You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
106 lines
2.4 KiB
106 lines
2.4 KiB
/*********************************************************************************************
|
|
*程序功能：用STM32驱动OLED显示
|
|
*书写时间：2015年5月24日
|
|
*调试结果：
|
|
*********************************************************************************************/
|
|
|
|
#include "stm32f10x.h"
|
|
#include "oled.h"
|
|
#include "mpu6050.h"
|
|
#include "inv_mpu.h"
|
|
#include "inv_mpu_dmp_motion_driver.h"
|
|
#include "dmpKey.h"
|
|
#include "dmpmap.h"
|
|
#include "tim.h"
|
|
#include "systick.h"
|
|
#include "usart.h"
|
|
#include "tim.h"
|
|
#include "encode.h"
|
|
#include "motor.h"
|
|
#include "timh.h"
|
|
#include "app.h"
|
|
#include "remote.h"
|
|
#include "exti.h"
|
|
#include "hcsr04.h"
|
|
|
|
float distance;
|
|
AnglePid AnglePidA;
|
|
SpeedPid SpeedPidA;
|
|
TurnPid TurnPidA;
|
|
extern MPU6050_DMP_PACKET mpu6050_info;
|
|
extern int speed2,speed4;
|
|
extern int Movement;
|
|
extern RC_Ctl_t RC_Ctl;
|
|
extern uint16_t diffcount;
|
|
|
|
void MPU6050_DMP_Init(void);
|
|
|
|
//main函数
|
|
int main(void)
|
|
{
|
|
int num=0;
|
|
uint8_t flag=0;
|
|
AnglePID_Init(&AnglePidA);
|
|
SpeedPID_Init(&SpeedPidA);
|
|
TurnPID_Init(&TurnPidA);
|
|
OLED_Init(); //OLED初始化
|
|
OLED_ShowString(0,0,"hardware init...");
|
|
TIM2_Code_Configuration();
|
|
TIM4_Code_Configuration();
|
|
USARTInit(); //串口1初始化
|
|
MOTOR_configuration();
|
|
MPU6050_DMP_Init();//MPU6050之DMP初始化
|
|
OLED_ShowString(0,0," ");
|
|
OLED_ShowString(36,0,"content");
|
|
OLED_ShowString(0,16,"M2: M4:"); //界面初始化
|
|
OLED_ShowString(0,32,"MPU:");
|
|
OLED_ShowString(0,48,"DIS:");
|
|
OLED_ShowString(85,48,"cm");
|
|
Remote_Init();
|
|
HCSR04_Init();
|
|
TIM1_Configuration();
|
|
while(1)
|
|
{
|
|
|
|
OLED_DispPolarity(24,16,speed2);
|
|
OLED_DispPolarity(88,16,speed4);
|
|
OLED_DispFloat(35,32,mpu6050_info.pitch);//
|
|
OLED_DispInt(87,32,mpu6050_info.gyro[1]);
|
|
distance = HCSR04_WaitToConvert();
|
|
if(RC_Ctl.rc.s1==1)
|
|
{
|
|
if(flag==0)
|
|
{
|
|
OLED_ShowString(32,48," ");
|
|
OLED_ShowString(85,48,"cm");flag++;
|
|
}
|
|
OLED_DispFloat(35,48,distance);//
|
|
}
|
|
else
|
|
{
|
|
flag=0;
|
|
OLED_ShowString(32,48,"DISABLE ");
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
void MPU6050_DMP_Init(void)
|
|
{
|
|
u8 res;
|
|
CT_IIC_Init();//初始化模拟IIC接口
|
|
while(IIC_CheckDevice(MPU6050_Add)==1) //检测MPU6050硬件是否存在
|
|
{
|
|
delay_ms(100);
|
|
OLED_ShowString(1,0,"can't find mpu6050!");
|
|
}
|
|
MPU6050_Init(); //MPU6050初始化
|
|
delay_ms(50);
|
|
while(res = mpu_dmp_init()) //ＤＭＰ初始化
|
|
{
|
|
OLED_ShowString(1,0,"dmplib init failed!");
|
|
MPU6050_Init(); //MPU6050初始化
|
|
delay_ms(50);
|
|
}
|
|
}
|
|
|
|
|