int main(void)
{
RCC_Configuration(); //配置RCC
initDesireAngles();
TIMER4_Enable(); //定时器4
TIMER4_Configuration(); //配置中断
USART1_GPIO_Config(); //配置GPIO
USART1_NVIC_Config(); //配置中断
USART1_Configuration(); //配置串口1
USART2_GPIO_Config();
USART2_Configuration();
I2C_GPIO_Config(); //配置IIC使用端口
Delayms(10); //延时
Init_MPU6050(); //初始化MPU6050
PWM_Configuration();
while(1)
{
}
//回车
}
void rt_init_thread_entry(void* parameter)
{
/* init board */
// rt_hw_led_init();
I2C_init();
pwm_init();
Init_MPU6050();
HMC5883L_Initialize();
// at_application_init();
#ifdef RT_USING_COMPONENTS_INIT
/* initialization RT-Thread Components */
rt_components_init();
#endif
#ifdef RT_USING_FINSH
finsh_set_device(RT_CONSOLE_DEVICE_NAME);
#endif /* RT_USING_FINSH */
/* Filesystem Initialization */
#if defined(RT_USING_DFS) && defined(RT_USING_DFS_ELMFAT)
/* mount sd card fat partition 1 as root directory */
if (dfs_mount("sd0", "/", "elm", 0, 0) == 0)
{
rt_kprintf("File System initialized!\n");
}
else
rt_kprintf("File System initialzation failed!\n");
#endif /* RT_USING_DFS */
at_application_init();
BT_application_init();
imu_application_init();
}
//----------------------------------------------------------------------------------------------------------------------------------------
// Hauptprogramm
//----------------------------------------------------------------------------------------------------------------------------------------
int main (void)
{
// I2C initialisieren
I2C_LowLevel_Init(I2C1, I2C_Clockspeed , I2C_OwnAddress); // I2C initialisieren -> Kanal 1, clockspeed, Materadresse
// Systick timer initialisieren
InitSysTick(); // SysTick timer initialisieren (Ladewert, Clockspeed)
// Timer2 initialisieren
InitTIM2_PWM(); // Timer 2 initialisieren -> notwendig um PWM Signal auszugeben
// Aktiviere Port C für Motor Polarität
RCC->APB2ENR |= (1UL << 4); // Enable GPIOC
GPIOC->CRL = 0x33333333; // PortC 0..7 als Output -> Output Mode, max speed 50MHz ; General purpose output Open-drain
// MPU-6050 initialisieren
Init_MPU6050();
// Beschleunigungswerte und Drehraten vom MPU-6050 lesen
i2cData[0] = 0x3B;
I2C_Write(I2C1, i2cData, 1, I2C_MPUAddress);
I2C_Read(I2C1, i2cDataRead, 14, I2C_MPUAddress);
// Daten ordnen und abspeichern
accY = ((i2cDataRead[2] << 8) | i2cDataRead[3]);
accZ = ((i2cDataRead[4] << 8) | i2cDataRead[5]);
gyroX = ((i2cDataRead[8] << 8) | i2cData[9]);
//Kalibrierung von accY, accZ und gyroX - Werte wurden in einem Versuch ermittelt
accY = accY - 150;
accZ = accZ - 451.63;
gyroX = gyroX + 273.25;
//Winkel initialisieren
accYangle = (atan2(accY, accZ))*RAD_TO_DEG; // Winkel aus Beschleunigungswerten berechnen
setAngle(accYangle); // Kalman-(Start)Winkel setzen
gyroAngle = accYangle; // Drehratenwinkel initialisieren
compAngle = accYangle; // Komplementärwinkel initialisieren
SysTick->CTRL |= 0x01; // Systick timer einschalten - sonst würde dieser bereits vor der Inittialisierung auslösen
//while-Schleife um auf den Interrupt des Systick timers zu warten
while(1) {
}//while
}//int main
int main(void)
{
int16_t data[9];
int16_t result[3];
int i=0;
SystemInit();
delay_init(72);
GPIO_Configuration();
Initial_UART1(115200L);
I2C_GPIO_Config();
NVIC_Configuration();
delay_ms(10);
Init_MPU6050();
delay_ms(10);
HMC5883L_Init();
delay_ms(10);
IMU_init();
Initial_Timer3();
system_microsec=micros();
while(1)
{
//delay_ms(10);
//if(micros()-system_microsec>upload_time)
{
Read_MPU6050_ACC(&data[0]);
Read_MPU6050_GYRO(&data[3]);
HMC5883L_Read(&data[6]);
IMU_getYawPitchRoll(result,data);
UART1_Put_Char(0xff);
UART1_Put_Char(0xaa);
/*out_int16_t(&data[0]);
out_int16_t(&data[1]);
out_int16_t(&data[2]);
out_int16_t(&data[3]);
out_int16_t(&data[4]);
out_int16_t(&data[5]);
out_int16_t(&data[6]);
out_int16_t(&data[7]);
out_int16_t(&data[8]);
*/
out_int16_t(&result[0]);
out_int16_t(&result[1]);
out_int16_t(&result[2]);
//out_int16_t(&_hlt);
//system_microsec = micros();
}
}
}
int main(){
DDRD = 0xF0;
DDRC = 0x00;
int i=0;
int wifiout = 100; //value to display on chart in Thingspeak.
int16_t xa1, ya1, za1;
int16_t xi1 = 0;
int16_t yi1 = 0;
int16_t zi1 = 0;
//gyro
/*int16_t gyrox, gyroy, gyroz;
int16_t gix = 0; //45
int16_t giy = 0; //47
int16_t giz = 0; //49*/
//declare average calibrated accelerometer values
//initialize calibarition values
//declare accelerometer value strings
usart_init();//initialize usart
//USART_tx_string(test);
i2c_init(); // init I2C interface
_delay_ms(2000); // Wait for 200 ms.
Init_MPU6050(MPU60501); // sensor init
_delay_ms(2000); // Wait for 200 ms.
//snprintf(outs,sizeof(outs),"6050 initialized \n\r");
//USART_tx_string(outs);
//resetting and setting up modes of wifi module
_delay_ms(1000);
snprintf(ATs,sizeof(ATs), "AT+RST\r");
USART_tx_string(ATs);
_delay_ms(2000);
snprintf(ATs,sizeof(ATs), "AT+CIPMODE=0\r");
USART_tx_string(ATs);
_delay_ms(1000);
snprintf(ATs,sizeof(ATs), "AT+CIPMUX=1\r");
USART_tx_string(ATs);
_delay_ms(2000);
//Start infinite loop
while(1){
//grab 3 values, average, and divide by MSB
//now multiplied by 2 because doubles dont want to print. This way at lease we get usabel values.
// read raw X acceleration from fifo
xa1 = MPU6050_signed_readreg(MPU60501,0x3B)+MPU6050_signed_readreg(MPU60501,0x3B)+MPU6050_signed_readreg(MPU60501,0x3B);
xa1 = (2.00*(xa1/3.00))/2048.00;
// read raw Y acceleration from fifo
ya1 = MPU6050_signed_readreg(MPU60501,0x3D)+MPU6050_signed_readreg(MPU60501,0x3D)+MPU6050_signed_readreg(MPU60501,0x3D);
ya1 = (2.00*(ya1/3.00))/2048.00;
// read raw Z acceleration from fifo
za1 = MPU6050_signed_readreg(MPU60501,0x3F)+MPU6050_signed_readreg(MPU60501,0x3F)+MPU6050_signed_readreg(MPU60501,0x3F);
za1 = (2.00*(za1/3.00))/2048.00;
//print out the values
/*snprintf(outs,sizeof(outs),"Xaxis: %2d\n\r", xa1);
USART_tx_string(outs);
snprintf(outs,sizeof(outs),"Yaxis: %2d\n\r", ya1);
USART_tx_string(outs);
snprintf(outs,sizeof(outs),"Zaxis: %2d\n\r", za1);
USART_tx_string(outs);
_delay_ms(1000);*/
if ((za1 == 1) && (xa1 == 0) && (ya1 == 0))
{
wifiout = wifiout; //while flat, keep last mode
}
else if (ya1 == 0)
{
wifiout = 0; //application: to see if phone is in landscape mode, vertical
}
else if (xa1 == 0)
{
wifiout = 100; //application, to see if phone is in portrait mode, horizontal
}
//Send to WIFI MODULE
//every 25 secs
//send code
//za1 = 101;
_delay_ms(100);
snprintf(ATs,sizeof(ATs), "AT+CIPSTART=0,\"TCP\",\"api.thingspeak.com\",80\r");
USART_tx_string(ATs);
_delay_ms(2000);
snprintf(ATs,sizeof(ATs), "AT+CIPSEND=0,125\r");
USART_tx_string(ATs);
_delay_ms(1000);
snprintf(ATs,sizeof(ATs), "GET https://api.thingspeak.com/update?api_key=KX3UE6FR4YHJOFL1&field1=%i HTTP/1.0\n\r", wifiout);
USART_tx_string(ATs);
snprintf(ATs,sizeof(ATs), "\n\r");
while (i < 22)
{
i++; //needed to push data through.
USART_tx_string(ATs);
_delay_ms(1000);
}
i=0;
_delay_ms(100);
}
return 0;
}
