int main(void)
{
int flag = 0;
TIM2_Init();
InitIO();
while(1)
{
if(tick_1ms >= 5)//500
{
tick_1ms = 0;
flag = !flag;
if(flag == 0)
{
GPIO_SetBits(GPIOA , 0xaaaa);
GPIO_SetBits(GPIOB , 0xaaaa);
GPIO_SetBits(GPIOC , 0xaaaa);
GPIO_SetBits(GPIOD , 0xaaaa);
GPIO_SetBits(GPIOE , 0xaaaa);
GPIO_SetBits(GPIOF , 0xaaaa);
GPIO_SetBits(GPIOG , 0xaaaa);
GPIO_ResetBits(GPIOA , 0x5555);
GPIO_ResetBits(GPIOB , 0x5555);
GPIO_ResetBits(GPIOC , 0x5555);
GPIO_ResetBits(GPIOD , 0x5555);
GPIO_ResetBits(GPIOE , 0x5555);
GPIO_ResetBits(GPIOF , 0x5555);
GPIO_ResetBits(GPIOG , 0x5555);
}else
{
GPIO_ResetBits(GPIOA , 0xaaaa);
GPIO_ResetBits(GPIOB , 0xaaaa);
GPIO_ResetBits(GPIOC , 0xaaaa);
GPIO_ResetBits(GPIOD , 0xaaaa);
GPIO_ResetBits(GPIOE , 0xaaaa);
GPIO_ResetBits(GPIOF , 0xaaaa);
GPIO_ResetBits(GPIOG , 0xaaaa);
GPIO_SetBits(GPIOA , 0x5555);
GPIO_SetBits(GPIOB , 0x5555);
GPIO_SetBits(GPIOC , 0x5555);
GPIO_SetBits(GPIOD , 0x5555);
GPIO_SetBits(GPIOE , 0x5555);
GPIO_SetBits(GPIOF , 0x5555);
GPIO_SetBits(GPIOG , 0x5555);
}
}
}
}
int main(void)
{
delay_init();
GPIOCLKInit();
UserLEDInit();
LCD1602Init();
//IRCtrolInit();
TIM2_Init();
MotorInit();
ServoInit();
RedRayInit();
//USART3Conf(9600);
while(1)
{
if(tick_5ms >= 5)
{
tick_5ms = 0;
tick_200ms++;
if(tick_200ms >= 40)
{
tick_200ms = 0;
LEDToggle(LED_PIN);
}
// continue_time--;//200ms 无接收指令就停车
// if(continue_time == 0)
// {
// continue_time = 1;
// CarStop();
// }
//do something
SearchRun();
if(ctrl_comm_last != ctrl_comm)//指令发生变化
{
ctrl_comm_last = ctrl_comm;
switch(ctrl_comm)
{
case COMM_UP: CarGo();break;
case COMM_DOWN: CarBack();break;
case COMM_LEFT: CarLeft();break;
case COMM_RIGHT: CarRight();break;
case COMM_STOP: CarStop();break;
default : break;
}
Delayms(10);//防抖
LCD1602WriteCommand(ctrl_comm);
}
}
}
}
int main(void)
{
delay_init();
GPIOCLKInit();
UserLEDInit();
//LCD1602Init();
//IRCtrolInit();
TIM2_Init();
MotorInit();
UltraSoundInit();
//RedRayInit();
ServoInit();
while(1)
{
if(tick_5ms >= 5)
{
tick_5ms = 0;
tick_200ms++;
if(tick_200ms >= 40)
{
tick_200ms = 0;
LEDToggle(LED_PIN);
//LCD1602WriteDistance(distance_cm);//更新距离
}
// continue_time--;//200ms 无接收指令就停车
// if(continue_time == 0)
// {
// continue_time = 1;
// CarStop();
// }
//do something
Distance();//计算距离
BarrierProc();
// if(ctrl_comm_last != ctrl_comm)//接收到红外信号
// {
// ctrl_comm_last = ctrl_comm;
// switch(ctrl_comm)
// {
// case COMM_UP: CarGo();break;
// case COMM_DOWN: CarBack();break;
// case COMM_LEFT: CarLeft();break;
// case COMM_RIGHT: CarRight();break;
// case COMM_STOP: CarStop();break;
// default : break;
// }
// LCD1602WriteCommand(ctrl_comm);
// }
}
}
}
int main(void)
{
delay_init();
GPIOCLKInit();
UserLEDInit();
LCD1602Init();
IRCtrolInit();
TIM2_Init();
MotorInit();
ServoInit();
while(1)
{
if(tick_5ms >= 5)
{
tick_5ms = 0;
tick_200ms++;
if(tick_200ms >= 40)
{
tick_200ms = 0;
LEDToggle(LED_PIN);
}
continue_time--;//200ms 无接收指令就停车
if(continue_time == 0)
{
continue_time = 1;
CarStop();
}
//do something
if(ir_rec_flag == 1)//接收到红外信号
{
ir_rec_flag = 0;
switch(ctrl_comm)
{
case COMM_UP: CarGo();break;
case COMM_DOWN: CarBack();break;
case COMM_LEFT: CarLeft();break;
case COMM_RIGHT: CarRight();break;
case COMM_STOP: CarStop();break;
default : break;
}
LCD1602WriteCommand(ctrl_comm);
}
}
}
}
void System_init(void)
{
//系统时钟初始化 内部16M
System_Clock_init();
//串口初始化 9600
UART1_Init();
//串口发送函数绑定
HekrInit(UART1_SendChar);
//16M主频延迟初始化
delay_init(16);
//通过上电次数选择模式 必须先初始化延迟 串口
Bright_ModeInit();
//PWM 初始化
TIM2_Init();
//亮度调整定时器
TIM1_Init();
_asm("rim");
}
void timer2_init(uint32 counter_ms)
{
TIM2_Init(counter_ms);
NVIC_Configuration();
}
//extern s8 CarSTARTFLAG;
void IR_init(void)
{
TIM2_Init();
EXTI0_Init();
}
/****************************************************************************
* 名 称：void TIM2_Config(void)
* 功 能：配置定时器
* 入口参数：无
* 出口参数：无
* 说 明：无
****************************************************************************/
void TIM2_Config(void)
{
TIM2_Init(); //定时器初始化
TIM2_NVIC_Init(); //中断向量表初始化
}
int main(void)
{
float q[4];
u8 tmp_buf[32] = {0};
float test = 0;
static u8 led_on = 0;
RCC_HSE_Configuration();
SysTick_Init();
NVIC_Configuration();
USART1_Config(115200);
LED_Init();
LED3_Flash(2,100);
ANO_TC_I2C2_INIT(0xA6, 400000, 1, 1, 3, 3);
//硬实时
Tim3_Init(500);//0.005s
TIM2_Init(999, 0);
Mpu6050init();
MOT_GPIO_init();
MOT_PWM_init();
Set_PWM(0, 0, 0, 0);
NRF24L01_Init();
while (NRF24L01_Check())
{
LED2_Flash(2,500000);
}
//TX mode
NRF24L01_Mode_Config(4);
PID_Init();
ADC1_Init();
while (1)
{
if (getMpu6050Data == 1)
{
//0.01ms?
Read_Mpu6050();
Mpu6050_Analyze();
getMpu6050Data = 0;
}
if (calculateAngle == 1)//2ms period
{
//0.2ms T
//LED2_ON;
//100us
IMU_Quateration_Update((float)fGYRO_X , (float)fGYRO_Y , (float)fGYRO_Z , (float)fACCEL_X, (float)fACCEL_Y, (float)fACCEL_Z,ypr);
//LED2_OFF;
calculateAngle = 0;
}
if (sendData == 1)//2ms period
{
if(led_on)
{
LED2_OFF;
led_on = 0;
}
else
{
LED2_ON;
led_on = 1;
}
if (NRF24L01_RxPacket(tmp_buf) == 0)
{
//10us
Rc_Data_Analyze(tmp_buf,&Rc_Data);
}
//if wait for the IRQ it need 9ms
//if not wait for IRQ it runtime need 100us*1.2=0.12ms
sendSenser((int16_t)fACCEL_X, (int16_t)fACCEL_Y, (int16_t)fACCEL_Z, (int16_t)fGYRO_X, (int16_t) fGYRO_Y, (int16_t)fGYRO_Z, (int16_t)(ypr[0] * 100), (signed short int)(ypr[1] * 100));
send_wave(32);
//0.14ms run time
sendPwmVoltage(&Rc_Data,(uint16_t)(motor0 / 1000.0 * 100), (uint16_t)(motor1 / 1000.0 * 100), (uint16_t)(motor2 / 1000.0 * 100), (uint16_t)(motor3 / 1000.0 * 100));//0.00003974s
send_wave(32);
sendData = 0;
}
//moveFilterAccData(fACCEL_X, fACCEL_Y, fACCEL_Z, AngleOut);
if (!strcmp(Rc_Data.status, "stop"))
{
Set_PWM(0, 0, 0, 0);
}
else if (!strcmp(Rc_Data.status, "start"))
{
//LED2_ON;
expRoll = Rc_Data.roll;
expPitch = Rc_Data.pitch;
expThro = Rc_Data.throttle;
surRoll = ypr[2];
surPitch = ypr[1];
PID_Set();
Set_PWM(motor0, motor1, motor2, motor3);
//LED2_OFF;
}
////Uart1_Send_PID(320,PID_ROLL.KI,PID_ROLL.KD,1,0,0);
////send_wave(32);
// if (STA == 1)
// {
// receive_Data();
// STA = 0;
// p = 0;
// }
}
}
void TIM2_Init_All(void)
{
TIM2_NVIC_Init();
TIM2_Init();
TIM2_GPIO_RCC_Init();
}
void Encoder_Init(void){
TIM3_Init();
TIM2_Init();
EXTI4_Encoder_Init();
}
/*
*berif: Initialize the encoding module
*param: None
*reval: None
*/
void Init_Encoder(void)
{
TIM2_Init(); //Timer
TIM3_Init(); //Counter(R)
TIM4_Init(); //Counter(L)
}
