void SYS_INIT(void)
{
LED_INIT();
LED_FLASH();
Moto_Init();
LED_FLASH();
Tim3_Init(500);
Nvic_Init();
Uart1_Init(115200);
ANO_TC_I2C2_INIT(0xA6,400000,1,1,3,3);
MPU6050_Init();
Spi1_Init();
Nrf24l01_Init(MODEL_TX2,40);
if(Nrf24l01_Check())
Uart1_Put_String("NRF24L01 IS OK !\r\n");
else
Uart1_Put_String("NRF24L01 IS NOT OK !\r\n");
ADC1_Init();
FLASH_Unlock();
EE_INIT();
EE_READ_ACC_OFFSET();
EE_READ_GYRO_OFFSET();
EE_READ_PID();
Tim3_Control(1);
}
/*
* 函数名：main
* 描述 : 主函数
* 输入 ：无
* 输出 : 无
*/
int main(void)
{
/* 配置系统时钟为 72M */
SystemInit();
LED_GPIO_Config();
Nvic_Init();
I2C_GPIO_Config();
Delay(0xFFFF);
InitMPU6050();
Delay(0xFFFF);
Init_HMC5883L();
Delay(0xFFFF);
Tim3_Init(2500);
usart1_config();
while(1)
{
if(sentFlag)
{
sentFlag = 0;
UART1_ReportIMU();
}
}
}
void SYS_INIT(void)
{
LED_INIT(); //LED及串口IO 初始化
LED_FLASH(); //LED闪烁
Tim3_Init(500); //中断初始化 //1000=1MS,500=0.5MS
Moto_Init(); //PWM
// Uart1_Init(115200); //串口初始化，飞控上几乎无用
Spi1_Init(); //SPI初始化
Nvic_Init(); //中断初始化
Nrf24l01_Init(MODEL_TX2,40); //2401中断初始化 主发送 通道 40
// if(Nrf24l01_Check()) Uart1_Put_String("NRF24L01 IS OK !\r\n"); //检测2401是否初始化成功
// else Uart1_Put_String("NRF24L01 IS NOT OK !\r\n");
InitMPU6050();
ADC1_Init(); //检测电池电压
FLASH_Unlock(); //保存飞飞控参数
EE_INIT();
EE_READ_ACC_OFFSET();
EE_READ_GYRO_OFFSET();
EE_READ_PID();
PID_ROL.P = PID_PIT.P = 5; //用于初始化pid，如用匿名上位机写入pid，则屏蔽
PID_ROL.D = PID_PIT.D = 0.1;
PID_YAW.P = 0.5;
PID_YAW.D = 0.05;
}
int main(void)
{
int dianya_fly = 0;
SysTick_Init();
Tim3_Init(500);
Nvic_Init();
LED_Init();
ADC1_Init();
USART1_Config(115200);
KEY_Init();
NRF24L01_Init();
while (NRF24L01_Check()) //检查NRF24L01是否在位.要放在设置TX_MODE之前，否则设置的发送地址会变成check中的0XA5 ,将与原接收地址对不上
{
LED2_ON;
LED1_OFF;
printf("no");
}
LED1_ON;
LED2_OFF;
//TX mode
//NRF24L01_TX_Mode();
//NRF24L01_Mode_Config(2);
//RX mode
NRF24L01_Mode_Config(3);
while (1)
{
key = KEY_scan();
if (NRF24L01_RxPacket(tmp_buf) == 0)
{
NRF24L01_TxPacket_AP(rc_buf);
LED1_ON;
if(tmp_buf[0]==0x88 && tmp_buf[1]==0xAE && tmp_buf[2]==0x1C)
{
dianya_fly = tmp_buf[17]<<8|tmp_buf[18];
if(dianya_fly<36 && dianya_fly>20)
{
LED2_ON;
}
}
send_wave(32,tmp_buf);
}
else
{
LED1_OFF;
}
}
}
static void SetupHardware( void )
{
u8 buf[32];
#if 0//debug by karlno
u8 *ptr1,*ptr2,*ptr3,*ptr4;
#endif
GPIO_Config();//针对gpio的一些配置
NVIC_Config();//针对中断向量的一些配置
EXTI_Config();//外部中断配置
#if 0//debug by karlno
Debug("#### 123\n\r");
ptr1=Q_Mallco(200);
ptr2=Q_Mallco(68);
Q_Free(ptr1);
ptr3=Q_Mallco(68);
ptr3=Q_Mallco(68);
while(1);
#endif
Debug("\n\n\n\r************************************\n\r");
Debug("* Q-SYS %s *\n\r",QSYS_VERSION);
Debug("* Start up our dreams! *\n\r");
#if OS_USE_FREERTOS
Debug("* Base on FreeRTOS *\n\r");
#elif OS_USE_UCOS
Debug("* Base on uC/OS *\n\r");
#endif
Debug("* Hardware PID : %d %d *\n\r",QXW_PRODUCT_ID,QXW_LCM_ID);
Debug("* Hardware ID : %X *\n\r",GetHwID());
Debug("* Www.Q-ShareWe.Com *\n\r");
Debug("************************************\n\r\n\r");
M25P16_Init();//spi flash
M25P16_Read_Id(buf);
Debug("SPI Flash ID:\n\r");
DisplayBuf(buf,20,8);
Debug("\n\r");
SPI_Touch_Init();//触摸屏
VsInit();//Vs1003的配置
//sd卡文件系统初始化
if(disk_initialize(0))
{
Debug("Disk Initialize error!\n\r");
}
else
{
Debug("Disk Initialize OK!\n\r");
#if 0//debug
{
FIL fsrc; // file objects
FRESULT res; // FatFs function common result code
UINT br;
u8 *p=Q_Mallco(1024);
u32 time=QW_GetNowTimeMs();
res = f_mount(0,&FS); // 初始化分区结构，它不初始化SD卡
if(res == FR_OK)
{
Debug("\n\nATA mounrt OK, fs_type = %d\n\r",FS.fs_type);
}
else
{
Debug("\nATA mounrt Error!!!\n%d\n\r",res);
}
res = f_open(&fsrc,"1.rar",FA_READ) ;
Debug("Open %d\n\r",res);
while(1)
{
res = f_read(&fsrc,p,fsrc.fsize,&br); // 读文件数据，长度file.fsize，
if(br==0)break;
}
f_close(&fsrc);
Debug("Time Gap:%d\n\r",QW_GetNowTimeMs()-time);
while(1);
}
#endif
FS_Init();
Debug("File system mount OK!\n\r");
Q_DB_SetStatus(Status_FsInitFinish,TRUE,NULL,0);
}
Adc_Init();
Tim2_Init();//用户定时器
Tim3_Init();//背光pwm初始化
Tim4_Init();//用户定时器
Tim5_Init();//用户定时器
USB_SetHw();
USB_Init();
}
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;
// }
}
}
/**************************************************************/
//程 序 名： main()
//开 发 者： MingH
//入口参数： 无
//功能说明： 主函数
//**************************************************************/
int main(void)
{
unsigned char err_code;
RCC_Config(); // 时钟初始化配置
Beep_Init(); // 蜂鸣器初始化配置
Touch_Init();
Pcie_Gpio_Init();
Tim3_Init();
RGB_Init(); //RGB 初始化
RCC_GetClocksFreq(&RCC_ClockFreq);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
USB2Serial_Init(); // 串口初始化配置
Pwm_Init();
Adc_Init();
I2C_GPIO_Configuration();
err_code = LIS3DH_Init();
if (NO_ERROR == err_code)
{
printf("\r\nLIS3DH Init is succeed! \r\n");
}
else
{
printf("\r\nLIS3DH Init is failed! \r\n");
}
RTC_Init(); // RTC 初始化配置
if(SD_Init() == SD_OK) {
printf ("\r\n发现SD卡!\r\n");
}
else {
printf("\r\n没有发现 SD 卡设备! \r\n");
}
printf("\r\n\r\n");
save_sd_detect = SD_Detect(); //初始化SD卡插入状态
SysTick_Delay_ms(500);
TIM_Cmd(TIM1, DISABLE);
TIM_CtrlPWMOutputs(TIM1, DISABLE);
while (1)
{
if(read_sd_detect_flag){
if (save_sd_detect != SD_Detect()){
/* 蜂鸣器响 */
TIM_Cmd(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
sd_detect_change = 1; //SD卡插入状态有变
buzzer_delay = 0;
if (SD_Detect() != SD_NOT_PRESENT){
if(SD_Init() == SD_OK) {
printf ("\r\n发现SD卡!\r\n");
}
else {
printf("\r\n没有发现 SD 卡设备! \r\n");
}
printf("\r\n\r\n");
}
}
save_sd_detect = SD_Detect();
read_sd_detect_flag = 0;
}
Time_Show();
Test_Pcie_Gpio();
Touch_Key_Proc();
if (read_lis3dh_flag){
Collect_Data(ACCdata);
for (i=0; i<3; i++){
if (oldACCdata[i] < ACCdata[i]){
ACCdiff[i] = ACCdata[i] - oldACCdata[i];
}
else{
ACCdiff[i] = oldACCdata[i] - ACCdata[i];
}
}
RGB_Control(ACCdiff[0]<<1, ACCdiff[1]<<1, ACCdiff[2]<<1);
for (i=0; i<3; i++){
oldACCdata[i] = ACCdata[i];
}
read_lis3dh_flag = 0;
}
if (one_second_flag){
printf("X=%d, Y=%d, Z=%d\r\n\r\n", ACCdata[1], ACCdata[0], ACCdata[2]);
Adc_Proc();
one_second_flag = 0;
}
}
}
