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/* main.c file
編譯環(huán)境：MDK-Lite Version: 4.23
測(cè)試：本程序已在第七實(shí)驗(yàn)室的mini IMU上完成測(cè)試
功能：
1.初始化各個(gè)傳感器，
2.運(yùn)行姿態(tài)解算和高度測(cè)量
3.將解算的姿態(tài)和各個(gè)傳感器的輸出上傳到 MiniIMU AHRS 測(cè)試軟件
4.響應(yīng) PC發(fā)送的命令
------------------------------------*/
/*----------------------------------------------------------------
1/去掉氣壓傳感器數(shù)據(jù)接口
2/保持幀格式
3/數(shù)據(jù)輸出頻率調(diào)整為20hz
4/調(diào)整機(jī)頭方向
5/保留陀螺儀標(biāo)零偏
6/去掉UART1數(shù)據(jù)輸出
7/只輸出姿態(tài)數(shù)據(jù)結(jié)算幀
8/在數(shù)據(jù)融合時(shí)去掉磁力計(jì)的影響
9/上電數(shù)據(jù)即可用,不用等待
----------------------------------------------------------------*/
#include "common.h" //包含所有的驅(qū)動(dòng) 頭文件
//上傳數(shù)據(jù)的狀態(tài)機(jī)
#define REIMU 0x01 //上傳解算的姿態(tài)數(shù)據(jù)
#define REMOV 0x02 //上傳傳感器的輸出
#define REHMC 0x03 //上傳磁力計(jì)的標(biāo)定值
#define Upload_Speed 100 //數(shù)據(jù)上傳速度單位 Hz
#define upload_time (1000000/Upload_Speed) //計(jì)算上傳的時(shí)間。單位為us
int16_t ax, ay, az;
int16_t gx, gy, gz;
int16_t hx, hy, hz;
int32_t Temperature = 0, Pressure = 0, Altitude = 0;
uint32_t system_micrsecond;
int16_t hmcvalue[3];
u8 state= REIMU; //發(fā)送特定幀的狀態(tài)機(jī)
/**************************實(shí)現(xiàn)函數(shù)********************************************
*函數(shù)原型: int main(void)
*功　　能: 主程序
*******************************************************************************/
int main(void)
{
int16_t Math_hz=0;
unsigned char PC_comm; //PC 命令關(guān)鍵字節(jié)
float ypr[3]; // yaw pitch roll
/* 配置系統(tǒng)時(shí)鐘為72M 使用外部8M晶體+PLL*/
//SystemInit();
delay_init(72); //延時(shí)初始化
Initial_LED_GPIO(); //初始化STM32-SDK板子上的LED接口
Initial_PWMLED();
Initial_UART2(115200L);
load_config(); //從flash中讀取配置信息 -->eeprom.c
IIC_Init(); //初始化I2C接口
delay_ms(300); //等待器件上電
//UART1_Put_String("Initialize...\r\n");
IMU_init(); //初始化IMU和傳感器
system_micrsecond=micros();
while(1){ //主循環(huán)
//delay_ms(1); //延時(shí)，不要算那么快。
IMU_getYawPitchRoll(ypr); //姿態(tài)更新
Math_hz++; //解算次數(shù) ++
//-------------上位機(jī)------------------------------
//是否到了更新上位機(jī)的時(shí)間了？
if((micros()-system_micrsecond)>upload_time){
switch(state){
case REIMU:
UART2_ReportIMU((int16_t)(ypr[0]*10.0),(int16_t)(ypr[1]*10.0),
(int16_t)(ypr[2]*10.0),Altitude/10,Temperature,Pressure/10,Math_hz*Upload_Speed);
Math_hz=0;
// state = REMOV; //更改狀態(tài)。
break;
case REMOV:
MPU6050_getlastMotion6(&ax, &ay, &az, &gx, &gy, &gz);
HMC58X3_getlastValues(&hx,&hy,&hz);
UART2_ReportMotion(ax,ay,az,gx,gy,gz,hx,hy,hz);
state = REIMU;
if(HMC5883_calib)state = REHMC; //需要發(fā)送當(dāng)前磁力計(jì)標(biāo)定值
break;
default:
UART2_ReportHMC(HMC5883_maxx,HMC5883_maxy,HMC5883_maxz,
HMC5883_minx,HMC5883_miny,HMC5883_minz,0);//發(fā)送標(biāo)定值
state = REIMU;
break;
}//switch(state)
system_micrsecond=micros(); //取系統(tǒng)時(shí)間單位 us
LED_Change(); //LED1改變亮度
}
//--------------------------------------------------
//處理PC發(fā)送來的命令
if((PC_comm=UART2_CommandRoute())!=0xff)
{
switch(PC_comm){ //檢查命令標(biāo)識(shí)
case Gyro_init: MPU6050_InitGyro_Offset(); break; //讀取陀螺儀零偏
case High_init: break; //氣壓高度清零
case HMC_calib_begin: HMC5883L_Start_Calib(); break; //開始磁力計(jì)標(biāo)定
case HMC_calib: HMC5883L_Save_Calib(); break; //保存磁力計(jì)標(biāo)定
}
}// 處理PC 發(fā)送的命令
}//主循環(huán) while(1) 結(jié)束
} //main
//------------------End of File----------------------------

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/**---------------------------------------------------------------
項(xiàng)目：兩輪自平衡小車(Two-Wheels Auto-Balancing Vechile)
版本：v1.0.0
文件: MotorDriver.c
功能：電機(jī)驅(qū)動(dòng)
作者：flotox@yeah.net
日期：2014.9.5
更新：2014.9.5
----------------------------------------------------------------*/
#include "stm32f10x.h"
#include "MotorDriver.h"
#include "GlobalVars.h"
#define MOTOR_L_IN1_LOW (GPIO_ResetBits(GPIOC, GPIO_Pin_6))
#define MOTOR_L_IN1_HIGH (GPIO_SetBits(GPIOC, GPIO_Pin_6))
#define MOTOR_L_IN2_LOW (GPIO_ResetBits(GPIOA, GPIO_Pin_7))
#define MOTOR_L_IN2_HIGH (GPIO_SetBits(GPIOA, GPIO_Pin_7))
#define MOTOR_R_IN1_LOW (GPIO_ResetBits(GPIOA, GPIO_Pin_8))
#define MOTOR_R_IN1_HIGH (GPIO_SetBits(GPIOA, GPIO_Pin_8))
#define MOTOR_R_IN2_LOW (GPIO_ResetBits(GPIOB, GPIO_Pin_13))
#define MOTOR_R_IN2_HIGH (GPIO_SetBits(GPIOB, GPIO_Pin_13))
/**
* @brief 電機(jī)驅(qū)動(dòng)左輪配置
* @param none
* @retval none
*/
void MotorDriver_L_Config(void){
GPIO_InitTypeDef GPIO_InitStructure ;
TIM_TimeBaseInitTypeDef TIM_BaseInitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/*使能GPIOA、GPIOC、AFIO、TIM8外設(shè)時(shí)鐘*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO | RCC_APB2Periph_TIM8, ENABLE);
/*初始化PA.07端口為Out_PP模式*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*初始化PC.06端口為Out_PP模式*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/*初始化PC.07端口(TIM8_CH2)為AF_PP模式*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOC, &GPIO_InitStructure);
/*定時(shí)器基本配置*/
TIM_BaseInitStructure.TIM_Prescaler = 3-1; //時(shí)鐘預(yù)分頻數(shù)3,TIM8的計(jì)數(shù)時(shí)鐘頻率為24MHz
TIM_BaseInitStructure.TIM_Period = 1000-1; //自動(dòng)重裝載寄存器數(shù)值,PWM2頻率為24MHz/1000=24KHz
TIM_BaseInitStructure.TIM_ClockDivision = 0; //采樣分頻
TIM_BaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上計(jì)數(shù)
TIM_BaseInitStructure.TIM_RepetitionCounter = 0; //重復(fù)寄存器
TIM_TimeBaseInit(TIM8, &TIM_BaseInitStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //PWM1輸出模式
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //使能該通道輸出
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //輸出極性
TIM_OC2Init(TIM8, &TIM_OCInitStructure); //按指定參數(shù)初始化
TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable); //使能TIM8在CCR2上的預(yù)裝載寄存器
TIM_ARRPreloadConfig(TIM8, ENABLE); //使能TIM8在ARR上的預(yù)裝載寄存器
TIM_Cmd(TIM8, ENABLE); //打開TIM8
TIM_CtrlPWMOutputs(TIM8, ENABLE); //PWM輸出使能
}
/**
* @brief 電機(jī)驅(qū)動(dòng)右輪配置
* @param none
* @retval none
*/
void MotorDriver_R_Config(void){
GPIO_InitTypeDef GPIO_InitStructure ;
TIM_TimeBaseInitTypeDef TIM_BaseInitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
/*使能GPIOA、GPIOB、AFIO、TIM1外設(shè)時(shí)鐘*/
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO | RCC_APB2Periph_TIM1, ENABLE);
/*初始化PA.08端口為Out_PP模式*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*初始化PB.13端口為Out_PP模式*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13;
GPIO_Init(GPIOB, &GPIO_InitStructure);
/*初始化PA.09端口(TIM1_CH2)為AF_PP模式*/
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/*定時(shí)器基本配置*/
TIM_BaseInitStructure.TIM_Prescaler = 3-1; //時(shí)鐘預(yù)分頻數(shù)3,TIM1的計(jì)數(shù)時(shí)鐘頻率為24MHz
TIM_BaseInitStructure.TIM_Period = 1000-1; //自動(dòng)重裝載寄存器數(shù)值,PWM2頻率為24MHz/1000=24KHz
TIM_BaseInitStructure.TIM_ClockDivision = 0; //采樣分頻
TIM_BaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上計(jì)數(shù)
TIM_BaseInitStructure.TIM_RepetitionCounter = 0; //重復(fù)寄存器
TIM_TimeBaseInit(TIM1, &TIM_BaseInitStructure);
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //PWM1輸出模式
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //使能該通道輸出
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //輸出極性
TIM_OC2Init(TIM1, &TIM_OCInitStructure); //按指定參數(shù)初始化
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable); //使能TIM1在CCR2上的預(yù)裝載寄存器
TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIM1在ARR上的預(yù)裝載寄存器
TIM_Cmd(TIM1, ENABLE); //打開TIM1
TIM_CtrlPWMOutputs(TIM1, ENABLE); //PWM輸出使能
}
/**
* @brief 左輪電機(jī)正轉(zhuǎn)
* @param none
* @retval none
*/
void MotorDriver_L_Turn_Forward(void){
MOTOR_L_IN1_LOW;
MOTOR_L_IN2_HIGH;
}
/**
* @brief 左輪電機(jī)反轉(zhuǎn)
* @param none
* @retval none
*/
void MotorDriver_L_Turn_Reverse(void){
MOTOR_L_IN1_HIGH;
MOTOR_L_IN2_LOW;
}
/**
* @brief 右輪電機(jī)正轉(zhuǎn)
* @param none
* @retval none
*/
void MotorDriver_R_Turn_Forward(void){
MOTOR_R_IN1_HIGH;
MOTOR_R_IN2_LOW;
}
/**
* @brief 右輪電機(jī)反轉(zhuǎn)
* @param none
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