/******************************以下finsh中测试函数*****************************/
static void rt_rf_thread_entry(void* parameter)
{
rt_uint8_t buf[TX_ADR_WIDTH] = {0x00};
NRF24L01_Init();
if(NRF24L01_Check()==RT_EOK)
{
rt_kprintf("\r\n RF1 模块初始化成功！\r\n");
}
else
{
rt_kprintf("\r\n RF1 模块不存在！\r\n");
return;
}
RX_Mode();
while (1)
{
if(NRF24L01_RxPacket(buf) == RT_EOK)
{
rt_kprintf("\r\n RF1 接收到数据：\r\n");
{
rt_kprintf((char const*)buf);
}
}
rt_thread_delay(RT_TICK_PER_SECOND/100);
}
}
int main(void)
{
u8 R='b';
delay_init(72); //延时函数初始化
usart1_init(); //串口初始化
NRF24L01_Init(); //初始化NRF24L01
LED();
while(NRF24L01_Check()); //检查NRF24L01是否在位.
while(1)
{
NRF24L01_TX_Mode();
if(USART_GetFlagStatus(USART1, USART_FLAG_RXNE))
{
R =USART_ReceiveData(USART1);
USART_ClearFlag(USART1, USART_FLAG_TC);
USART_SendData(USART1, USART_ReceiveData(USART1));
USART_ClearFlag(USART1, USART_FLAG_RXNE);
}
NRF24L01_TxPacket(&R);
if(R=='a')
GPIO_ResetBits(GPIOE, GPIO_Pin_5); //PE=0,LED亮
if(R=='b')
GPIO_SetBits(GPIOE, GPIO_Pin_5); //PE=1,LED灭
}
}
//设置24L01的模式,TX/RX
//返回值:2,发送模式
// 1,接收模式
u8 Wireless_Mode_Set(void)
{
u8 key,t=0;
LCD_Clear(LGRAY);
NRF24L01_Init(); //初始化NRF24L01
BACK_COLOR=LGRAY;//设置字体为蓝色
POINT_COLOR=BLUE;//设置字体为蓝色
while(NRF24L01_Check())//检测不到24L01
{
POINT_COLOR=RED;//设置字体为红色
Show_Str(60,130,"24L01检测失败",16,0);
delay_ms(500);
Show_Str(60,130,"请检查 ",16,0);
delay_ms(500);
LED0=!LED0;//DS0闪烁
t++;
if(t>5)return 0;//失败了
}
LCD_Fill(60,130,240,160,LGRAY);//清除显示
Load_Gui_Show("","","返回");//加载界面
LCD_Fill(0,0,240,296,LGRAY);//填充灰色
GUI_Draw_Button(40,60,160,40,"设置为发送模式",BLACK);
GUI_Draw_Button(40,140,160,40,"设置为接收模式",BLACK);
while(1)//等待模式选择
{
key=AI_Read_TP(20);//得到触点的状态
if(key)//触摸屏被按下
{
Pen_Point.Key_Reg|=0x80;//标记按下了按键
}else if(Pen_Point.Key_Reg&0X80)//按键松开了
{
if(Pen_Point.Key_Reg&0x03)//不论点动还是滑动,都可以触发
{
if(Is_In_Area(203,300,32,16))//返回按钮按下了
{
Pen_Point.Key_Reg=0;//清除笔状态
return 0;//直接退出
}
if(Is_In_Area(40,60,160,40))//发送模式
{
Pen_Point.Key_Reg=0;//清除笔状态
return 2;
}
if(Is_In_Area(40,140,160,40))//接收模式
{
Pen_Point.Key_Reg=0;//清除笔状态
return 1;//直接退出
}
}
Pen_Point.Key_Reg=0;//清除笔状态
}else delay_ms(1);
t++;
if(t==200)
{
LED0=!LED0;
t=0;
}
}
}
void Sensor_Init(void)
{
Init_State.MPU6050_State = InitMPU6050();
Init_State.NRF2401_State = NRF24L01_Check();
NRF24L01_Mode(1);
MS5611_init();
}
void wpan_init(NRF24L01_CH_TypeDef *init_ch)
{
NRF24L01_Init();
while(NRF24L01_Check());
memcpy(&mych, init_ch, sizeof(NRF24L01_CH_TypeDef));
CH_USE(&mych);
RX_Mode(&ch);
}
void NRF24L01_init(uchar interrupt,uchar check)
{
nrf24l01_init_pins();
if(check!=0)
while(NRF24L01_Check()); // 必须检测到设备才能继续下去
NRF24L01_ConfigReg();
NRF24L01_ConfigMode(MODERX);
if(interrupt!=0)
{
nrf24l01_int_en();
}
}
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;
}
}
}
int main(void)
{
uint32_t counter;
NRF2401_InitTypeDef NRF2401_InitStruct1;
SystemClockSetup(ClockSource_EX50M,CoreClock_100M);
DelayInit();
LED_Init(LED_PinLookup_CHKATOM, kNumOfLED);
UART_DebugPortInit(UART4_RX_C14_TX_C15, 115200);
DisplayCPUInfo();
//配置2401引脚
NRF2401_InitStruct1.CE_GPIO_Instance = PTA_BASE; //CE
NRF2401_InitStruct1.CE_GPIO_Pin = GPIO_Pin_13;
NRF2401_InitStruct1.CS_GPIO_Instance = PTA_BASE; //CS
NRF2401_InitStruct1.CS_GPIO_Pin = GPIO_Pin_14;
NRF2401_InitStruct1.IRQ_GPIO_Instance = PTA_BASE; //IRQ
NRF2401_InitStruct1.IRQ_GPIO_Pin = GPIO_Pin_12;
NRF2401_InitStruct1.DATA_SPI_CSMap = SPI0_PCS0_PA14; //SPI
NRF2401_InitStruct1.DATA_SPI_DataMap = SPI0_SCK_PA15_SOUT_PA16_SIN_PA17;
NRF2401_Init(&NRF2401_InitStruct1);
if(NRF24L01_Check() != NRF_OK)
{
UART_printf("NRF2401 init failed\r\n");
return 1;
}
//先设置为接收模式
NRF2401_SetRXMode();
while(1)
{
if(counter > 20000)
{
NRF2401_SetTXMode(); //设置为发送模式
if(NRF2401_SendData("NRF2401 Test CHK60EVB!") == TX_OK)
{
UART_printf("Send Succ.\r\n");
}
else
{
UART_printf("Send Failed\r\n");
}
NRF2401_SetRXMode(); //设置为接收模式
counter = 0;
}
counter++;
if(NRF2401_RecData(NRF2401RXBuffer) == NRF_OK) //接收到了数据
{
UART_printf("DataRec:%s\r\n",NRF2401RXBuffer); //打印数据
}
}
}
void System_init()
{
delay_init(); //延时函数初始化
uart_init(9600);
dc_moter_init();
LED_Init();
UART3_Init(115200);
NRF24L01_Init(); //初始化NRF24L01
while(NRF24L01_Check()) //检查NRF24L01是否在位.
{
delay_ms(200);
printf("nrf error\n");
}
NRF24L01_RX_Mode();
}
int main()
{
init();
//检测nrf24l01模块连接状况
if(NRF24L01_Check())//检测正常
{
LCD1602_BL_ON()
delay_ms(100);
LCD1602_BL_OFF();
delay_ms(100);
LCD1602_BL_ON()
delay_ms(100);
LCD1602_BL_OFF();
delay_ms(100);
delay_ms(500);
}
else //未检测到nrf24l01模块
{
LCD1602_BL_ON()
delay_ms(100);
LCD1602_BL_OFF();
delay_ms(100);
LCD1602_BL_ON()
delay_ms(100);
LCD1602_BL_OFF();
delay_ms(100);
LCD1602_BL_ON()
delay_ms(100);
LCD1602_BL_OFF();
delay_ms(100);
delay_ms(500);
}
NRF24L01_RX_Mode();
GPIO_SetBits(GPIOB,GPIO_Pin_1);
while(1)
{
if(EXTI_flag)
{
EXTI_flag=0;
Sensor_Status_Dis();
}
}
}
//初始化24L01的IO口
void NRF24L01_Init(uint8_t mode)
{
gpio_out_pp_up_init(GPIOB, GPIO_Pin_7); //NRF24L01_CE初始化
spi_config(); //初始化SPI1
exti_config(GPIOB, 5);
NRF24L01_CE=0; //使能24L01
NRF24L01_CS=1; //SPI片选取消
while(NRF24L01_Check()){
printf("not found NRF24L01\r\n");
delay_ms(500);
}
printf("NRF24L01 init ok\r\n");
if(mode == NRF_RX_MODE){
nrf_state = RX_OK;
NRF24L01_RX_Mode();
}
else{
nrf_state = TX_OK;
NRF24L01_TX_Mode();
}
}
int main (void) {
uint8_t ret = 0x23;
u32IAP_ReadUID(uid);
sn = uid[0] + uid[1] +uid[2] +uid[3];
osKernelInitialize (); // initialize CMSIS-RTOS
// initialize peripherals here
UARTInit(9600); // Initial, then create thread call back.
tidUART = osThreadCreate(osThread(UARTCallback), NULL);
printf("UART initial, UID:%ull\r\n", sn);
if(sn == (2871327760ll))
printf("UID matched:%ull\r\n", sn);
LEDInit(); // Initial, then create thread call back.
tidLED = osThreadCreate (osThread(LEDCallback), NULL);
printf("LED initial\r\n");
NRF24L01_Init();
printf("NRF24L01_Init()\r\n");
ret = NRF24L01_Check();
printf("NRF24L01_Check():%d\r\n", ret);
//txbuf[0]= 0x11;
//NRF24L01_TxPacket(txbuf);
TIM32B1_Square(1, BIT1);
//CLKOUT_ENABLE(CLK_SRC_MAIN, 100); //If it's too fast to watch on OSC, divided it to 100.
//TIM32B0_init();
osKernelStart();// start thread execution
printf("End if main()\r\n");
while(1);
}
int main(void)
{
u16 sta , i=0;
int t = 200;
delay_init(); //延时函数初始化
LED_Init();
LED0 = 0;delay_ms(200); LED0 = 1;
LED1 = 0;delay_ms(200); LED1 = 1;
LED2 = 0;delay_ms(200); LED2 = 1;
LED3 = 0;delay_ms(200); LED3 = 1;
NVIC_Configuration(); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
uart_init(9600); //串口初始化为9600
EXTIX_Init( );
NRF24L01_Init(); //初始化NRF24L01
NRF24L01_RX_Mode();
while(NRF24L01_Check() == 1)//检查NRF24L01是否在位.
{
LED3=!LED3; printf("NRF ERROR!!\r\n");
delay_ms(100 );
}
printf("NRF okk!!\r\n");
sta=NRF24L01_Read_Reg(STATUS); //读取状态寄存器的值
NRF24L01_Write_Reg(WRITE_REG_NRF+STATUS,sta); //清除TX_DS或MAX_RT中断标志
NRF24L01_Write_Reg(FLUSH_RX,0xff);//清除RX FIFO寄存器
TIM2_PWM_Init(999,9); //PWM OUT
TIM3_Int_Init(0xffff,71); //做计时器用
IIC_Init();
InitMPU6050();
Init_HMC5883();
suanfa_GetOrigin(); //初始欧拉角
TIM4_Int_Init(49,7199); //PID调速中断 放在最后初始化，防止打断角度校准
LOCK = 1;
UN_LOCK = 0;
while(1){
if(LOCK)
{
lock();
LED0 = 0;delay_ms(500);LED0 = 1;
Power = 0;
Target_x = 0;
Target_y = 0;
}
if(UN_LOCK)
{
suanfa();
printf("%.2lf %.2lf %.2lf\r\n",EA.Roll,EA.Pitch,EA.Yaw);
// TIM_Cmd(TIM4, ENABLE);
Data_Receive_Anl();
}
// printf("--p\r\n");
}
}
//初始化
char NRF24L01_INIT(void)
{
SPI1_INIT();
return NRF24L01_Check();
}
int main(void)
{
//定义全局变量
u8 key,mode;
u16 t=0;
u8 tmp_buf[33];
//函数初始化
delay_init(); //延时函数初始化
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置中断优先级分组为组2：2位抢占优先级，2位响应优先级
uart_init(115200); //串口初始化为115200
usmart_dev.init(72); //初始化USMART
LED_Init(); //初始化与LED连接的硬件接口
KEY_Init(); //初始化按键
NRF24L01_Init(); //初始化NRF24L01
W25QXX_Init(); //初始化W25Q128
my_mem_init(SRAMIN); //初始化内部内存池
LCD_Init(); //初始化LCD
exfuns_init(); //为fatfs相关变量申请内存
f_mount(fs[0],"0:",1); //挂载SD卡
f_mount(fs[1],"1:",1); //挂载FLASH.
//检查中文字库
while(font_init()) //检查字库
{
LCD_Clear(WHITE); //清屏
POINT_COLOR=RED; //设置字体为红色
LCD_ShowString(30,50,200,16,16,"WarShip STM32");
while(SD_Init()) //检测SD卡
{
LCD_ShowString(30,70,200,16,16,"SD Card Failed!");
delay_ms(200);
LCD_Fill(30,70,200+30,70+16,WHITE);
delay_ms(200);
}
LCD_ShowString(30,70,200,16,16,"SD Card OK");
LCD_ShowString(30,90,200,16,16,"Font Updating...");
key=update_font(20,110,16,"0:");//更新字库
while(key)//更新失败
{
LCD_ShowString(30,110,200,16,16,"Font Update Failed!");
delay_ms(200);
LCD_Fill(20,110,200+20,110+16,WHITE);
delay_ms(200);
}
LCD_ShowString(30,110,200,16,16,"Font Update Success! ");
delay_ms(1500);
LCD_Clear(WHITE);//清屏
}
//检查无线通信
while(NRF24L01_Check())
{
LCD_ShowString(30,130,200,16,16,"NRF24L01 Error");
delay_ms(200);
LCD_Fill(30,130,239,130+16,WHITE);
delay_ms(200);
}
//初始化界面
POINT_COLOR = MAGENTA;
Show_Str(20,20,200,24,"第十一届全国电子",24,0);
Show_Str(80,50,200,24,"设计大赛",24,0);
while(1)
{
//按键扫描
key=KEY_Scan(0);
if(key!=0)
{
LCD_Clear(WHITE);
Show_Str(60,20,200,24,"旋转倒立摆",24,0);
Show_Str(20,50,200,24,"任务1:",24,0);
Show_Str(20,80,200,24,"任务2:",24,0);
Show_Str(20,110,200,24,"任务3:",24,0);
Show_Str(20,140,200,24,"任务4:",24,0);
Show_Str(20,170,200,24,"任务5:",24,0);
Show_Str(20,200,200,24,"任务6:",24,0);
while(1)
{
key=KEY_Scan(0);
//WKUP_PRES 功能:返回主界面
if(key==WKUP_PRES)
{
MUSE_TASK();
}
//KEY1_PRES 功能:执行任务1
else if(key==KEY0_PRES)
{
KEY0_TASK();
}
// //KEY1_PRES 功能:执行任务1
// else if(key==KEY1_PRES)
// {
// mode=1;
// break;
// }
// //KEY2_PRES 功能:执行任务2
// else if(key==KEY2_PRES)
// {
// mode=1;
// break;
// }
// //KEY3_PRES 功能:执行任务3
// else if(key==KEY3_PRES)
// {
// mode=1;
// break;
// }
// //KEY4_PRES 功能:执行任务4
// else if(key==KEY4_PRES)
// {
// mode=1;
// break;
// }
// //KEY5_PRES 功能:执行任务5
// else if(key==KEY5_PRES)
// {
// mode=1;
// break;
// }
// //KEY6_PRES 功能:执行任务6
// else if(key==KEY6_PRES)
// {
// mode=1;
// break;
// }
// //KEY7_PRES 功能:执行任务7
// else if(key==KEY7_PRES)
// {
// mode=1;
// break;
// }
// //KEY8_PRES 功能:执行任务8
// else if(key==KEY8_PRES)
// {
// mode=1;
// break;
// }
//
}
}
t++;
if(t==100)
//LCD_ShowString(10,150,230,16,16,"KEY0:RX_Mode KEY1:TX_Mode"); //闪烁显示提示信息
Show_Str(10,150,230,24,"按任意键进入主菜单",24,0);
if(t==200)
{
LCD_Fill(10,150,240,150+50,WHITE);
t=0;
}
delay_ms(5);
}
}
void NRF24L01_Init(void)
{
SPI1_Init();
NRF24L01_Check();
SetRxMode();
}
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;
// }
}
}
