/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void) {
uint8_t i = 0;
/* SysTick end of count event each 10ms */
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 100);
/* Configure the USB */
USB_Config();
/* Accelerometer Configuration */
Acc_Config();
/* Init push buttons */
STM_EVAL_PBInit(BUTTON_USER, BUTTON_MODE_GPIO);
/* Init LEDs */
STM_EVAL_LEDInit(LED3);
/* Infinite loop */
while (1) {
/* Wait for data ready */
while (DataReady != 0x04) {
}
DataReady = 0x00;
/* Get Data Accelerometer */
Acc_ReadData(AccBuffer);
for (i = 0; i < 3; i++)
AccBuffer[i] /= 100.0f;
// Get mouse info
Mouse_Buffer = USBD_HID_GetPos();
/* Update the cursor position */
if (!mouseZeroPacketOutputted || (Mouse_Buffer[0] != 0 || Mouse_Buffer[1] != 0 || Mouse_Buffer[2] != 0 || Mouse_Buffer[3] != 0))
{
/* Reset the control token to inform upper layer that a transfer is ongoing */
PrevXferComplete = 0;
/* Copy mouse position info in ENDP1 Tx Packet Memory Area*/
USB_SIL_Write(EP1_IN, Mouse_Buffer, 4);
/* Enable endpoint for transmission */
SetEPTxValid(ENDP1 );
}
// We find that the mouse buffer is zero so we know that we have outputted the zero packet
// This means we can stop transferring data
if((Mouse_Buffer[0] == 0 && Mouse_Buffer[1] == 0 && Mouse_Buffer[2] == 0 && Mouse_Buffer[3] == 0))
mouseZeroPacketOutputted = 1;
else
mouseZeroPacketOutputted = 0;
}
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
uint8_t i = 0;
/* SysTick end of count event each 10ms */
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 100);
/* Configure the USB */
USB_Config();
/* Accelerometer Configuration */
Acc_Config();
/* Infinite loop */
while (1)
{
/* Wait for data ready */
while(DataReady !=0x02)
{}
DataReady = 0x00;
/* Get Data Accelerometer */
Acc_ReadData(AccBuffer);
for(i=0;i<3;i++)
AccBuffer[i] /= 100.0f;
/* Get position */
Mouse_Buffer = USBD_HID_GetPos();
/* Update the cursor position */
if((Mouse_Buffer[1] != 0) ||(Mouse_Buffer[2] != 0))
{
/* Reset the control token to inform upper layer that a transfer is ongoing */
PrevXferComplete = 0;
/* Copy mouse position info in ENDP1 Tx Packet Memory Area*/
USB_SIL_Write(EP1_IN, Mouse_Buffer, 4);
/* Enable endpoint for transmission */
SetEPTxValid(ENDP1);
}
}
}
int main(void)
{
int scope1dt,scope1t,scope1s,scope1d,scope1j;
int scope2dt,scope2t,scope2s,scope2d,scope2j;
char znakr;
char znak;
GPIO_InitTypeDef GPIO_str;
uint8_t ii;
uint8_t i = 0;
/* SysTick end of count event each 0,01ms 0,00001*/// 0,01ms -100000
RCC_GetClocksFreq(&RCC_Clocks);
SysTick_Config(RCC_Clocks.HCLK_Frequency / 100000);
/* Accelerometer Configuration */
Acc_Config();
Demo_GyroConfig();
ii = SystemCoreClock; /* This is a way to read the System core clock */
CONF_TIMERS();
CONF_PWMIN();
confI2C();
while(1)
I2C_start();
/////////// Przyciski
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
GPIO_str.GPIO_Pin= GPIO_Pin_4 | GPIO_Pin_5;
GPIO_str.GPIO_Mode=GPIO_Mode_IN;
GPIO_str.GPIO_PuPd=GPIO_PuPd_UP;
GPIO_str.GPIO_Speed=GPIO_Speed_50MHz;
GPIO_Init(GPIOB,&GPIO_str);
ii = 0;
USART2_Init(115200);
GPIO_SetBits(GPIOD, GPIO_Pin_0);
LEFT =3400;
RIGHT=3400;
FRONT=3400;
REAR=3400;
//delay_ms(4000);
while (1)
{
esf=SystemCoreClock/360/(TIM2->CCR2);
esd = (TIM2->CCR1*100);///(TIM2->CCR2);
throttle=(int)(esd*32.0/156.0-1236.0);
esf3=SystemCoreClock/360/(TIM3->CCR2);
if(throttle>6600)
throttle=3400;
esd3 = (TIM3->CCR1*100);///(TIM3->CCR2);
pitch_zadany=(float)(-6.0*esd3/1800.0+100.0)+0.0;
if(pitch_zadany>40 || pitch_zadany<-40)
pitch_zadany=0;
esd4 = (TIM4->CCR1*100);
roll_zadany=(float)(-6.0*esd4/1800.0+100.0);
if(roll_zadany>40 || roll_zadany<-40)
roll_zadany=0;
//esd5 =(TIM8->CCR2*100)/TIM8->CCR1;
//yaw_zadany=(float)(-6.0*esd5/1800.0+100.0);
//if(GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_5)==0)
//flaga=0;
//IMU///////////////////////////////////////////////////////
Acc_ReadData(AccBuffer);
for(i=0;i<3;i++)
AccBuffer[i] /= 100.0f;
acc_x=AccBuffer[0];
acc_y=AccBuffer[1];
acc_z=AccBuffer[2];
Demo_GyroReadAngRate(Buffer);
gyr_x=Buffer[0];
gyr_y=Buffer[1];
gyr_z=Buffer[2];
MadgwickAHRSupdateIMU( -gyr_y*0.01745, gyr_x*0.01745, gyr_z*0.01745, acc_x, acc_y, acc_z);
roll=180/PI*atan2(2*(q2*q3+q0*q1),1-2*(q1*q1+q2*q2));//(q0*q0-q1*q1-q2*q2+q3*q3));
pitch=180/PI*asin(-2*(q1*q3-q0*q2));
yaw=180/PI*atan2(2*(q1*q2+q0*q3),(1-2*(q3*q3+q2*q2)));
scope1=PIDY*1000;//niebieski
scope2=yaw*1000;//czerwony
if(scope1>0)
znak='+';
else
znak='-';
if(scope2>0)
znakr='+';
else
znakr='-';
scope1=abs(scope1);
scope2=abs(scope2);
CZAS_S=(float)CZAS/100000.0;
CZAS=0;
scope1dt=scope1/10000;
scope1t=scope1/1000-scope1dt*10;
scope1s=scope1/100-scope1dt*100-scope1t*10;
scope1d=scope1/10-scope1dt*1000-scope1t*100-scope1s*10;
scope1j=scope1-scope1dt*10000-scope1t*1000-scope1s*100-scope1d*10;
scope2dt=scope2/10000;
scope2t=scope2/1000-scope2dt*10;
scope2s=scope2/100-scope2dt*100-scope2t*10;
scope2d=scope2/10-scope2dt*1000-scope2t*100-scope2s*10;
scope2j=scope2-scope2dt*10000-scope2t*1000-scope2s*100-scope2d*10;
printf("%c%d%d%d%d%d %c%d%d%d%d%d\r\n",znak,scope1dt,scope1t,scope1s,scope1d,scope1j,znakr,scope2dt,scope2t,scope2s,scope2d,scope2j);
/*PIDY=-PIDyawrate(yaw_zadany, yaw);
rollratezadane=PIDroll(roll_zadany, roll);
PIDR=PIDrollrate(rollratezadane, -gyr_y);
speedLeft=(int)((float)throttle+PIDR-PIDY);//throttle+PIDR;
speedRight=(int)((float)throttle-PIDR-PIDY);
pitchratezadane=PIDpitch(pitch_zadany, pitch);
PIDP=PIDpitchrate(pitchratezadane, gyr_x);//float PIDpitchrollrate(float zadana, float aktualna)
speedFront=(int)((float)throttle-PIDP+PIDY);
speedRear=(int)((float)throttle+PIDP+PIDY);
*/
if(speedFront>speedmax)
speedFront=speedmax;
else if(speedFront<speedmin)
speedFront=speedmin;
else
;
if(speedRear>speedmax)
speedRear=speedmax;
else if(speedRear<speedmin)
speedRear=speedmin;
else
;
if(speedLeft>speedmax)
speedLeft=speedmax;
else if(speedLeft<speedmin)
speedLeft=speedmin;
else
;
if(speedRight>speedmax)
speedRight=speedmax;
else if(speedRight<speedmin)
speedRight=speedmin;
else
;
if(throttle>3450)
{
LEFT =(int)speedLeft;
RIGHT=(int)speedRight;
FRONT=3400;//(int)speedFront;
REAR=3400;//(int)speedRear;
}
else
{
LEFT =3400;
RIGHT=3400;
FRONT=3400;
REAR=3400;
}
}
return 0;
}
