/*
********************************************************************************
** 函数名称 ： BSP_Init(void)
** 函数功能 ： 系统初始化
** 输 入 ： 无
** 输 出 ： 无
** 返 回 ： 无
********************************************************************************
*/
void BSP_Init(void)
{
RCC_Configuration();
GPIO_Configuration();
NVIC_Configuration();
SysTick_Configuration();
// USART1_Configuration();
// USART4_Configuration();
TIM1_Configuration();
}
int main(void)
{
// setup SYSCLK
SYSCLK_Configuration();
// setup RCC
RCC_Configuration();
// Remap JTRST so PB4 (red LED) can be used as
GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST , ENABLE);
// setup system tick timer
// SysTick_Configuration();
// set SysTick priority
NVIC_SetPriority (SysTick_IRQn, NVIC_IPR0_PRI_1);
//NVIC->ISER[0] |= (1 << SysTick_IRQn); // enable SysTick int in NVIC
// Configure PB5 (green LED) and PB4 (red LED)
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_4;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
// Configure Timer3 & 4 to be used as push pull alternative function on pins 0 1 8 9
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1 | GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3, ENABLE);
// Setup timers
TIM1_Configuration();
TIM2_Configuration();
TIM3_Configuration();
TIM4_Configuration();
// FreeRTOS initialization
FreeRTOS_Configuration();
// start scheduler
vTaskStartScheduler();
return 0;
}
/*********************************************************************************
*Function : void init(void)
*Description : initiale
*Input : none
*Output : none
*Return : none
*author : lz
*date : 6-December-2014
*Others : none
**********************************************************************************/
void init(void)
{
//disable JTAG-DP,release pin 29(PB3),30(PB4),23(PA15)
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO , ENABLE);
#ifdef DFU_BUILD_ENABLE
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000); // lz
#endif
#ifdef SWD_JTAG_DISABLE
/* Disable the Serial Wire JTAG Debug Port SWJ-DP */
GPIO_PinRemapConfig(GPIO_Remap_SWJ_Disable, ENABLE);
#endif
// Set Systick to 1ms interval, common to all SAM3 variants
if (SysTick_Config(SystemCoreClock / 1000))
{
// Capture error
while (true);
}
/* Configure the SysTick Handler Priority: Preemption priority and subpriority */
NVIC_SetPriority(SysTick_IRQn, SYSTICK_IRQ_PRIORITY);
//digital pin default output low
for (unsigned i = 0; i < FIRST_ANALOG_PIN+TOTAL_ANALOG_PINS; i++)
{
pinMode(i, OUTPUT);
digitalWrite(i, LOW);
}
RTC_Configuration();
DWT_Init();
#ifdef IWDG_RESET_ENABLE
IWDG_Reset_Enable(3 * TIMING_IWDG_RELOAD);
#endif
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
TIM1_Configuration();
TIM_Cmd(TIM1, DISABLE); //定时器关闭
NVIC_DisableIRQ(TIM1_UP_IRQn);
}
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();
}
}
}
