void USART1_Init(void)
{
USART1_GPIO_Configuration();
USART1_Configuration();
NVIC_Configuration();
USART_ClearFlag(USART2,USART_FLAG_TC);
}
int main(void)
{
uint8_t colorR =0 ,colorG =0 ,colorB =0 ;
uint8_t colorR_dir =0 ,colorG_dir =0 ,colorB_dir =0 ;
char lcd_text_buff[100];
float GyX =0.0f, GyY =0.0f, GyZ =0.0f;
float X_offset =0.0f,Y_offset =0.0f,Z_offset =0.0f;
uint32_t i=0;
float delay_count=1000.0f;
GPIO_Configuration();
USART1_Configuration();
CANx_Config();
CANx_NVIC_Config();
lcd_init();
lcd_drawBackground(20,60,250);
lcd_drawBGPersimmon(20, 60, 250);
LCD_SetColors(LCD_COLOR_WHITE-1,LCD_COLOR_WHITE);
LCD_SetFont(&Font16x24);
LCD_DisplayStringLine(LINE(1), (uint8_t*)" CAN Bus DEMO ");
DrawNeedle(120,120,60,300.0f,0.0f,200.0f);
while (1)
{
CANx_Transmit();
GPIO_ToggleBits(LED4);
Delay_1us(1000);
}
}
/***********************************************************
* 函数说明：系统硬件初始化函数 *
* 输入： 无 *
* 输出： 无 *
* 调用函数：Port_Init() RCC_Configuration() *
***********************************************************/
void Device_Init(void)
{
RCC_Configuration();
get_sig_cfg_param(1);
PORT_Init();/*此处需要修改 malooei 2012/11/14*/
USART2_Configuration(); /* 用于连接pc */
USART1_Configuration(); /* 用于向光纤传输数据 */
DMA_USART1_Configuration( );
adc1_dma_cfg();
ADC1_Configuration();
//box_tmper_ctrl_init();
#if !USE_PVD_CHECK_POWEROFF
Exti_Init();
#else
Exti_Pvd_Init();
#endif
spi1_cfg4ads8329();
delay_us(500*1000); /* 240ms, cpu最低工作电压为2.0V, ads8329最低工作电压为2.7V, David */
init_ads8329();
TIM3_Configuration();
NVIC_Configuration();
return;
}
//! Initialize the USART
void usartinit() {
RCC_Configuration();
GPIO_Configuration();
USART1_Configuration();
}
//Main Function
int main(void)
{
//RCC_Configurastatic();
GPIO_Configuration();
USART1_Configuration();
LCD_SetColors(0x1188, 0x0000);
LCD_SetFont(&Font8x8);
t_queue = xQueueCreate(1, sizeof(int));
if (!t_queue) {
ReportError("Failed to create t_queue");
while(1);
}
t_mutex = xSemaphoreCreateMutex();
if (!t_mutex) {
ReportError("Failed to create t_mutex");
while(1);
}
prvInit();
//LCD_DisplayStringLine(LCD_LINE_1,text);
//xTaskCreate(usart_text, (char *) "Draw Graph Task", 256,
// NULL, tskIDLE_PRIORITY + 2, NULL);
xTaskCreate(r3d, (char *) "Draw Graph Task", 256,
NULL, tskIDLE_PRIORITY + 2, NULL);
RCC_AHB2PeriphClockCmd(RCC_AHB2Periph_RNG, ENABLE);
RNG_Cmd(ENABLE);
//Call Scheduler
vTaskStartScheduler();
}
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 Init(void)
{
//时钟配置
RCC_Configuration();
NVIC_Configuration();
delay_init(72);
//串口配置
USART1_Configuration();
USART2_Configuration();
USART3_Configuration();
UART4_Configuration();
UART5_Configuration();
USART_ITEnable();
//PWM配置
PWMTIM_Configuration(72000/5,0); //不分频。PWM频率=Freq
//指南针配置
COMPASS_Init();
//舵机配置
SERVOS_Init();
//设置到初始值
PWM_Configuration(MOTOR_Speed);
s3010_SeTAngle(SERVOS_Angle);
}
int main(void)
{
RCC_Configuration();
GPIO_Configuration();
USART1_Configuration();
LED_Initialization();
USART1_puts("Hello World!\r\n");
USART1_puts("Just for STM32F429I Discovery verify USART1 with USB TTL Cable\r\n");
while(1)
{
//LED3_Toggle();
//Recieve
if(USART_GetFlagStatus(USART1, USART_FLAG_RXNE) != RESET){ // == SET
char t = USART_ReceiveData(USART1);
if(t == 'a') LED3_Toggle();
else if(t == 'b') LED4_Toggle();
//Transmitt
while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
USART_SendData(USART1, t);
}
}
while(1); // Don't want to exit
}
/***************************************************************************
Declaration : void init_mcu (void)
Function : Initializes ATmega88 MCU
***************************************************************************/
void init_mcu (void)
{
#ifdef DEBUG
debug();
#endif
/* System Clocks Configuration */
RCC_Configuration();
/* Configure the GPIO ports */
GPIO_Configuration();
/* Configure EXTI Line9 to generate an interrupt on falling edge */
EXTI_Configuration();
/* SPI the GPIO ports */
SPI_Configuration();
/* USART Configuration as SPI */
USART1_Configuration();
/* TIM2 Configuration */
TIM2_Configuration();
/* TIM3 Configuration */
TIM3_Configuration();
/* TIM4 Configuration */
TIM4_Configuration();
/* Configure RTC clock source and prescaler */
RTC_Configuration();
/* NVIC configuration */
NVIC_Configuration();
}
/*! \fn USART_Configuration(void)
* \brief in this function, we need to configure each usart individually, also the usart buf.
*/
void USART_Configuration(void)
{
USART1_Configuration();
// USART2_Configuration();
//USART3_Configuration();
BUF_INIT(1);
// BUF_INIT(2);
}
void BSP_Init (void)
{
RCC_Configuration();
NVIC_Configuration();
USART1_Configuration();
GPIO_Configuration();
//TODO Now temporary comment this code, the official version will open his
// IWDG_Configuration();
}
int main(int argc, char* argv[])
{
int ret;
RCC_Configuration();
LED_Init(LED1);
LED_Init(LED2);
LED_On(LED1);
LED_Off(LED2);
BOOT_Pin_Init();
USART1_Configuration();
#if defined(MULTIFLASH_ENABLE)
probe_flash();
#endif
/* Load Configure Infomation */
load_S2E_Packet_from_storage();
/* Check MAC Address */
check_mac_address();
W5500_SPI_Init();
W5500_Init();
Timer_Configuration();
Net_Conf();
TFTP_init(SOCK_TFTP, socket_buf);
ret = application_update();
if((get_bootpin_Status() == 0) && (ret != TFTP_FAIL)) {
uint32_t tmp;
#if !defined(MULTIFLASH_ENABLE)
tmp = *(volatile uint32_t *)APP_BASE;
#else
tmp = *(volatile uint32_t *)flash.flash_app_base;
#endif
if((tmp & 0xffffffff) != 0xffffffff) {
application_jump();
}
}
while (1) {
do_udp_config(SOCK_CONFIG);
}
}
void USART1_Init(unsigned long baud)
{
u8 MemTestErr;
USART1RecvPtrW = 0;
USART1RecvPtrR = 0;
USART1SendQBoxHost = 0;
USART1SendQBoxTail = 0;
USART1SendQFree = USART1_SEND_MAX_BOX;
USART1_Configuration(baud);
OSQUSART1Index=(OSMEMTcb *)OSMemCreate(OSUSART1MemQ,OS_MEM_USART1_BLK,OS_MEM_USART1_MAX/OS_MEM_USART1_BLK, &MemTestErr);
}
//Main Function
int main(void)
{
prvInit();
RCC_Configuration();
GPIO_Configuration();
USART1_Configuration();
if( STM_EVAL_PBGetState( BUTTON_USER ) )
demoMode = 1;
srand(5566);
xTaskCreate( Uart, (signed char*) "Uart", 128, NULL, tskIDLE_PRIORITY + 1, NULL );
xTaskCreate( GameTask, (signed char*) "GameTask", 128, NULL, tskIDLE_PRIORITY + 1, NULL );
xTaskCreate( GameEventTask1, (signed char*) "GameEventTask1", 128, NULL, tskIDLE_PRIORITY + 1, NULL );
xTaskCreate( GameEventTask2, (signed char*) "GameEventTask2", 128, NULL, tskIDLE_PRIORITY + 1, NULL );
xTaskCreate( GameEventTask3, (signed char*) "GameEventTask3", 128, NULL, tskIDLE_PRIORITY + 1, NULL );
//Call Scheduler
vTaskStartScheduler();
}
/*******************************************************************************
* Function Name : main
* Description : Main program.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
int main(void)
{
u8 res=0;
delay_init();
RCC_Configuration(); // Configure the system clocks
NVIC_Configuration(); // NVIC Configuration
GPIO_Configuration();
// USART3_Configuration();
USART1_Configuration();
Timer_Configuration();
LED_GPIO_Configuration();
LED1_ON;;
Reset_W5500();
WIZ_SPI_Init();
ZC_Init();
WIZ_Config(); // network config & Call Set_network ();
Get_ChipInfo();
presentTime = my_time; // For TCP client's connection request delay
// Start Application
printf("\r\n\r\n------------------------------------------- \r\n");
printf("Loopback using W5500\r\n");
printf("------------------------------------------- ");
// AC_ConfigWifi();
do{
res = Dhcp_Task();
}while(res!=0);
HF_WakeUp();
while(1)
{
HF_Cloudfunc();
}
}
/*
********************************************************************************
** 函数名称 ： main(void)
** 函数功能 ： 主函数
** 输 入 ： 无
** 输 出 ： 无
** 返 回 ： 无
********************************************************************************
*/
int main(void)
{
RCC_Configuration(); //配置RCC
GPIO_Configuration(); //配置GPIO
USART1_Configuration(); //配置串口1
I2C_GPIO_Config(); //配置IIC使用端口
Delayms(10); //延时
Init_MPU3050(); //初始化MPU3050
while(1)
{
READ_MPU3050(); //读取MPU3050数据
DATA_printf(TX_DATA,T_X);//转换X轴数据到数组
Send_data('X'); //发送X轴数
DATA_printf(TX_DATA,T_Y);//转换Y轴数据到数组
Send_data('Y'); //发送Y轴数
DATA_printf(TX_DATA,T_Z);//转换Z轴数据到数组
Send_data('Z'); //发送Z轴数
DATA_printf(TX_DATA,T_T);//转换温度数据到数组
Send_data('T'); //发送温度数据
USART1_SendData(0X0D); //换行
USART1_SendData(0X0A); //回车
Delayms(5); //延时
}
}
void USART1_Configuration(void)
{
USART_InitTypeDef USART_InitStructure;
/* USARTx configuration ------------------------------------------------------*/
/* USARTx configured as follow:
* - BaudRate = 57600 baud
* - Word Length = 8 Bits
* - One Stop Bit
* - No parity
* - Hardware flow control disabled (RTS and CTS signals)
* - Receive and transmit enabled
*/
USART_InitStructure.USART_BaudRate = 57600;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
//START USART
USART_Init(USART1, &USART_InitStructure);
USART_Cmd(USART1, ENABLE);
//Using Interrupt
USART_ClearFlag(USART1, USART_FLAG_TC);
//Enable RX interrupt & Disable TX interrupt
USART_ITConfig(USART1, USART_IT_TXE, DISABLE);
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
/* NVIC Initialization */
NVIC_InitTypeDef NVIC_InitStruct = {
.NVIC_IRQChannel = USART1_IRQn,
.NVIC_IRQChannelPreemptionPriority = 0,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE
};
NVIC_Init(&NVIC_InitStruct);
}
void USART1_puts(char* s)
{
while(*s) {
while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
USART_SendData(USART1, *s);
s++;
}
}
/**************************************************************************************/
int main(void)
{
RCC_Configuration();
GPIO_Configuration();
USART1_Configuration();
LED_Initialization();
USART1_puts("Hello World!\r\n");
USART1_puts("Just for STM32F429I Discovery verify USART1 with USB TTL Cable\r\n");
while(1)
{
//LED4_Toggle();
//Delay_1us(10000);
//USART1_puts(i);
}
}
void init_rs232(void)
{
USART1_RCC_Configuration();
USART1_GPIO_Configuration();
USART1_Configuration();
}
void BSP_Init (void)
{
// Clock Config: HSE 72 MHz
#if __RTC_ENABLE == ON
RTC_Configuration();
#else
RCC_Configuration();
#endif
#if __USART1_ENABLE == ON
// USART1 Config ==> FTDI
USART1_Configuration();
#endif
#if __USART3_ENABLE == ON
// USART3 Config ==> Trypano support card
USART3_Configuration();
#endif
#if __SRAM_ENABLE == OFF && __LED_ENABLE == ON
// LED Config
LED_Configuration();
#endif
#if __SWITCH_ENABLE == ON
// SWITCH Config
SWITCH_Configuration();
#endif
// I2C Config
#if __I2C_ENABLE == ON
I2C_Configuration();
#endif
#if __POT_ENABLE == ON
// Pot / ADC Config
ADC_POT_Configuration();
#endif
#if __USB_ENABLE == ON
//USB Config
USB_Configuration();
#endif
#if __DAC1_ENABLE == ON
//DAC Config and start
DAC1_Configuration();
#endif
#if __SRAM_ENABLE == ON
// RAM Config
SRAM_Configuration();
#endif
#if __SDCARD_ENABLE == ON
// SDCard Config
SDCARD_Configuration();
#endif
#if __DAC2_ENABLE == ON
DAC2_Configuration();
#endif
#if __ADCe1_ENABLE == ON
ADCe1_Configuration();
#endif
}
/*
*@功能 主函数入口
*@参数 空
*@返回 空
*/
int main(void)
{
/*测试变量部分*/
/*******************************************/
uint8_t t=' ';
uint8_t usb_code[6]={0x55,0x7A,0xBB,0x01,0x00,0x01};//下位机反复的向上位机发送此命令，用以建立初始化连接
uint8_t p[6]={0x30,0x31,0x32,0x33,0x34,0x35};
uint8_t hanzi[11];
uint8_t *phz;
uint32_t flash_data;
uint8_t flash_temp[4];
uint8_t status;
uint32_t addr;
uint8_t nChar;
// uint8_t char_buf[50];
// uint8_t count;
uint32_t batt_test=0;
/*********************************************/
//设置中断向量表的位置在 0x5000，即内部flash的前20K
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
SystemTick_Init();
NVIC_Configuration();
//按键初始化
Init_Sw_Key_Io();
Exit_Line_Init();
EXTILine_Mask(EXTI_Line5);
EXTILine_Mask(EXTI_Line8);
EXTILine_Mask(EXTI_Line15);
//长按开机，如果长按不够3m则继续保持关机状态，如果长按3m，则退出停机模式，开机
WKUP_Init();
EXTILine_Unmask(EXTI_Line5);
EXTILine_Unmask(EXTI_Line8);
EXTILine_Unmask(EXTI_Line15);
//如果没有进入停机模式，则开启显示
OLED_WR_Byte(0xAF,OLED_CMD); //开启显示
longpress=0;
stop_flag=0;
SPI_FLASH_Init();
//正常运行后，显示logo
OLED_Init();
SPI_FLASH_Init();
OLED_Clear();
OLED_DrawBMP(32,2,48,4,hui);
OLED_ShowUnite(48,2,"合科技");
//delay_ms(800);
USB_BIT_Init();
//为降低功耗的控制位
/****************************************/
bluetooth_control_Init();
max232_control_Init();
oled_control_Init();
OLED_ON;
buzzer_control_Init();
BUZZER_OFF;
coil_control_Init();
COIL_NO_ACTUATE;
/****************************************/
Init_Timer();
//实时时钟初始化
RTC_init();
//初始化并启动看门狗
//iwdg_init();
//串口1 USB初始化及配置
Uart1_Init();
USART1_Configuration();
//串口2 RFID初始化及配置
Uart2_Init();
USART2_Configuration();
//串口3 bluetooth初始化及配置
Uart3_Init();
USART3_Configuration();
bluetooth_Configuration(); //蓝牙的EN和BRST配置
CLR_BT_EN; //开启蓝牙
ADC_GPIO_Configuration();
ADC_Configuration();
//flash区域指针初始化
//SPI_FLASH_WriteWord(INIT_FLAG,1); //此次下载清flash
SPI_FLASH_WriteWord(INIT_FLAG,0); //此次下载不清flash
if(SPI_FLASH_ReadWord(INIT_FLAG) ==0x01) //当初始化标志等于1，就初始化POINT和ROW
{
mykey_init(); //初始化钥匙操作的头指针 ---如何设定在什么情况下重新设置
}
// OLED_ClearArea(0,4,128,6);
// OLED_ShowUnite(24,4,"初始化蓝牙");
// mac_query_result=bluetooth_mac();
/*延时函数测试*/
/**********************************************/
// GPIO_Configuration();
// while(1)
// {
// GPIO_SetBits(GPIOB,GPIO_Pin_0);
// delay_ms(1000);
// GPIO_ResetBits(GPIOB,GPIO_Pin_0);
// delay_ms(3000);
// }
/**********************************************/
/*OLED测试*/
/**********************************************/
// while(1)
// {
// OLED_Clear();
// OLED_ShowChinese(0,0,0); //中
// OLED_ShowChinese(18,0,1); //景
// OLED_ShowChinese(36,0,2); //园
// OLED_ShowChinese(54,0,3); //电
// OLED_ShowChinese(72,0,4); //子
// OLED_ShowChinese(90,0,5); //科
// OLED_ShowChinese(108,0,6);//技
// OLED_ShowString(0,3,"1.3' OLED TEST");
// //OLED_ShowString(8,2,"ZHONGJINGYUAN");
// //OLED_ShowString(20,4,"2014/05/01");
// OLED_ShowString(0,6,"ASCII:");
// OLED_ShowString(63,6,"CODE:");
// OLED_ShowChar(48,6,t);//显示ASCII字符
// t++;
// if(t>'~')
// t=' ';
// OLED_ShowNum(103,6,t,3,16);//显示ASCII字符的码值
//
// delay_ms(8000);
// //OLED_Clear();
//
// OLED_DrawBMP(0,0,128,8,BMP1); //图片显示(图片显示慎用，生成的字表较大，会占用较多空间，FLASH空间8K以下慎用)
// delay_ms(800);
//
// //OLED_Display_On();
// //delay_ms(800);
//
// OLED_DrawBMP(0,0,128,8,BMP2);
// delay_ms(800);
//
// //OLED_Display_Off();
// //delay_ms(800);
// }
/**********************************************/
/*OLED+字库测试*/
/**********************************************/
// phz="字库";
// hanzi[0]=*phz;
// hanzi[1]=*(phz+1);
// hanzi[2]=*(phz+2);
// hanzi[3]=*(phz+3);
// hanzi[4]=*(phz+4);
//
//
// OLED_ShowChinese(0,0,"汉");
// OLED_ShowChinese(16,0,"字");
//
// OLED_ShowUnite(0,2,"你很不错");
// OLED_ShowUnite(0,4,"ABCDEF");
// OLED_ShowUnite(0,6,"123456");
/**********************************************/
/*
STM32F103C8串口有3个
串口1通过USB接充电器，与上位机PC通信
串口2通过串口读RFID的数据
串口3通过蓝牙与PDA通信
*/
/*串口1 USB测试*/
/**********************************************/
// while(1)
// {
// UART1nSendChar(1,"12345",5);
// delay_ms(1000);
// }
//UART1nSendChar(1,usb_code,6);
//USB_Cheak_init();
//Test_Usb_Data();
// UART1SendwordHex(1, 0x123456);
// UART1nSendChar(1,"汉字",5);
// while(1);
/**********************************************/
/*串口2 RFID测试*/
/**********************************************/
// while(1)
// {
// OLED_ShowUnite(32,2,"RFID");
// delay_ms(1000);
// UART1nSendChar(1,"12345",5);
// //OLED_Clear(); //清屏
// nChar =Read_RfidData(2,Rfid_Buff,0xff);
// m_UB2;
// if(nChar ==5)
// {
// if(Rfid_Buff[0]==0&&Rfid_Buff[1]==0&&Rfid_Buff[2]==0&&Rfid_Buff[3]==0)
// ;
// else //至少有一个不为零
// {
// UART1nSendChar(1,Rfid_Buff,5);
// OLED_ShowNumHex(32,4,Rfid_Buff[0],2,16);
// OLED_ShowNumHex(48,4,Rfid_Buff[1],2,16);
// OLED_ShowNumHex(64,4,Rfid_Buff[2],2,16);
// OLED_ShowNumHex(80,4,Rfid_Buff[3],2,16);
// delay_ms(1000);
// break;
// }
// }
// }
// while(1);
/**********************************************/
/*串口3 bluetooth测试*/
/**********************************************/
// CLR_BT_EN;
// CLR_BT_BRTS;
//
// while(1)
// {
// UART3nSendChar(3,"012345",6);
// delay_ms(1000);
// }
// while(1)
// {
// UART3nSendChar(3,"TTM:MAC-?",9);
// count=UART3GetCount(3);
// UART3nReadChar(3,char_buf,count);
//
//
//
//
// UART1nSendChar(1,char_buf,count);
// delay_ms(1000);
// }
/**********************************************/
/*flash测试*/
/**********************************************/
// SPI_FLASH_WriteWord(AUTHOR_ROW,0x456789);
//
// SPI_FLASH_BufferRead(flash_temp,AUTHOR_ROW,4);
//
// flash_data=SPI_FLASH_ReadWord(AUTHOR_ROW);
// UART1nSendChar(1,flash_temp,4);
//
// OLED_ShowNum(0,6,flash_data,8,16);
//
// //SPI_FLASH_WriteEnable();
// status=SPI_FLASH_ReadStatusReg();
// OLED_ShowNum(112,6,status,1,16);
// SPI_FLASH_BulkErase();
// SPI_FLASH_BufferWrite("98765",0x100002,6);
// SPI_FLASH_BufferRead(p,0x100002,6);
// SPI_FLASH_Write("98765",0x1f0005,6);
// SPI_FLASH_Read(p,0x1f0005,6);
// while(1)
// {
// UART1nSendChar(1,p,6);
// delay_ms(1000);
// }
/**********************************************/
//菜单测试
/**********************************************/
//Main_Lcd_Show(); //主界面显示
//Main_Lcd_Show2();
// mode=1;
//
// OLED_ShowChar(0,0,'A');
//
// OLED_ShowChinese(0,2,"我");
//
// OLED_ShowUnite(0,4,"你很不错");
//
// while(1);
//
// mode=0;
// delay_ms(1000);
//ShowMenu(HsMenu);
// Choose_MenuOp1();
// Choose_MenuOp4();
// Choose_MenuOp4_1();
// Choose_MenuOp4_2();
// Choose_MenuOp4_22();
// Choose_MenuOp4_3();
// Choose_MenuOp4_4();
// Choose_MenuOp5();
// Choose_MenuOp5_1();
// Choose_MenuOp5_3();
// Choose_MenuOp5_4();
// while(1)
// {
// Main_Oled_Time();
// Main_Oled_Power();
// delay_ms(1000);
// }
// while(1);
/**********************************************/
//蜂鸣器测试
/**********************************************/
// while(1)
// {
// BUZZER_OFF;
// delay_ms(1000);
//
// BUZZER_ON;
// delay_ms(1500);
// }
/**********************************************/
//协议测试
/**********************************************/
//OLED_Clear();
// OLED_ShowUnite(32,2,"通信中..");
// OLED_ShowUnite(0,4,"你很不错");
// delay_ms(1000);
// addr=0xFFFF;
// OLED_ShowNumHex(0,6,addr,8,16);
//USB_Cheak_init();
//USB_transmit();
// bluetooth_uart_switch=1;
// Test_Usb_Data();
// while(1);
// SPI_FLASH_WriteWord(AUTHOR_POINT,AUTHOR_START);
// addr= SPI_FLASH_ReadWord(AUTHOR_POINT);
// OLED_ShowNum(0,0,addr,8,16);
/**********************************************/
//ADC测试
/**********************************************/
// while(1)
// {
// OLED_Clear();
// batt_test=ADC_GetConversionValue(ADC1);
// OLED_ShowNum(24,2,batt_test,8,16);
// delay_ms(1000);
// }
//
/**********************************************/
//定时器2测试
/**********************************************/
// GPIO_Configuration();
// GPIO_ResetBits(GPIOB,GPIO_Pin_6);
// delay_ms(10);
// GPIO_SetBits(GPIOB,GPIO_Pin_6);
// g_WaitTimeOut = 0;
// SetTimer(TIMER_TIMEOUT,1,Do_TimeOut,THREE_MIN);
// while(g_WaitTimeOut == 0)
// {
// GPIO_ResetBits(GPIOB,GPIO_Pin_6);
// }
// KillTimer(TIMER_TIMEOUT);
// GPIO_SetBits(GPIOB,GPIO_Pin_6);
// g_WaitTimeOut = 0;
// SetTimer(TIMER_TIMEOUT,10,Do_TimeOut,THREE_MIN);
// while(g_WaitTimeOut == 0)
// {
// nChar =Read_RfidData(2,Rfid_Buff,0xff);
// if(nChar ==5)
// {
// OLED_ShowUnite(32,80,Rfid_Buff);
// ++rfidrow;
// delay_ms(1000);
// for(i=0;i<4;i++)
// {
// for(k =0;k<40;k++)
// msDelay(500);
// WritEDAta(CAIMA_START+8*rfidrow+4+i,Rfid_Buff[i]);
// }
// break;
// }
// }
// KillTimer(TIMER_TIMEOUT);
/**********************************************/
// OLED_ClearArea(0,4,128,6);
// OLED_ShowUnite(24,4,"初始化完成");
// delay_ms(100);
//bluetooth_uart_switch=0;
// for(int iter=0;iter<3;iter++)
// Power_Cheak();
//主循环测试
g_State=ST_IDLE;
while(1)
{
switch (g_State) //g_State是一个全局函数
{
case ST_IDLE: //#define ST_IDLE 0XFF
ST_Idle(); //空闲时做状态检测，可改变g_State
break;
case ST_USB: //#define ST_USB 0XFD
USB_transmit(); //USB传输
break;
// case ST_KEY:
// Key_Trismit(); //读钥匙的RFID，判断是否已经连接上
// break;
case ST_LCDMENU: //#define ST_LCDMENU 0XFA 多选择菜单操作
Choose_MenuOp1();
break;
default:break;
}
}
}
void init(void)
{
SystemInit();
//Setup SystickTimer
if (SysTick_Config(SystemCoreClock / 1000)){ColorfulRingOfDeath();}
GPIO_Configuration();
#ifdef USE_MICROUSB
USBD_Init(&USB_OTG_dev,
USB_OTG_FS_CORE_ID,
&USR_desc,
&USBD_CDC_cb,
&USR_cb);
#endif
#ifdef USE_SDIO
UB_Fatfs_Init();
#endif
#ifdef USE_ADC
ADC_Configuration();
#endif
#ifdef USE_I2C
I2C_Configuration();
#endif
#ifdef USE_SPI
SPI_Configuration();
#endif
#ifdef USE_ENCODER
TIM_encoder_Configuration();
#endif
#ifdef USE_USART1
USART1_Configuration();
#endif
#ifdef USE_USART2
USART2_Configuration();
#endif
#ifdef USE_USART3
USART3_Configuration();
#endif
#ifdef USE_CAN
CAN_Configuration();
#endif
#ifdef USE_PWM
TIM_pwm_Configuration();
#endif
#ifdef USE_EXTI
EXTI_Configuration();
#endif
NVIC_Configuration();
}
int main(void)
{
u8 i;
u8 RecvBuf[32];
u8 SendBuf[32];
u8 offline = 0;
u8 recv_flag = 0;
u32 pd2ms=0,pd20ams=0,pd20bms=0,pd100ms=0;
SystemInit();
RCC_Configuration();
NVIC_Configuration();
GPIO_Configuration();
USART1_Configuration();
dbgPrintf(" Init Ticktack !\r\n");
cycleCounterInit();
SysTick_Config(SystemCoreClock / 1000);
for(i=0;i<2;i++)
{
OP_LED1;OP_LED2;OP_LED3;OP_LED4;
delay_ms(500);
OP_LED1;OP_LED2;OP_LED3;OP_LED4;
delay_ms(500);
}
FilterInit();
controllerInit();
dbgPrintf(" Init eeprom!\r\n");
FLASH_Unlock();
EE_Init();
EE_Read_ACC_GYRO_Offset();
/* 如果PID丢失或者错误，将下面两行注释去掉，重新编译烧写，运行一遍，可将PID还原，然后重新注释，再烧写一遍 */
//EE_Write_PID();
//EE_Write_Rate_PID();
EE_Read_PID();
EE_Read_Rate_PID();
dbgPrintf(" Init adc!\r\n");
ADC_DMA_Init();
dbgPrintf(" Init NRF24L01 !\r\n");
SPI_NRF_Init();
Nrf24l01_Init();
NRF24l01_SetRxMode();
while(Nrf24l01_Check())
{
dbgPrintf("NRF24L01 Fault !\r\n");
delay_ms(500);
}
dbgPrintf("NRF24L01 Is Detected !\r\n");
dbgPrintf("Init MPU6050...\r\n");
IIC_Init();
MPU6050_initialize();
dbgPrintf("Init Motor...\r\n");
Motor_Init();
Motor_SetPwm(0,0,0,0);
pd20bms = TIMIRQCNT + 10*ITS_PER_MS;
while(1)
{
if(TIMIRQCNT>pd2ms + 2*ITS_PER_MS-1) // every 4ms
{
GetEulerAngle();
if(lock_flag==UNLOCK)
AttitudeToMotors(angle.y,angle.x,angle.z);
else
{
MOTOR1=0;
MOTOR2=0;
MOTOR3=0;
MOTOR4=0;
}
Motor_SetPwm(MOTOR1,MOTOR2,MOTOR3,MOTOR4);
pd2ms = TIMIRQCNT;
}
if(TIMIRQCNT>pd20ams + 20*ITS_PER_MS-1) // every 20ms
{
if(NRF24l01_Recv(RecvBuf)>10)
{
if((RecvBuf[RecvBuf[2]+3]==CheckSum(RecvBuf, RecvBuf[2]+3))&&(RecvBuf[0]==0xAA))
{
if(RecvBuf[1]!=0xC0)
OP_LED1;
offline=0;
switch(RecvBuf[1])
{
case 0xC0: //control
Getdesireddata(RecvBuf);
OP_LED2;
break;
case 0x10: //W PID
SetPID(RecvBuf);
break;
case 0x11: //W Attitude
SetAccGyroOffset(RecvBuf);
break;
case 0x12: //W Control offset
break;
case 0x14: //W Rate PID
SetRatePID(RecvBuf);
break;
case 0x20: //R PID
recv_flag = RESEND;
GetPID(SendBuf);
break;
case 0x21: //R Attitude
recv_flag = RESEND;
GetAccGyroOffset(SendBuf);
break;
case 0x22: //R Control offset
break;
case 0x24: //R Rate PID
recv_flag = RESEND;
GetRatePID(SendBuf);
break;
case 0x40: //校准姿态
EnableCalibration();
break;
case 0x41: //校准遥控器零点
break;
default:
break;
}
}
}
pd20ams = TIMIRQCNT;
}
if(TIMIRQCNT>pd20bms + 20*ITS_PER_MS-1) // every 20ms
{
if(recv_flag==0)
GetState(SendBuf);
else
recv_flag--;
NRF_SendData(SendBuf);
OP_LED3;
pd20bms = TIMIRQCNT;
}
if(TIMIRQCNT>pd100ms + 100*ITS_PER_MS-1) // every 100ms
{
if(offline>20)
lock_flag = LOCK;
offline++;
// OP_LED4;
pd100ms = TIMIRQCNT;
}
}
}
/*******************************************************************************
* Function Name : USART_Configuration
* Description : Configures the USART1.
* Input : None
* Output : None
* Return : None
*******************************************************************************/
void USART_Configuration(void)
{
USART1_Configuration();
USART2_300_7E1();
}
/**
* @brief Main program.
* @param None
* @retval None
*/
int main(void)
{
/* Periph clock enable */
RCC_Configuration();
/* Config the LED GPIO */
LED_Configuration();
/* Config the USART1 */
USART1_Configuration();
printf("NOR Flash Init!\n\r");
/* EXMC nor flash init */
EXMC_NorFlash_Init();
/* Read Nor Flash ID and printf */
NOR_ReadID(&NOR_ID);
printf("\n\rNor Flash ID:0x%X 0x%X 0x%X 0x%X\n\r",NOR_ID.Manufacturer_Code,NOR_ID.Device_Code,
NOR_ID.Block_Protection_Indicator,NOR_ID.Block_Protection_Status);
NOR_ReturnToReadMode();
/* Erase the nor flash block to be written data */
Status = NOR_EraseBlock(WRITE_READ_ADDR);
if(NOR_SUCCESS == Status)
{
printf("\n\rErase nor flash block successfully!\n\r");
}
else
{
printf("\n\rErase nor flash block failure!\n\r");
}
/* Whether address cross-border */
if((WRITE_READ_ADDR + BUFFER_SIZE ) > NOR_MAX_ADDRESS)
{
printf("\n\rAddress cross-border\n\r");
GPIO_SetBits(LED_GPIO, LED4_PIN | LED5_PIN);
while(1)
{
}
}
/* Fill WriteBuffer with the specified value */
Fill_Buffer(WriteBuffer, BUFFER_SIZE, 0x1234);
/* Write data to nor flash, WRITE_READ_ADDR: the starting address of the write data */
Status = NOR_WriteBuffer(WriteBuffer, WRITE_READ_ADDR, BUFFER_SIZE);
if(NOR_SUCCESS == Status)
{
printf("\n\rWrite data to nor flash block successfully!\n\r");
}
else
{
printf("\n\rWrite data to nor flash block failure!\n\r");
}
/* Read data from nor flash, WRITE_READ_ADDR: the starting address of the read data*/
NOR_ReadBuffer(ReadBuffer, WRITE_READ_ADDR, BUFFER_SIZE);
/* Read and write data comparison for equality */
WriteReadStatus = 0;
for (Index = 0x00; Index < BUFFER_SIZE; Index++)
{
if (ReadBuffer[Index] != WriteBuffer[Index])
{
WriteReadStatus++;
break;
}
}
printf("\n\rThe result to access the nor flash:\n\r");
if (WriteReadStatus == 0)
{
printf("\n\rAccess nor flash successfully!\n\r");
GPIO_SetBits(LED_GPIO, LED2_PIN | LED3_PIN | LED4_PIN | LED5_PIN);
}
else
{
printf("\n\rAccess nor flash failure!\n\r");
GPIO_SetBits(LED_GPIO, LED2_PIN | LED3_PIN);
}
printf("\n\rPrintf data to be read: \n\r");
printf("\n\r");
for(Index = 0; Index < BUFFER_SIZE; Index++)
{
printf("%X ",ReadBuffer[Index]);
}
while(1)
{
}
}