/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
RCC_Configuration();
GPIO_Configuration();
CAN_Configuration();
TIM4_Configuration();
CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
//CAN_ITConfig(CAN2, CAN_IT_FMP0, ENABLE);
USART_Config(USART1);
USART_Cmd(USART1, ENABLE);
USART_Config(UART4);////////Rs232
USART_Cmd(UART4, ENABLE);
//GPIO_ResetBits(GPIOB, GPIO_Pin_8|GPIO_Pin_9);
//GPIO_SetBits(GPIOB, GPIO_Pin_6|GPIO_Pin_7);
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
USART_ITConfig(UART4, USART_IT_RXNE, ENABLE);
NVIC_Configuration();
//USART_ITConfig(USART2, USART_IT_RXNE, DISABLE);
while (1)
{
if(rec_f==1)
{
rec_f=0;
/* TxMessage.ExtId=0x1210;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.IDE=CAN_ID_STD;
TxMessage.DLC=5;
TxMessage.Data[0]=TxBuffer1[1];
TxMessage.Data[1]=TxBuffer1[2];
TxMessage.Data[2]=TxBuffer1[3];
TxMessage.Data[3]=TxBuffer1[4];
TxMessage.Data[4]=TxBuffer1[5];*/
//CAN_Transmit(CAN1, &TxMessage);
//*******USART_ITConfig(USARTy, USART_IT_RXNE, ENABLE); 防止接收太快，导致发送的数据不准确
//UART_OUT(&TxBuffer1[0],6); //用rs485把 初始距离数据传出去
TxMessage.ExtId=0x111214;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.IDE=CAN_ID_EXT;
TxMessage.DLC=8;
for(n=0,m=0;n<6;n++,m++)
{
switch( TxBuffer1[n])
{
case 0x30:TxMessage.Data[m]=0x0;
break;
case 0x31:TxMessage.Data[m]=0x01;
break;
case 0x32:TxMessage.Data[m]=0x02;
break;
case 0x33:TxMessage.Data[m]=0x03;
break;
case 0x34:TxMessage.Data[m]=0x04;
break;
case 0x35:TxMessage.Data[m]=0x05;
break;
case 0x36:TxMessage.Data[m]=0x06;
break;
case 0x37:TxMessage.Data[m]=0x07;
break;
case 0x38:TxMessage.Data[m]=0x08;
break;
case 0x39:TxMessage.Data[m]=0x09;
break;
}
}
CAN_Transmit(CAN1, &TxMessage); //这里是将距离值的1000被传给DSP 通过CAN 比如距离是18.555 传给DSP 是18555
}
}
}
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)
{
while (1);
/* Configuration */
SystemInit();
LED_Configuration();
BUZZ_Configuration();
//ADC_Configuration();
CAN_Configuration();
/****************************µ×Å̳õʼ»¯******************************/
Elmo_Init(elmo, 3);
// PositionPID_Init();
PositionIPD_Init();
MoveLock();
Delay_ms(100);
BLUETOOTH_Configuration();
Delay_ms(100);
Encoder_Clear();
Delay_ms(1000);
MPU6500_init();
TIM1_Configuration();
TIM2_Configuration();
TIM3_Configuration();
TIM4_Configuration();
if (SysTick_Config(SystemCoreClock / 1000)) /* Setup SysTick Timer for 1 msec interrupts */
{
while(1){LED_ON(LED2);}/* Capture error */
}
// IpdAxisX.setpoint = 200;
// IpdAngle.setpoint = 90;
// PidAxisX.setpoint = 200;
// CMDVelocity.X = 10;
// CMDVelocity.Y = 0;
// CMDVelocity.A = 0;//Degree/Second
// Elmo_Write(&elmo[0],0x01,0x01,50);
while (1)
{
if(MPU_FLAG == 1)
{
MPU_FLAG = 0;
}
if(MAPAN_FLAG == 1)
{
MAPAN_FLAG = 0;
// LED_TOGGLE(LED1);
MapanTask();//ÂëÅÌ
}
if(PID_PFLAG ==1)
{
PID_PFLAG = 0;
// PositionPIDCal();
PositionIPDCal();
VelocityTransform();
// LED_TOGGLE(LED2);
}
if (LED_FLAG == 1)
{
LED_FLAG = 0;
// SquareTracking();
// CircleTracking();
// GoBack();
// LED_TOGGLE(LED3);
// SignalTracking();
// angle_print();
// PositionVelocity_print();
}
}
}
int main(void)
{
/*!< At this stage the microcontroller clock setting is already configured,
this i
s done through SystemInit() function which is called from startup
file (startup_stm32f10x_xx.s) before to branch to application main.
To reconfigure the default setting of SystemInit() function, refer to
system_stm32f10x.c file
*/
//GPIO_InitTypeDef GPIO_InitStructure;
//uint32_t irq; //test IRQ
/* System clocks configuration ---------------------------------------------*/
SystemInit();
RCC_Configuration();
/* GPIO configuration ------------------------------------------------------*/
GPIO_Configuration();
GPIO_WriteBit(CANTX_LED, Bit_SET);
GPIO_WriteBit(CANRX_LED, Bit_SET);
GPIO_WriteBit(COMTX_LED, Bit_SET);
GPIO_WriteBit(COMRX_LED, Bit_SET);
GPIO_WriteBit(PWR_LED, Bit_RESET);
GPIO_WriteBit(ALARM_LED, Bit_SET);
GPIO_WriteBit(RUNSTAT_LED, Bit_SET);
GPIO_WriteBit(ETH_RESET, Bit_RESET);//拉低DM9000 nRST, 延时复位启动
DataBase_Init(DevIPAddressTab);
#ifndef TEST
/* com1 configuration ------------------------------------------------------*/
COM1_Configuration();
#ifdef TEST_PARTS
GPIO_WriteBit(CANTX_LED, Bit_RESET);
GPIO_WriteBit(CANRX_LED, Bit_SET);
GPIO_WriteBit(COMTX_LED, Bit_SET);
GPIO_WriteBit(COMRX_LED, Bit_SET);
#endif
printf(" <<<<<<< COM1 config complete <<<<<<<\r\n\r\n");
/* com2 configuration ------------------------------------------------------*/
//COM2_Configuration();
#endif
/* i2c configuration ------------------------------------------------------*/
printf(" >>>>>>> I2C config begin >>>>>>>\r\n");
I2C_Configuration();
#ifdef TEST_PARTS
GPIO_WriteBit(CANTX_LED, Bit_SET);
GPIO_WriteBit(CANRX_LED, Bit_RESET);
GPIO_WriteBit(COMTX_LED, Bit_SET);
GPIO_WriteBit(COMRX_LED, Bit_SET);
#endif
printf(" <<<<<<< I2C config complete <<<<<<<\r\n\r\n");
#ifndef TEST
/* RTC configuration--------------------------------------------------------*/
printf(" >>>>>>> RTC config begin >>>>>>>\r\n");
RTC_Configuration();
#ifdef TEST_PARTS
GPIO_WriteBit(CANTX_LED, Bit_RESET);
GPIO_WriteBit(CANRX_LED, Bit_RESET);
GPIO_WriteBit(COMTX_LED, Bit_SET);
GPIO_WriteBit(COMRX_LED, Bit_SET);
#endif
printf(" <<<<<<< RTC config complete <<<<<<<\r\n\r\n");
#endif
#ifdef CAN_APP
/* can configuration ------------------------------------------------------*/
printf(" >>>>>>> CAN config begin >>>>>>>\r\n");
CAN_Configuration();
#ifdef TEST_PARTS
GPIO_WriteBit(CANTX_LED, Bit_SET);
GPIO_WriteBit(CANRX_LED, Bit_SET);
GPIO_WriteBit(COMTX_LED, Bit_RESET);
GPIO_WriteBit(COMRX_LED, Bit_SET);
#endif
printf(" <<<<<<< CAN config complete <<<<<<<\r\n\r\n");
#endif
#ifndef TEST
/*temperature configuration------------------------------------------------------*/
printf(" >>>>>>> TEMPMEA config begin >>>>>>>\r\n");
TEMPMEA_Confitguration();
#ifdef TEST_PARTS
GPIO_WriteBit(CANTX_LED, Bit_SET);
GPIO_WriteBit(CANRX_LED, Bit_RESET);
GPIO_WriteBit(COMTX_LED, Bit_RESET);
GPIO_WriteBit(COMRX_LED, Bit_SET);
#endif
printf(" <<<<<<< TEMPMEA config complete <<<<<<<\r\n\r\n");
#endif
/* SysTick configuration ------------------------------------------------------*/
printf(" >>>>>>> SysTick config begin >>>>>>>\r\n");
SysTick_Configuration();
#ifdef TEST_PARTS
GPIO_WriteBit(CANTX_LED, Bit_RESET);
GPIO_WriteBit(CANRX_LED, Bit_RESET);
GPIO_WriteBit(COMTX_LED, Bit_RESET);
GPIO_WriteBit(COMRX_LED, Bit_SET);
#endif
printf(" <<<<<<< SysTick config complete <<<<<<<\r\n\r\n");
/* NVIC configuration ------------------------------------------------------*/
printf(" >>>>>>> NVIC config begin >>>>>>>\r\n");
NVIC_Configuration();
#ifdef TEST_PARTS
GPIO_WriteBit(CANTX_LED, Bit_SET);
GPIO_WriteBit(CANRX_LED, Bit_SET);
GPIO_WriteBit(COMTX_LED, Bit_SET);
GPIO_WriteBit(COMRX_LED, Bit_RESET);
#endif
printf(" <<<<<<< NVIC config complete <<<<<<<\r\n\r\n");
/* Update the SysTick IRQ priority should be higher than the Ethernet IRQ */
/* The Localtime should be updated during the Ethernet packets processing */
NVIC_SetPriority (SysTick_IRQn, 1);
/* test IRQ*/
// irq = NVIC_GetPriority(SysTick_IRQn);
// irq = NVIC_GetPriority(ETH_IRQn);
// irq = NVIC_GetPriority(I2C1_ER_IRQn);
// irq = NVIC_GetPriority(I2C1_EV_IRQn);
/* ethernet configuration ------------------------------------------------------*/
//可添加延时, 用以确保DM9000启动时电压满足芯片要求
//"nRST must not go high until after the VDDIO and VDD_CORE supplies are stable" 手册P51
GPIO_WriteBit(ETH_RESET, Bit_SET); //拉高DM9000 nRST, 复位启动
printf(" >>>>>>> ETH config begin >>>>>>>\r\n");
Ethernet_Configuration();
#ifdef TEST_PARTS
GPIO_WriteBit(CANTX_LED, Bit_RESET);
GPIO_WriteBit(CANRX_LED, Bit_SET);
GPIO_WriteBit(COMTX_LED, Bit_RESET);
GPIO_WriteBit(COMRX_LED, Bit_SET);
#endif
printf(" <<<<<<< ETH config complete <<<<<<<\r\n\r\n");
#ifdef WATCHDOG
/* WATCHDOG configuration ------------------------------------------------------*/
IWDG_Configuration();
#endif
//判断是否有以太网链接
if(EthInitState)
{
CommunicationInit();
}
printf(" ******* 输入'$'将触发串口控制台!*******\r\n\r\n");
GPIO_WriteBit(CANTX_LED, Bit_SET);
GPIO_WriteBit(CANRX_LED, Bit_SET);
GPIO_WriteBit(COMTX_LED, Bit_SET);
GPIO_WriteBit(COMRX_LED, Bit_SET);
//启动完成, 进入常规流程
#ifdef _TEST
uint8_t test = 0;
#endif
while (1)
{
Di_PostWork();
LwIP_Periodic_Handle(LocalTime);
Task_Periodic_Handle(LocalTime);
//判断以太网状态, 决定是否要复位以太网
EthStateCheck();
reset_flag = Get_eth_reset_flag();
if(reset_flag == Ethernet_SWRST_FLAG)
Ethernet_SWRST();
else if(reset_flag == Ethernet_HWRST_FLAG)
Ethernet_HWRST();
#ifdef _TEST
//tyh:20130407 eth reset test
if((DiStatus_DI[1].Value != test)&&(DiStatus_DI[1].Value == 1))
{
//eth_reg = ETH_ReadPHYRegister(0x1F, 17);
Ethernet_HWRST();
}
test = DiStatus_DI[1].Value;
#endif
// else
// {
// if( EthLinkCheck() )
// {
// //tyh:20130403 send udp test_message
// if((DiStatus_DI[1].Value != test)&&(DiStatus_DI[1].Value == 1))
// {
// Udp_timing_test();
// }
//
// test = DiStatus_DI[1].Value;
// }
// }
#ifdef WATCHDOG
WDGFeeding();
#endif
}
}
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
RCC_Configuration();
GPIO_Configuration();
CAN_Configuration();
NVIC_Configuration();
//TIM4_Configuration();
//CAN_ITConfig(CAN1, CAN_IT_FMP0, ENABLE);
//CAN_ITConfig(CAN2, CAN_IT_FMP0, ENABLE);
USART_Config(USART1);
USART_Cmd(USART1, ENABLE);
USART_Config(USART3);
USART_Cmd(USART3, ENABLE);
//GPIO_ResetBits(GPIOB, GPIO_Pin_8|GPIO_Pin_9);
//GPIO_SetBits(GPIOB, GPIO_Pin_6|GPIO_Pin_7);
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);
//USART_ITConfig(USART2, USART_IT_RXNE, DISABLE);
while (1)
{
if(send_data_flag==TRUE)
{
send_data_flag=FALSE;
USART_ITConfig(USART1, USART_IT_RXNE, DISABLE);
TxMessage.ExtId=0x111215;
TxMessage.RTR=CAN_RTR_DATA;
TxMessage.IDE=CAN_ID_EXT;
TxMessage.DLC=8;
if(distance_valid_flag==TRUE)
{
TxMessage.Data[0]=0xaa;
}
else
{
TxMessage.Data[0]=0xff;
}
TxMessage.Data[1]=y_bias;
TxMessage.Data[2]=0x00;
TxMessage.Data[3]=0x00;
TxMessage.Data[4]=0x00;
TxMessage.Data[5]=0x00;
TxMessage.Data[6]=0x00;
TxMessage.Data[7]=y_bias;
CAN_Transmit(CAN1, &TxMessage);
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);
}
// for(n=0;n<8;n++)
// {
// TxMessage.Data[n]=RxBuffer1[n];
// }
// CAN_Transmit(CAN1, &TxMessage);
//
// }
}
}
