SPIx_SPEED_HIGH);
Delay_10ms(1);
return SUCCESS;
}
/*====================================================================================================*/
int main( void )
{
uint8_t Count = 0;
uint8_t State = 0;
GPIO_Config();
SF595_Config();
SF595_Init();
while(1) {
nrf_gpio_pin_toggle(LED_1);
nrf_gpio_pin_toggle(LED_2);
Delay_10ms(10);
Count++;
switch(State) {
case 0:
if (Count == 8) {
SF595_Shift(0);
State = 1;
}
else {
SF595_Shift(0);
}
break;
case 1:
if (Count == 16) {
SF595_Shift(1);
State = 2;
}
else {
SF595_Shift(1);
}
break;
case 2:
for(; State>0; State--) {
SF595_SendByte(0x00);
Delay_100ms(2);
SF595_SendByte(0xFF);
Delay_100ms(2);
}
Count = 0;
break;
}
}
}
/*=====================================================================================================*/
int main( void )
{
GPIO_Config();
PWM_Config();
ADC_Config();
TIM_Config();
while(1) {
if(KEY_WU==1){
while(KEY_WU==1);
Kp+=1;
if(Kp>=20) Kp = 0;
Delay_10ms(2);
}
if(KEY_BO==1){
while(KEY_BO==1);
Kd+=0.1;
if(Kd>=5) Kd = 0;
Delay_10ms(2);
}
}
}
/*====================================================================================================*/
int main( void )
{
GPIO_Config();
nrf_gpio_pin_clear(LED_1);
nrf_gpio_pin_set(LED_2);
nrf_gpio_pin_set(LED_3);
nrf_gpio_pin_set(LED_4);
Delay_100ms(10);
while(1) {
while(nrf_gpio_pin_read(KEY_1) == 0) {
nrf_gpio_pin_toggle(LED_1);
Delay_10ms(8);
}
while(nrf_gpio_pin_read(KEY_2) == 0) {
nrf_gpio_pin_toggle(LED_2);
Delay_10ms(8);
}
while(nrf_gpio_pin_read(KEY_3) == 0) {
nrf_gpio_pin_toggle(LED_3);
Delay_10ms(8);
}
while(nrf_gpio_pin_read(KEY_4) == 0) {
nrf_gpio_pin_toggle(LED_4);
Delay_10ms(8);
}
nrf_gpio_pin_toggle(LED_1);
nrf_gpio_pin_toggle(LED_2);
Delay_10ms(8);
nrf_gpio_pin_toggle(LED_2);
nrf_gpio_pin_toggle(LED_4);
Delay_10ms(8);
nrf_gpio_pin_toggle(LED_4);
nrf_gpio_pin_toggle(LED_3);
Delay_10ms(8);
nrf_gpio_pin_toggle(LED_3);
nrf_gpio_pin_toggle(LED_1);
Delay_10ms(8);
}
}
/*=====================================================================================================*/
int main( void )
{
SystemInit();
GPIO_Config();
if(KEY_BO == 1) {
IAP_Init();
IAP_Download();
Delay_10ms(10);
IAP_JumpToApp();
}
else {
if(((*(vu32*)(IAP_APP_ADDR)) & 0x2FFE0000 ) == 0x20000000)
IAP_JumpToApp();
}
while(1) {
}
}
int main( void )
{
uint8_t state = 0;
uint32_t i = PWM_MIN;
System_Init();
while(1) {
i = (state) ? (i - 1) : (i + 1);
PWM = i;
if(i == PWM_MAX){ state = 1; }
if(i == PWM_MIN){ state = 0; Delay_1ms(1000);}
LED_R_Toggle();
LED_G_Toggle();
LED_B_Toggle();
Delay_10ms(4);
}
}
/*=====================================================================================================*/
int main(void)
{
u8 Sta = ERROR;
FSM_Mode FSM_State = FSM_Rx;
/* System Init */
System_Init();
test_printf();
/* Throttle Config */
if (KEY == 1) {
LED_B = 0;
Motor_Control(PWM_MOTOR_MAX, PWM_MOTOR_MAX, PWM_MOTOR_MAX, PWM_MOTOR_MAX);
}
while (KEY == 1);
LED_B = 1;
Motor_Control(PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN);
/* nRF Check */
while (Sta == ERROR)
Sta = nRF_Check();
/* Sensor Init */
if (Sensor_Init() == SUCCESS)
LED_G = 0;
Delay_10ms(10);
/* Systick Config */
if (SysTick_Config(SystemCoreClock / SampleRateFreg)) { // SampleRateFreg = 500 Hz
while (1);
}
/* Wait Correction */
while (SensorMode != Mode_Algorithm);
/* Lock */
LED_R = 1;
LED_G = 1;
LED_B = 1;
while (!KEY) {
LED_B = ~LED_B;
Delay_10ms(1);
Transport_Send(TxBuf[0]);
printf("Roll%d,Pitch%d,Yaw%d,CH1 %u(%d),CH2 %u(%d),CH3 %u(%d),CH4 %u(%d),CH5 %u()\r\n",
(int)AngE.Roll, (int)AngE.Pitch, (int)AngE.Yaw,
PWM1_InputCaptureValue, global_rc_roll,
PWM2_InputCaptureValue, global_rc_pitch,
PWM3_InputCaptureValue, global_rc_thr,
PWM4_InputCaptureValue, global_rc_yaw,
PWM5_InputCaptureValue);
}
LED_B = 1;
/* Final State Machine */
while (1) {
LED_G = ~LED_G;
switch (FSM_State) {
/************************** FSM Tx ****************************************/
case FSM_Tx:
// FSM_Tx
nRF_TX_Mode();
do {
Sta = nRF_Tx_Data(TxBuf[0]);
} while (Sta == MAX_RT);
// FSM_Tx End
FSM_State = FSM_Rx;
break;
/************************** FSM Rx ****************************************/
case FSM_Rx:
// FSM_Rx
nRF_RX_Mode();
Sta = nRF_Rx_Data(RxBuf[0]);
if (Sta == RX_DR) {
Transport_Recv(RxBuf[0]);
}
// FSM_Rx End
FSM_State = FSM_CTRL;
break;
/************************** FSM CTRL **************************************/
case FSM_CTRL:
// FSM_CTRL
CTRL_FlightControl();
// FSM_CTRL End
FSM_State = FSM_UART;
break;
/************************** FSM UART ***************************************/
case FSM_UART:
// FSM_USART
RS232_VisualScope(USART3, TxBuf[0] + 20, 8);
// FSM_USART End
FSM_State = FSM_DATA;
break;
/************************** FSM DATA **************************************/
case FSM_DATA:
// FSM_DATA
Transport_Send(TxBuf[0]);
// FSM_DATA End
FSM_State = FSM_Tx;
break;
}
}
}
void initRTL8019(void)
{
unsigned char i, rb;
volatile unsigned char *base = (unsigned char *)0x8300;
RTL8019setupPorts();
/*#define nic_write writeRTL
#define nic_read readRTL*/
/*
* Disable NIC interrupts.
*/
cbi(EIMSK, INT5);
/* if(NicReset(base))
return -1;*/
#if 0
/*
* Mask all interrupts and clear any interrupt status flag to set the
* INT pin back to low.
*/
nic_write(NIC_PG0_IMR, 0);
nic_write(NIC_PG0_ISR, 0xff);
/*
* During reset the nic loaded its initial configuration from an
* external eeprom. On the ethernut board we do not have any
* configuration eeprom, but simply tied the eeprom data line to
* high level. So we have to clear some bits in the configuration
* register. Switch to register page 3.
*/
nic_write(NIC_CR, NIC_CR_STP | NIC_CR_RD2 | NIC_CR_PS0 | NIC_CR_PS1);
/*
* The nic configuration registers are write protected unless both
* EEM bits are set to 1.
*/
nic_write(NIC_PG3_EECR, NIC_EECR_EEM0 | NIC_EECR_EEM1);
/*
* Disable sleep and power down.
*/
nic_write(NIC_PG3_CONFIG3, 0);
/*
* Network media had been set to 10Base2 by the virtual EEPROM and
* will be set now to auto detect. This will initiate a link test.
* We don't force 10BaseT, because this would disable the link test.
*/
nic_write(NIC_PG3_CONFIG2, NIC_CONFIG2_BSELB);
/*
* Reenable write protection of the nic configuration registers
* and wait for link test to complete.
*/
nic_write(NIC_PG3_EECR, 0);
/* NutSleep(WAIT500);*/
Delay_10ms(50);
/*
* Switch to register page 0 and set data configuration register
* to byte-wide DMA transfers, normal operation (no loopback),
* send command not executed and 8 byte fifo threshold.
*/
nic_write(NIC_CR, NIC_CR_STP | NIC_CR_RD2);
nic_write(NIC_PG0_DCR, NIC_DCR_LS | NIC_DCR_FT1);
/*
* Clear remote dma byte count register.
*/
nic_write(NIC_PG0_RBCR0, 0);
nic_write(NIC_PG0_RBCR1, 0);
/*
* Temporarily set receiver to monitor mode and transmitter to
* internal loopback mode. Incoming packets will not be stored
* in the nic ring buffer and no data will be send to the network.
*/
nic_write(NIC_PG0_RCR, NIC_RCR_MON);
nic_write(NIC_PG0_TCR, NIC_TCR_LB0);
/*
* Configure the nic's ring buffer page layout.
* NIC_PG0_BNRY: Last page read.
* NIC_PG0_PSTART: First page of receiver buffer.
* NIC_PG0_PSTOP: Last page of receiver buffer.
*/
nic_write(NIC_PG0_TPSR, NIC_FIRST_TX_PAGE);
nic_write(NIC_PG0_BNRY, NIC_STOP_PAGE - 1);
nic_write(NIC_PG0_PSTART, NIC_FIRST_RX_PAGE);
nic_write(NIC_PG0_PSTOP, NIC_STOP_PAGE);
/*
* Once again clear interrupt status register.
*/
nic_write(NIC_PG0_ISR, 0xff);
/*
* Switch to register page 1 and copy our MAC address into the nic.
* We are still in stop mode.
*/
nic_write(NIC_CR, NIC_CR_STP | NIC_CR_RD2 | NIC_CR_PS0);
for(i = 0; i < 6; i++)
nic_write(NIC_PG1_PAR0 + i, mac[i]);
/*
* Clear multicast filter bits to disable all packets.
*/
for(i = 0; i < 8; i++)
nic_write(NIC_PG1_MAR0 + i, 0);
/*
* Set current page pointer to one page after the boundary pointer.
*/
nic_write(NIC_PG1_CURR, NIC_START_PAGE + TX_PAGES);
/*
* Switch back to register page 0, remaining in stop mode.
*/
nic_write(NIC_CR, NIC_CR_STP | NIC_CR_RD2);
/*
* Take receiver out of monitor mode and enable it for accepting
* broadcasts.
*/
nic_write(NIC_PG0_RCR, NIC_RCR_AB);
/*
* Clear all interrupt status flags and enable interrupts.
*/
nic_write(NIC_PG0_ISR, 0xff);
nic_write(NIC_PG0_IMR, NIC_IMR_PRXE | NIC_IMR_PTXE | NIC_IMR_RXEE |
NIC_IMR_TXEE | NIC_IMR_OVWE);
/*
* Fire up the nic by clearing the stop bit and setting the start bit.
* To activate the local receive dma we must also take the nic out of
* the local loopback mode.
*/
nic_write(NIC_CR, NIC_CR_STA | NIC_CR_RD2);
nic_write(NIC_PG0_TCR, 0);
/* NutSleep(WAIT500);*/
Delay_10ms(50);
#endif /* 0 */
NicReset();
debug_print(PSTR("Init controller..."));
nic_write(NIC_PG0_IMR, 0);
nic_write(NIC_PG0_ISR, 0xff);
nic_write(NIC_CR, NIC_CR_STP | NIC_CR_RD2 | NIC_CR_PS0 | NIC_CR_PS1);
nic_write(NIC_PG3_EECR, NIC_EECR_EEM0 | NIC_EECR_EEM1);
nic_write(NIC_PG3_CONFIG3, 0);
nic_write(NIC_PG3_CONFIG2, NIC_CONFIG2_BSELB);
nic_write(NIC_PG3_EECR, 0);
/* Delay(50000);*/
Delay_10ms(200);
nic_write(NIC_CR, NIC_CR_STP | NIC_CR_RD2);
nic_write(NIC_PG0_DCR, NIC_DCR_LS | NIC_DCR_FT1);
nic_write(NIC_PG0_RBCR0, 0);
nic_write(NIC_PG0_RBCR1, 0);
nic_write(NIC_PG0_RCR, NIC_RCR_MON);
nic_write(NIC_PG0_TCR, NIC_TCR_LB0);
nic_write(NIC_PG0_TPSR, NIC_FIRST_TX_PAGE);
nic_write(NIC_PG0_BNRY, NIC_STOP_PAGE - 1);
nic_write(NIC_PG0_PSTART, NIC_FIRST_RX_PAGE);
nic_write(NIC_PG0_PSTOP, NIC_STOP_PAGE);
nic_write(NIC_PG0_ISR, 0xff);
nic_write(NIC_CR, NIC_CR_STP | NIC_CR_RD2 | NIC_CR_PS0);
for(i = 0; i < 6; i++)
nic_write(NIC_PG1_PAR0 + i, mac[i]);
for(i = 0; i < 8; i++)
nic_write(NIC_PG1_MAR0 + i, 0);
nic_write(NIC_PG1_CURR, NIC_START_PAGE + TX_PAGES);
nic_write(NIC_CR, NIC_CR_STP | NIC_CR_RD2);
nic_write(NIC_PG0_RCR, NIC_RCR_AB);
nic_write(NIC_PG0_ISR, 0xff);
nic_write(NIC_PG0_IMR, 0);
nic_write(NIC_CR, NIC_CR_STA | NIC_CR_RD2);
nic_write(NIC_PG0_TCR, 0);
/* Delay(1000000)*/
Delay_10ms(200);
nic_write(NIC_CR, NIC_CR_STA | NIC_CR_RD2 | NIC_CR_PS0 | NIC_CR_PS1);
rb = nic_read(NIC_PG3_CONFIG0);
debug_print8(rb);
switch(rb & 0xC0) {
case 0x00:
debug_print(PSTR("RTL8019AS "));
if(rb & 0x08)
debug_print(PSTR("jumper mode: "));
if(rb & 0x20)
debug_print(PSTR("AUI "));
if(rb & 0x10)
debug_print(PSTR("PNP "));
break;
case 0xC0:
debug_print(PSTR("RTL8019 "));
if(rb & 0x08)
debug_print(PSTR("jumper mode: "));
break;
default:
debug_print(PSTR("Unknown chip "));
debug_print8(rb);
break;
}
if(rb & 0x04)
debug_print(PSTR("BNC\x07 "));
if(rb & 0x03)
debug_print(PSTR("Failed\x07 "));
/* rb = nic_read(NIC_PG3_CONFIG1);
debug_print8(rb);*/
/* NutPrintFormat(0, "IRQ%u ", (rb >> 4) & 7);*/
/* debug_print("IRQ ");
debug_print8((rb >> 4) & 7);*/
rb = nic_read(NIC_PG3_CONFIG2);
debug_print8(rb);
switch(rb & 0xC0) {
case 0x00:
debug_print(PSTR("Auto "));
break;
case 0x40:
debug_print(PSTR("10BaseT "));
break;
case 0x80:
debug_print(PSTR("10Base5 "));
break;
case 0xC0:
debug_print(PSTR("10Base2 "));
break;
}
return;
/* HARD_RESET_RTL8019();*/
// do soft reset
writeRTL( ISR, readRTL(ISR) ) ;
Delay_10ms(5);
writeRTL(CR,0x21); // stop the NIC, abort DMA, page 0
Delay_1ms(2); // make sure nothing is coming in or going out
writeRTL(DCR, DCR_INIT); // 0x58
writeRTL(RBCR0,0x00);
writeRTL(RBCR1,0x00);
writeRTL(RCR,0x04);
writeRTL(TPSR, TXSTART_INIT);
writeRTL(TCR,0x02);
writeRTL(PSTART, RXSTART_INIT);
writeRTL(BNRY, RXSTART_INIT);
writeRTL(PSTOP, RXSTOP_INIT);
writeRTL(CR, 0x61);
Delay_1ms(2);
writeRTL(CURR, RXSTART_INIT);
writeRTL(PAR0+0, MYMAC_0);
writeRTL(PAR0+1, MYMAC_1);
writeRTL(PAR0+2, MYMAC_2);
writeRTL(PAR0+3, MYMAC_3);
writeRTL(PAR0+4, MYMAC_4);
writeRTL(PAR0+5, MYMAC_5);
writeRTL(CR,0x21);
writeRTL(DCR, DCR_INIT);
writeRTL(CR,0x22);
writeRTL(ISR,0xFF);
writeRTL(IMR, IMR_INIT);
writeRTL(TCR, TCR_INIT);
writeRTL(CR, 0x22); // start the NIC
}
/*=====================================================================================================*/
int main( void )
{
u8 Sta = ERROR;
FSM_Mode FSM_State = FSM_Rx;
/* System Init */
System_Init();
/* Throttle Config */
if(KEY == 1) {
LED_B = 0;
Motor_Control(PWM_MOTOR_MAX, PWM_MOTOR_MAX, PWM_MOTOR_MAX, PWM_MOTOR_MAX);
}
while(KEY == 1);
LED_B = 1;
Motor_Control(PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN, PWM_MOTOR_MIN);
/* nRF Check */
while(Sta == ERROR)
Sta = nRF_Check();
/* Sensor Init */
if(Sensor_Init() == SUCCESS)
LED_G = 0;
Delay_10ms(10);
/* Systick Config */
if(SysTick_Config(420000)) { // 168MHz / 420000 = 400Hz = 2.5ms
while(1);
}
/* Wait Correction */
while(SensorMode != Mode_Algorithm);
/* Lock */
LED_R = 1;
LED_G = 1;
LED_B = 1;
while(!KEY) {
LED_B = ~LED_B;
Delay_10ms(1);
Transport_Send(TxBuf[0]);
RS232_VisualScope(USART3, TxBuf[0]+2, 8);
}
LED_B = 1;
/* Final State Machine */
while(1) {
LED_G = ~LED_G;
switch(FSM_State) {
/************************** FSM Tx ****************************************/
case FSM_Tx:
// FSM_Tx
nRF_TX_Mode();
do {
Sta = nRF_Tx_Data(TxBuf[0]);
} while(Sta == MAX_RT);
// FSM_Tx End
FSM_State = FSM_Rx;
break;
/************************** FSM Rx ****************************************/
case FSM_Rx:
// FSM_Rx
nRF_RX_Mode();
Sta = nRF_Rx_Data(RxBuf[0]);
if(Sta == RX_DR) {
Transport_Recv(RxBuf[0]);
}
// FSM_Rx End
FSM_State = FSM_CTRL;
break;
/************************** FSM CTRL **************************************/
case FSM_CTRL:
// FSM_CTRL
CTRL_FlightControl();
// FSM_CTRL End
FSM_State = FSM_UART;
break;
/************************** FSM UART ***************************************/
case FSM_UART:
// FSM_USART
RS232_VisualScope(USART3, TxBuf[0]+2, 8);
// FSM_USART End
FSM_State = FSM_DATA;
break;
/************************** FSM DATA **************************************/
case FSM_DATA:
// FSM_DATA
Transport_Send(TxBuf[0]);
// FSM_DATA End
FSM_State = FSM_Tx;
break;
}
}
}
/*====================================================================================================*/
void ILI9341_Init( void )
{
// Reset
LCD_RST_L;
Delay_100ms(1);
LCD_RST_H;
Delay_10ms(5);
LCD_WriteCmd(0xCB);
LCD_WriteData(0x39);
LCD_WriteData(0x2C);
LCD_WriteData(0x00);
LCD_WriteData(0x34);
LCD_WriteData(0x02);
LCD_WriteCmd(0xCF);
LCD_WriteData(0x00);
LCD_WriteData(0XC1);
LCD_WriteData(0X30);
LCD_WriteCmd(0xE8);
LCD_WriteData(0x85);
LCD_WriteData(0x00);
LCD_WriteData(0x78);
LCD_WriteCmd(0xEA);
LCD_WriteData(0x00);
LCD_WriteData(0x00);
LCD_WriteCmd(0xED);
LCD_WriteData(0x64);
LCD_WriteData(0x03);
LCD_WriteData(0X12);
LCD_WriteData(0X81);
LCD_WriteCmd(0xF7);
LCD_WriteData(0x20);
LCD_WriteCmd(0xC0); // Power control
LCD_WriteData(0x23); // VRH[5:0]
LCD_WriteCmd(0xC1); // Power control
LCD_WriteData(0x10); // SAP[2:0];BT[3:0]
LCD_WriteCmd(0xC5); // VCM control
LCD_WriteData(0x3e); // 對比度調節
LCD_WriteData(0x28);
LCD_WriteCmd(0xC7); // VCM control2
LCD_WriteData(0x86); // --
LCD_WriteCmd(0x36); // Memory Access Control
#ifdef H_VIEW
LCD_WriteData(0x48); // 豎屏
#else
LCD_WriteData(0xE8); // 橫屏
#endif
LCD_WriteCmd(0x3A);
LCD_WriteData(0x55);
LCD_WriteCmd(0xB1);
LCD_WriteData(0x00);
LCD_WriteData(0x18);
LCD_WriteCmd(0xB6); // Display Function Control
LCD_WriteData(0x08);
LCD_WriteData(0x82);
LCD_WriteData(0x27);
LCD_WriteCmd(0xF2); // 3Gamma Function Disable
LCD_WriteData(0x00);
LCD_WriteCmd(0x26); // Gamma curve selected
LCD_WriteData(0x01);
LCD_WriteCmd(0xE0); // Set Gamma
LCD_WriteData(0x0F);
LCD_WriteData(0x31);
LCD_WriteData(0x2B);
LCD_WriteData(0x0C);
LCD_WriteData(0x0E);
LCD_WriteData(0x08);
LCD_WriteData(0x4E);
LCD_WriteData(0xF1);
LCD_WriteData(0x37);
LCD_WriteData(0x07);
LCD_WriteData(0x10);
LCD_WriteData(0x03);
LCD_WriteData(0x0E);
LCD_WriteData(0x09);
LCD_WriteData(0x00);
LCD_WriteCmd(0XE1); // Set Gamma
LCD_WriteData(0x00);
LCD_WriteData(0x0E);
LCD_WriteData(0x14);
LCD_WriteData(0x03);
LCD_WriteData(0x11);
LCD_WriteData(0x07);
LCD_WriteData(0x31);
LCD_WriteData(0xC1);
LCD_WriteData(0x48);
LCD_WriteData(0x08);
LCD_WriteData(0x0F);
LCD_WriteData(0x0C);
LCD_WriteData(0x31);
LCD_WriteData(0x36);
LCD_WriteData(0x0F);
LCD_WriteCmd(0x11); // Exit Sleep
Delay_10ms(12);
LCD_WriteCmd(0x29); // Display on
LCD_WriteCmd(0x2C);
LCD_Clear(BLACK);
LCD_SetBackLight(BLIGHT_DEFAULT);
}