├── .gitignore ├── GUI └── SerialTool.py ├── JLinkSettings.ini ├── LICENSE ├── Listings ├── mrobot.map ├── mrobot_full.map └── startup_stm32f10x_hd.lst ├── Objects ├── mrobot.axf ├── mrobot.hex └── mrobot.lnp ├── README.md ├── RTE ├── Device │ ├── STM32F103RC │ │ ├── RTE_Device.h │ │ ├── startup_stm32f10x_hd.s │ │ ├── stm32f10x_conf.h │ │ └── system_stm32f10x.c │ └── STM32F103VE │ │ ├── RTE_Device.h │ │ ├── startup_stm32f10x_hd.s │ │ ├── stm32f10x_conf.h │ │ └── system_stm32f10x.c └── RTE_Components.h ├── keilkilll.bat ├── mrobot.uvoptx ├── mrobot.uvprojx ├── ros_node └── Serial_node.cpp └── src ├── driver ├── battery.c ├── beep.c ├── boarddrv.c ├── crc.c ├── exti.c ├── led.c ├── motor.c ├── mpu6050 │ ├── eMPL │ │ ├── inv_mpu.c │ │ └── inv_mpu_dmp_motion_driver.c │ ├── mpu6050.c │ └── mpuiic.c ├── protocol.c ├── softdelay.c ├── sonar.c ├── usart.c └── watchdog.c ├── include ├── battery.h ├── beep.h ├── boarddef.h ├── boardfunc.h ├── common.h ├── crc.h ├── dmpKey.h ├── dmpmap.h ├── exti.h ├── filters.h ├── inv_mpu.h ├── inv_mpu_dmp_motion_driver.h ├── led.h ├── motor.h ├── mpu6050.h ├── mpuiic.h ├── protocol.h ├── rpstm32.h ├── softdelay.h ├── sonar.h ├── stm32f10x_it.h ├── sys.h ├── types.h ├── usart.h └── watchdog.h ├── main.c └── utils ├── filters.c ├── hwconf.c └── stm32f10x_it.c /.gitignore: -------------------------------------------------------------------------------- 1 | .DS_Store 2 | *.o 3 | *.d 4 | *.crf 5 | *.dep 6 | *.inp 7 | *.sct 8 | *.htm 9 | *.dbgconf -------------------------------------------------------------------------------- /JLinkSettings.ini: -------------------------------------------------------------------------------- 1 | [BREAKPOINTS] 2 | ForceImpTypeAny = 0 3 | ShowInfoWin = 1 4 | EnableFlashBP = 2 5 | BPDuringExecution = 0 6 | [CFI] 7 | CFISize = 0x00 8 | CFIAddr = 0x00 9 | [CPU] 10 | MonModeVTableAddr = 0xFFFFFFFF 11 | MonModeDebug = 0 12 | MaxNumAPs = 0 13 | LowPowerHandlingMode = 0 14 | OverrideMemMap = 0 15 | AllowSimulation = 1 16 | ScriptFile="" 17 | [FLASH] 18 | CacheExcludeSize = 0x00 19 | CacheExcludeAddr = 0x00 20 | MinNumBytesFlashDL = 0 21 | SkipProgOnCRCMatch = 1 22 | VerifyDownload = 1 23 | AllowCaching = 1 24 | EnableFlashDL = 2 25 | Override = 0 26 | Device="ARM7" 27 | [GENERAL] 28 | WorkRAMSize = 0x00 29 | WorkRAMAddr = 0x00 30 | RAMUsageLimit = 0x00 31 | [SWO] 32 | SWOLogFile="" 33 | [MEM] 34 | RdOverrideOrMask = 0x00 35 | RdOverrideAndMask = 0xFFFFFFFF 36 | RdOverrideAddr = 0xFFFFFFFF 37 | WrOverrideOrMask = 0x00 38 | WrOverrideAndMask = 0xFFFFFFFF 39 | WrOverrideAddr = 0xFFFFFFFF 40 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2017 Ray 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /Objects/mrobot.axf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/mrobot/5f7474090a7d357fdad973d72531111f9844cb04/Objects/mrobot.axf -------------------------------------------------------------------------------- /Objects/mrobot.lnp: -------------------------------------------------------------------------------- 1 | --cpu Cortex-M3 2 | ".\objects\main.o" 3 | ".\objects\battery.o" 4 | ".\objects\beep.o" 5 | ".\objects\boarddrv.o" 6 | ".\objects\crc.o" 7 | ".\objects\led.o" 8 | ".\objects\motor.o" 9 | ".\objects\softdelay.o" 10 | ".\objects\usart.o" 11 | ".\objects\watchdog.o" 12 | ".\objects\exti.o" 13 | ".\objects\sonar.o" 14 | ".\objects\protocol.o" 15 | ".\objects\mpu6050.o" 16 | ".\objects\mpuiic.o" 17 | ".\objects\inv_mpu.o" 18 | ".\objects\inv_mpu_dmp_motion_driver.o" 19 | ".\objects\filters.o" 20 | ".\objects\hwconf.o" 21 | ".\objects\stm32f10x_it.o" 22 | ".\objects\startup_stm32f10x_hd.o" 23 | ".\objects\system_stm32f10x.o" 24 | ".\objects\misc.o" 25 | ".\objects\stm32f10x_adc.o" 26 | ".\objects\stm32f10x_dma.o" 27 | ".\objects\stm32f10x_exti.o" 28 | ".\objects\stm32f10x_gpio.o" 29 | ".\objects\stm32f10x_i2c.o" 30 | ".\objects\stm32f10x_rcc.o" 31 | ".\objects\stm32f10x_tim.o" 32 | ".\objects\stm32f10x_usart.o" 33 | ".\objects\stm32f10x_wwdg.o" 34 | --library_type=microlib --strict --scatter ".\Objects\mrobot.sct" 35 | --summary_stderr --info summarysizes --map --xref --callgraph --symbols 36 | --info sizes --info totals --info unused --info veneers 37 | --list ".\Listings\mrobot.map" -o .\Objects\mrobot.axf -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # mrobot 2 | 3 | ### 主要功能： 4 | 5 | 1.电机控制（PID调速） 6 | 7 | 2.串口通讯（自定义串口通讯协议） 8 | 9 | 3.超声波测距 10 | 11 | 4.电池电量检测（ADC采样） 12 | 13 | 5.蜂鸣器 14 | 15 | 6.三色LED闪烁 16 | 17 | 7.六轴传感器MPU6050 18 | 19 | ### 宏定义: 20 | 21 | _RGB：切换大小RGB-LED灯，全局定义为使用小灯，全局未定义为使用大灯，默认全局未定义 22 | 23 | _TEST：测试按键功能，全局定义为开启测试按键功能，全局未定义为关闭测试按键功能，默认全局定义 24 | 25 | _DOUBLE：编码器开启双精度，全局定义为开启双精度编码器，全局未定义为关闭双精度编码器，默认全局未定义 26 | 27 | _ENABLE_MPU6050：开启MPU6050功能，全局定义为开启6050，全局未定义为关闭6050，默认全局未定义 28 | 29 | _PRINT：串口打印信息功能，全局定义为开启通过串口打印相关信息，全局未定义为关闭打印信息，默认全局未定义（注：开启后会影响串口和车载计算机通讯功能，默认使用串口3） 30 | 31 | _DMA_USART：DMA方式串口通讯功能，全局定义为使用DMA方式进行串口通讯，全局未定义为不使用DMA方式，默认全局定义 32 | 33 | _REMAP：串口3重映射功能，全局定义为将串口3重映射为PC10，PC11（串口4），全局未定义为不开启串口3重映射，默认全局未定义 34 | 35 | ### 串口通信协议： 36 | 37 | **一帧数据为：[消息头(2字节)] [命令(2字节)] [长度(1字节)] [数据(n字节，n=长度)] [校验(1字节)] [消息尾(2字节)]** 38 | 39 | **消息头固定为[0x55 0xaa]，消息尾固定为[0x0d 0x0a]** 40 | 41 | ### 主控发送用命令参数： 42 | 43 | (1)0x5a 0x5a：发送速度信息和电池信息 44 | 45 | (2)0x5a 0x55：发送速度信息，电池信息和超声波信息 46 | 47 | (3)0x5a 0xaa：发送速度信息，电池信息和六轴传感器信息 48 | 49 | (4)0x5a 0xa5：发送速度信息，电池信息，超声波信息和六轴传感器信息 50 | 51 | (5)0xa5 0x5a：发送速度信息 52 | 53 | (6)0xa5 0x55：发送电池信息 54 | 55 | (7)0xa5 0xaa：发送超声波信息 56 | 57 | (8)0xa5 0xa5：发送六轴传感器信息 58 | 59 | ### 主控接收用命令参数： 60 | 61 | (1)0x55 0xaa：请求发送速度信息和电池信息 62 | 63 | (2)0x55 0x55：请求发送速度信息，电池信息和超声波信息 64 | 65 | (3)0x55 0xa5：请求发送速度信息，电池信息和六轴传感器信息 66 | 67 | (4)0x55 0x5a：请求发送速度信息，电池信息，超声波信息和六轴传感器信息 68 | 69 | (5)0xaa 0xaa：请求发送速度信息 70 | 71 | (6)0xaa 0x55：请求发送电池信息 72 | 73 | (7)0xaa 0xa5：请求发送超声波信息 74 | 75 | (8)0xaa 0x5a：请求发送六轴传感器信息 76 | 77 | ### 主控端发送数据段结构： 78 | 79 | (1)0x5a 0x5a：[左轮速度（4字节浮点数），右轮速度（4字节浮点数），电池电量（4字节浮点数），电量百分比（4字节浮点数）] 80 | 81 | (2)0x5a 0x55：[左轮速度（4字节浮点数），右轮速度（4字节浮点数），电池电量（4字节浮点数），电量百分比（4字节浮点数），前超声波（4字节浮点数），后超声波（4字节浮点数），左超声波（4字节浮点数），右超声波（4字节浮点数）] 82 | 83 | (3)0x5a 0xaa：[左轮速度（4字节浮点数），右轮速度（4字节浮点数），电池电量（4字节浮点数），电量百分比（4字节浮点数），pitch角（4字节浮点数），roll角（4字节浮点数），yaw角（4字节浮点数），温度（4字节浮点数）] 84 | 85 | (4)0x5a 0xa5：[左轮速度（4字节浮点数），右轮速度（4字节浮点数），电池电量（4字节浮点数），电量百分比（4字节浮点数），pitch角（4字节浮点数），roll角（4字节浮点数），yaw角（4字节浮点数），温度（4字节浮点数），前超声波（4字节浮点数），后超声波（4字节浮点数），左超声波（4字节浮点数），右超声波（4字节浮点数）] 86 | 87 | (5)0xa5 0x5a：[左轮速度（4字节浮点数），右轮速度（4字节浮点数）] 88 | 89 | (6)0xa5 0x55：[电池电量（4字节浮点数），电量百分比（4字节浮点数）] 90 | 91 | (7)0xa5 0xaa：[前超声波（4字节浮点数），后超声波（4字节浮点数），左超声波（4字节浮点数），右超声波（4字节浮点数）] 92 | 93 | (8)0xa5 0xa5：[pitch角（4字节浮点数），roll角（4字节浮点数），yaw角（4字节浮点数），温度（4字节浮点数）] 94 | 95 | ### 主控端接收数据段结构： 96 | 97 | [左轮速度（4字节整数），右轮速度（4字节整数）] 98 | 99 | ### GUI 100 | 101 | 使用PyQt编写的GUI小程序，用来检测小车串口通讯是否正常 102 | 103 | ### ROS Node 104 | 105 | ROS中node节点cpp文件，是小车和ROS通讯的重要桥梁 106 | 107 | -------------------------------------------------------------------------------- /RTE/Device/STM32F103RC/startup_stm32f10x_hd.s: -------------------------------------------------------------------------------- 1 | ;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** 2 | ;* File Name : startup_stm32f10x_hd.s 3 | ;* Author : MCD Application Team 4 | ;* Version : V3.5.0 5 | ;* Date : 11-March-2011 6 | ;* Description : STM32F10x High Density Devices vector table for MDK-ARM 7 | ;* toolchain. 8 | ;* This module performs: 9 | ;* - Set the initial SP 10 | ;* - Set the initial PC == Reset_Handler 11 | ;* - Set the vector table entries with the exceptions ISR address 12 | ;* - Configure the clock system and also configure the external 13 | ;* SRAM mounted on STM3210E-EVAL board to be used as data 14 | ;* memory (optional, to be enabled by user) 15 | ;* - Branches to __main in the C library (which eventually 16 | ;* calls main()). 17 | ;* After Reset the CortexM3 processor is in Thread mode, 18 | ;* priority is Privileged, and the Stack is set to Main. 19 | ;* <<< Use Configuration Wizard in Context Menu >>> 20 | ;******************************************************************************* 21 | ; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS 22 | ; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. 23 | ; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, 24 | ; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE 25 | ; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING 26 | ; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. 27 | ;******************************************************************************* 28 | 29 | ; Amount of memory (in bytes) allocated for Stack 30 | ; Tailor this value to your application needs 31 | ; Stack Configuration 32 | ; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> 33 | ; 34 | 35 | Stack_Size EQU 0x00000400 36 | 37 | AREA STACK, NOINIT, READWRITE, ALIGN=3 38 | Stack_Mem SPACE Stack_Size 39 | __initial_sp 40 | 41 | ; Heap Configuration 42 | ; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> 43 | ; 44 | 45 | Heap_Size EQU 0x00000200 46 | 47 | AREA HEAP, NOINIT, READWRITE, ALIGN=3 48 | __heap_base 49 | Heap_Mem SPACE Heap_Size 50 | __heap_limit 51 | 52 | PRESERVE8 53 | THUMB 54 | 55 | 56 | ; Vector Table Mapped to Address 0 at Reset 57 | AREA RESET, DATA, READONLY 58 | EXPORT __Vectors 59 | EXPORT __Vectors_End 60 | EXPORT __Vectors_Size 61 | 62 | __Vectors DCD __initial_sp ; Top of Stack 63 | DCD Reset_Handler ; Reset Handler 64 | DCD NMI_Handler ; NMI Handler 65 | DCD HardFault_Handler ; Hard Fault Handler 66 | DCD MemManage_Handler ; MPU Fault Handler 67 | DCD BusFault_Handler ; Bus Fault Handler 68 | DCD UsageFault_Handler ; Usage Fault Handler 69 | DCD 0 ; Reserved 70 | DCD 0 ; Reserved 71 | DCD 0 ; Reserved 72 | DCD 0 ; Reserved 73 | DCD SVC_Handler ; SVCall Handler 74 | DCD DebugMon_Handler ; Debug Monitor Handler 75 | DCD 0 ; Reserved 76 | DCD PendSV_Handler ; PendSV Handler 77 | DCD SysTick_Handler ; SysTick Handler 78 | 79 | ; External Interrupts 80 | DCD WWDG_IRQHandler ; Window Watchdog 81 | DCD PVD_IRQHandler ; PVD through EXTI Line detect 82 | DCD TAMPER_IRQHandler ; Tamper 83 | DCD RTC_IRQHandler ; RTC 84 | DCD FLASH_IRQHandler ; Flash 85 | DCD RCC_IRQHandler ; RCC 86 | DCD EXTI0_IRQHandler ; EXTI Line 0 87 | DCD EXTI1_IRQHandler ; EXTI Line 1 88 | DCD EXTI2_IRQHandler ; EXTI Line 2 89 | DCD EXTI3_IRQHandler ; EXTI Line 3 90 | DCD EXTI4_IRQHandler ; EXTI Line 4 91 | DCD DMA1_Channel1_IRQHandler ; DMA1 Channel 1 92 | DCD DMA1_Channel2_IRQHandler ; DMA1 Channel 2 93 | DCD DMA1_Channel3_IRQHandler ; DMA1 Channel 3 94 | DCD DMA1_Channel4_IRQHandler ; DMA1 Channel 4 95 | DCD DMA1_Channel5_IRQHandler ; DMA1 Channel 5 96 | DCD DMA1_Channel6_IRQHandler ; DMA1 Channel 6 97 | DCD DMA1_Channel7_IRQHandler ; DMA1 Channel 7 98 | DCD ADC1_2_IRQHandler ; ADC1 & ADC2 99 | DCD USB_HP_CAN1_TX_IRQHandler ; USB High Priority or CAN1 TX 100 | DCD USB_LP_CAN1_RX0_IRQHandler ; USB Low Priority or CAN1 RX0 101 | DCD CAN1_RX1_IRQHandler ; CAN1 RX1 102 | DCD CAN1_SCE_IRQHandler ; CAN1 SCE 103 | DCD EXTI9_5_IRQHandler ; EXTI Line 9..5 104 | DCD TIM1_BRK_IRQHandler ; TIM1 Break 105 | DCD TIM1_UP_IRQHandler ; TIM1 Update 106 | DCD TIM1_TRG_COM_IRQHandler ; TIM1 Trigger and Commutation 107 | DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare 108 | DCD TIM2_IRQHandler ; TIM2 109 | DCD TIM3_IRQHandler ; TIM3 110 | DCD TIM4_IRQHandler ; TIM4 111 | DCD I2C1_EV_IRQHandler ; I2C1 Event 112 | DCD I2C1_ER_IRQHandler ; I2C1 Error 113 | DCD I2C2_EV_IRQHandler ; I2C2 Event 114 | DCD I2C2_ER_IRQHandler ; I2C2 Error 115 | DCD SPI1_IRQHandler ; SPI1 116 | DCD SPI2_IRQHandler ; SPI2 117 | DCD USART1_IRQHandler ; USART1 118 | DCD USART2_IRQHandler ; USART2 119 | DCD USART3_IRQHandler ; USART3 120 | DCD EXTI15_10_IRQHandler ; EXTI Line 15..10 121 | DCD RTCAlarm_IRQHandler ; RTC Alarm through EXTI Line 122 | DCD USBWakeUp_IRQHandler ; USB Wakeup from suspend 123 | DCD TIM8_BRK_IRQHandler ; TIM8 Break 124 | DCD TIM8_UP_IRQHandler ; TIM8 Update 125 | DCD TIM8_TRG_COM_IRQHandler ; TIM8 Trigger and Commutation 126 | DCD TIM8_CC_IRQHandler ; TIM8 Capture Compare 127 | DCD ADC3_IRQHandler ; ADC3 128 | DCD FSMC_IRQHandler ; FSMC 129 | DCD SDIO_IRQHandler ; SDIO 130 | DCD TIM5_IRQHandler ; TIM5 131 | DCD SPI3_IRQHandler ; SPI3 132 | DCD UART4_IRQHandler ; UART4 133 | DCD UART5_IRQHandler ; UART5 134 | DCD TIM6_IRQHandler ; TIM6 135 | DCD TIM7_IRQHandler ; TIM7 136 | DCD DMA2_Channel1_IRQHandler ; DMA2 Channel1 137 | DCD DMA2_Channel2_IRQHandler ; DMA2 Channel2 138 | DCD DMA2_Channel3_IRQHandler ; DMA2 Channel3 139 | DCD DMA2_Channel4_5_IRQHandler ; DMA2 Channel4 & Channel5 140 | __Vectors_End 141 | 142 | __Vectors_Size EQU __Vectors_End - __Vectors 143 | 144 | AREA |.text|, CODE, READONLY 145 | 146 | ; Reset handler 147 | Reset_Handler PROC 148 | EXPORT Reset_Handler [WEAK] 149 | IMPORT __main 150 | IMPORT SystemInit 151 | LDR R0, =SystemInit 152 | BLX R0 153 | LDR R0, =__main 154 | BX R0 155 | ENDP 156 | 157 | ; Dummy Exception Handlers (infinite loops which can be modified) 158 | 159 | NMI_Handler PROC 160 | EXPORT NMI_Handler [WEAK] 161 | B . 162 | ENDP 163 | HardFault_Handler\ 164 | PROC 165 | EXPORT HardFault_Handler [WEAK] 166 | B . 167 | ENDP 168 | MemManage_Handler\ 169 | PROC 170 | EXPORT MemManage_Handler [WEAK] 171 | B . 172 | ENDP 173 | BusFault_Handler\ 174 | PROC 175 | EXPORT BusFault_Handler [WEAK] 176 | B . 177 | ENDP 178 | UsageFault_Handler\ 179 | PROC 180 | EXPORT UsageFault_Handler [WEAK] 181 | B . 182 | ENDP 183 | SVC_Handler PROC 184 | EXPORT SVC_Handler [WEAK] 185 | B . 186 | ENDP 187 | DebugMon_Handler\ 188 | PROC 189 | EXPORT DebugMon_Handler [WEAK] 190 | B . 191 | ENDP 192 | PendSV_Handler PROC 193 | EXPORT PendSV_Handler [WEAK] 194 | B . 195 | ENDP 196 | SysTick_Handler PROC 197 | EXPORT SysTick_Handler [WEAK] 198 | B . 199 | ENDP 200 | 201 | Default_Handler PROC 202 | 203 | EXPORT WWDG_IRQHandler [WEAK] 204 | EXPORT PVD_IRQHandler [WEAK] 205 | EXPORT TAMPER_IRQHandler [WEAK] 206 | EXPORT RTC_IRQHandler [WEAK] 207 | EXPORT FLASH_IRQHandler [WEAK] 208 | EXPORT RCC_IRQHandler [WEAK] 209 | EXPORT EXTI0_IRQHandler [WEAK] 210 | EXPORT EXTI1_IRQHandler [WEAK] 211 | EXPORT EXTI2_IRQHandler [WEAK] 212 | EXPORT EXTI3_IRQHandler [WEAK] 213 | EXPORT EXTI4_IRQHandler [WEAK] 214 | EXPORT DMA1_Channel1_IRQHandler [WEAK] 215 | EXPORT DMA1_Channel2_IRQHandler [WEAK] 216 | EXPORT DMA1_Channel3_IRQHandler [WEAK] 217 | EXPORT DMA1_Channel4_IRQHandler [WEAK] 218 | EXPORT DMA1_Channel5_IRQHandler [WEAK] 219 | EXPORT DMA1_Channel6_IRQHandler [WEAK] 220 | EXPORT DMA1_Channel7_IRQHandler [WEAK] 221 | EXPORT ADC1_2_IRQHandler [WEAK] 222 | EXPORT USB_HP_CAN1_TX_IRQHandler [WEAK] 223 | EXPORT USB_LP_CAN1_RX0_IRQHandler [WEAK] 224 | EXPORT CAN1_RX1_IRQHandler [WEAK] 225 | EXPORT CAN1_SCE_IRQHandler [WEAK] 226 | EXPORT EXTI9_5_IRQHandler [WEAK] 227 | EXPORT TIM1_BRK_IRQHandler [WEAK] 228 | EXPORT TIM1_UP_IRQHandler [WEAK] 229 | EXPORT TIM1_TRG_COM_IRQHandler [WEAK] 230 | EXPORT TIM1_CC_IRQHandler [WEAK] 231 | EXPORT TIM2_IRQHandler [WEAK] 232 | EXPORT TIM3_IRQHandler [WEAK] 233 | EXPORT TIM4_IRQHandler [WEAK] 234 | EXPORT I2C1_EV_IRQHandler [WEAK] 235 | EXPORT I2C1_ER_IRQHandler [WEAK] 236 | EXPORT I2C2_EV_IRQHandler [WEAK] 237 | EXPORT I2C2_ER_IRQHandler [WEAK] 238 | EXPORT SPI1_IRQHandler [WEAK] 239 | EXPORT SPI2_IRQHandler [WEAK] 240 | EXPORT USART1_IRQHandler [WEAK] 241 | EXPORT USART2_IRQHandler [WEAK] 242 | EXPORT USART3_IRQHandler [WEAK] 243 | EXPORT EXTI15_10_IRQHandler [WEAK] 244 | EXPORT RTCAlarm_IRQHandler [WEAK] 245 | EXPORT USBWakeUp_IRQHandler [WEAK] 246 | EXPORT TIM8_BRK_IRQHandler [WEAK] 247 | EXPORT TIM8_UP_IRQHandler [WEAK] 248 | EXPORT TIM8_TRG_COM_IRQHandler [WEAK] 249 | EXPORT TIM8_CC_IRQHandler [WEAK] 250 | EXPORT ADC3_IRQHandler [WEAK] 251 | EXPORT FSMC_IRQHandler [WEAK] 252 | EXPORT SDIO_IRQHandler [WEAK] 253 | EXPORT TIM5_IRQHandler [WEAK] 254 | EXPORT SPI3_IRQHandler [WEAK] 255 | EXPORT UART4_IRQHandler [WEAK] 256 | EXPORT UART5_IRQHandler [WEAK] 257 | EXPORT TIM6_IRQHandler [WEAK] 258 | EXPORT TIM7_IRQHandler [WEAK] 259 | EXPORT DMA2_Channel1_IRQHandler [WEAK] 260 | EXPORT DMA2_Channel2_IRQHandler [WEAK] 261 | EXPORT DMA2_Channel3_IRQHandler [WEAK] 262 | EXPORT DMA2_Channel4_5_IRQHandler [WEAK] 263 | 264 | WWDG_IRQHandler 265 | PVD_IRQHandler 266 | TAMPER_IRQHandler 267 | RTC_IRQHandler 268 | FLASH_IRQHandler 269 | RCC_IRQHandler 270 | EXTI0_IRQHandler 271 | EXTI1_IRQHandler 272 | EXTI2_IRQHandler 273 | EXTI3_IRQHandler 274 | EXTI4_IRQHandler 275 | DMA1_Channel1_IRQHandler 276 | DMA1_Channel2_IRQHandler 277 | DMA1_Channel3_IRQHandler 278 | DMA1_Channel4_IRQHandler 279 | DMA1_Channel5_IRQHandler 280 | DMA1_Channel6_IRQHandler 281 | DMA1_Channel7_IRQHandler 282 | ADC1_2_IRQHandler 283 | USB_HP_CAN1_TX_IRQHandler 284 | USB_LP_CAN1_RX0_IRQHandler 285 | CAN1_RX1_IRQHandler 286 | CAN1_SCE_IRQHandler 287 | EXTI9_5_IRQHandler 288 | TIM1_BRK_IRQHandler 289 | TIM1_UP_IRQHandler 290 | TIM1_TRG_COM_IRQHandler 291 | TIM1_CC_IRQHandler 292 | TIM2_IRQHandler 293 | TIM3_IRQHandler 294 | TIM4_IRQHandler 295 | I2C1_EV_IRQHandler 296 | I2C1_ER_IRQHandler 297 | I2C2_EV_IRQHandler 298 | I2C2_ER_IRQHandler 299 | SPI1_IRQHandler 300 | SPI2_IRQHandler 301 | USART1_IRQHandler 302 | USART2_IRQHandler 303 | USART3_IRQHandler 304 | EXTI15_10_IRQHandler 305 | RTCAlarm_IRQHandler 306 | USBWakeUp_IRQHandler 307 | TIM8_BRK_IRQHandler 308 | TIM8_UP_IRQHandler 309 | TIM8_TRG_COM_IRQHandler 310 | TIM8_CC_IRQHandler 311 | ADC3_IRQHandler 312 | FSMC_IRQHandler 313 | SDIO_IRQHandler 314 | TIM5_IRQHandler 315 | SPI3_IRQHandler 316 | UART4_IRQHandler 317 | UART5_IRQHandler 318 | TIM6_IRQHandler 319 | TIM7_IRQHandler 320 | DMA2_Channel1_IRQHandler 321 | DMA2_Channel2_IRQHandler 322 | DMA2_Channel3_IRQHandler 323 | DMA2_Channel4_5_IRQHandler 324 | B . 325 | 326 | ENDP 327 | 328 | ALIGN 329 | 330 | ;******************************************************************************* 331 | ; User Stack and Heap initialization 332 | ;******************************************************************************* 333 | IF :DEF:__MICROLIB 334 | 335 | EXPORT __initial_sp 336 | EXPORT __heap_base 337 | EXPORT __heap_limit 338 | 339 | ELSE 340 | 341 | IMPORT __use_two_region_memory 342 | EXPORT __user_initial_stackheap 343 | 344 | __user_initial_stackheap 345 | 346 | LDR R0, = Heap_Mem 347 | LDR R1, =(Stack_Mem + Stack_Size) 348 | LDR R2, = (Heap_Mem + Heap_Size) 349 | LDR R3, = Stack_Mem 350 | BX LR 351 | 352 | ALIGN 353 | 354 | ENDIF 355 | 356 | END 357 | 358 | ;******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE***** 359 | -------------------------------------------------------------------------------- /RTE/Device/STM32F103RC/stm32f10x_conf.h: -------------------------------------------------------------------------------- 1 | /** 2 | ****************************************************************************** 3 | * @file Project/STM32F10x_StdPeriph_Template/stm32f10x_conf.h 4 | * @author MCD Application Team 5 | * @version V3.5.0 6 | * @date 08-April-2011 7 | * @brief Library configuration file. 8 | ****************************************************************************** 9 | * @attention 10 | * 11 | * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS 12 | * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE 13 | * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY 14 | * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING 15 | * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE 16 | * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. 17 | * 18 | *

© COPYRIGHT 2011 STMicroelectronics

19 | ****************************************************************************** 20 | */ 21 | 22 | /* Define to prevent recursive inclusion -------------------------------------*/ 23 | #ifndef __STM32F10x_CONF_H 24 | #define __STM32F10x_CONF_H 25 | 26 | /* Run Time Environment will set specific #define for each selected module below */ 27 | #include "RTE_Components.h" 28 | 29 | #ifdef RTE_DEVICE_STDPERIPH_ADC 30 | #include "stm32f10x_adc.h" 31 | #endif 32 | #ifdef RTE_DEVICE_STDPERIPH_BKP 33 | #include "stm32f10x_bkp.h" 34 | #endif 35 | #ifdef RTE_DEVICE_STDPERIPH_CAN 36 | #include "stm32f10x_can.h" 37 | #endif 38 | #ifdef RTE_DEVICE_STDPERIPH_CEC 39 | #include "stm32f10x_cec.h" 40 | #endif 41 | #ifdef RTE_DEVICE_STDPERIPH_CRC 42 | #include "stm32f10x_crc.h" 43 | #endif 44 | #ifdef RTE_DEVICE_STDPERIPH_DAC 45 | #include "stm32f10x_dac.h" 46 | #endif 47 | #ifdef RTE_DEVICE_STDPERIPH_DBGMCU 48 | #include "stm32f10x_dbgmcu.h" 49 | #endif 50 | #ifdef RTE_DEVICE_STDPERIPH_DMA 51 | #include "stm32f10x_dma.h" 52 | #endif 53 | #ifdef RTE_DEVICE_STDPERIPH_EXTI 54 | #include "stm32f10x_exti.h" 55 | #endif 56 | #ifdef RTE_DEVICE_STDPERIPH_FLASH 57 | #include "stm32f10x_flash.h" 58 | #endif 59 | #ifdef RTE_DEVICE_STDPERIPH_FSMC 60 | #include "stm32f10x_fsmc.h" 61 | #endif 62 | #ifdef RTE_DEVICE_STDPERIPH_GPIO 63 | #include "stm32f10x_gpio.h" 64 | #endif 65 | #ifdef RTE_DEVICE_STDPERIPH_I2C 66 | #include "stm32f10x_i2c.h" 67 | #endif 68 | #ifdef RTE_DEVICE_STDPERIPH_IWDG 69 | #include "stm32f10x_iwdg.h" 70 | #endif 71 | #ifdef RTE_DEVICE_STDPERIPH_PWR 72 | #include "stm32f10x_pwr.h" 73 | #endif 74 | #ifdef RTE_DEVICE_STDPERIPH_RCC 75 | #include "stm32f10x_rcc.h" 76 | #endif 77 | #ifdef RTE_DEVICE_STDPERIPH_RTC 78 | #include "stm32f10x_rtc.h" 79 | #endif 80 | #ifdef RTE_DEVICE_STDPERIPH_SDIO 81 | #include "stm32f10x_sdio.h" 82 | #endif 83 | #ifdef RTE_DEVICE_STDPERIPH_SPI 84 | #include "stm32f10x_spi.h" 85 | #endif 86 | #ifdef RTE_DEVICE_STDPERIPH_TIM 87 | #include "stm32f10x_tim.h" 88 | #endif 89 | #ifdef RTE_DEVICE_STDPERIPH_USART 90 | #include "stm32f10x_usart.h" 91 | #endif 92 | #ifdef RTE_DEVICE_STDPERIPH_WWDG 93 | #include "stm32f10x_wwdg.h" 94 | #endif 95 | #ifdef RTE_DEVICE_STDPERIPH_FRAMEWORK 96 | #include "misc.h" /* High level functions for NVIC and SysTick (add-on to CMSIS functions) */ 97 | #endif 98 | 99 | /* Exported types ------------------------------------------------------------*/ 100 | /* Exported constants --------------------------------------------------------*/ 101 | /* Uncomment the line below to expanse the "assert_param" macro in the 102 | Standard Peripheral Library drivers code */ 103 | /* #define USE_FULL_ASSERT 1 */ 104 | 105 | /* Exported macro ------------------------------------------------------------*/ 106 | #ifdef USE_FULL_ASSERT 107 | 108 | /** 109 | * @brief The assert_param macro is used for function's parameters check. 110 | * @param expr: If expr is false, it calls assert_failed function which reports 111 | * the name of the source file and the source line number of the call 112 | * that failed. If expr is true, it returns no value. 113 | * @retval None 114 | */ 115 | #define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__)) 116 | /* Exported functions ------------------------------------------------------- */ 117 | void assert_failed(uint8_t* file, uint32_t line); 118 | #else 119 | #define assert_param(expr) ((void)0) 120 | #endif /* USE_FULL_ASSERT */ 121 | 122 | #endif /* __STM32F10x_CONF_H */ 123 | 124 | /******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ 125 | -------------------------------------------------------------------------------- /RTE/Device/STM32F103VE/startup_stm32f10x_hd.s: -------------------------------------------------------------------------------- 1 | ;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** 2 | ;* File Name : startup_stm32f10x_hd.s 3 | ;* Author : MCD Application Team 4 | ;* Version : V3.5.0 5 | ;* Date : 11-March-2011 6 | ;* Description : STM32F10x High Density Devices vector table for MDK-ARM 7 | ;* toolchain. 8 | ;* This module performs: 9 | ;* - Set the initial SP 10 | ;* - Set the initial PC == Reset_Handler 11 | ;* - Set the vector table entries with the exceptions ISR address 12 | ;* - Configure the clock system and also configure the external 13 | ;* SRAM mounted on STM3210E-EVAL board to be used as data 14 | ;* memory (optional, to be enabled by user) 15 | ;* - Branches to __main in the C library (which eventually 16 | ;* calls main()). 17 | ;* After Reset the CortexM3 processor is in Thread mode, 18 | ;* priority is Privileged, and the Stack is set to Main. 19 | ;* <<< Use Configuration Wizard in Context Menu >>> 20 | ;******************************************************************************* 21 | ; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS 22 | ; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. 23 | ; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, 24 | ; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE 25 | ; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING 26 | ; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. 27 | ;******************************************************************************* 28 | 29 | ; Amount of memory (in bytes) allocated for Stack 30 | ; Tailor this value to your application needs 31 | ; Stack Configuration 32 | ; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> 33 | ; 34 | 35 | Stack_Size EQU 0x00000400 36 | 37 | AREA STACK, NOINIT, READWRITE, ALIGN=3 38 | Stack_Mem SPACE Stack_Size 39 | __initial_sp 40 | 41 | ; Heap Configuration 42 | ; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> 43 | ; 44 | 45 | Heap_Size EQU 0x00000200 46 | 47 | AREA HEAP, NOINIT, READWRITE, ALIGN=3 48 | __heap_base 49 | Heap_Mem SPACE Heap_Size 50 | __heap_limit 51 | 52 | PRESERVE8 53 | THUMB 54 | 55 | 56 | ; Vector Table Mapped to Address 0 at Reset 57 | AREA RESET, DATA, READONLY 58 | EXPORT __Vectors 59 | EXPORT __Vectors_End 60 | EXPORT __Vectors_Size 61 | 62 | __Vectors DCD __initial_sp ; Top of Stack 63 | DCD Reset_Handler ; Reset Handler 64 | DCD NMI_Handler ; NMI Handler 65 | DCD HardFault_Handler ; Hard Fault Handler 66 | DCD MemManage_Handler ; MPU Fault Handler 67 | DCD BusFault_Handler ; Bus Fault Handler 68 | DCD UsageFault_Handler ; Usage Fault Handler 69 | DCD 0 ; Reserved 70 | DCD 0 ; Reserved 71 | DCD 0 ; Reserved 72 | DCD 0 ; Reserved 73 | DCD SVC_Handler ; SVCall Handler 74 | DCD DebugMon_Handler ; Debug Monitor Handler 75 | DCD 0 ; Reserved 76 | DCD PendSV_Handler ; PendSV Handler 77 | DCD SysTick_Handler ; SysTick Handler 78 | 79 | ; External Interrupts 80 | DCD WWDG_IRQHandler ; Window Watchdog 81 | DCD PVD_IRQHandler ; PVD through EXTI Line detect 82 | DCD TAMPER_IRQHandler ; Tamper 83 | DCD RTC_IRQHandler ; RTC 84 | DCD FLASH_IRQHandler ; Flash 85 | DCD RCC_IRQHandler ; RCC 86 | DCD EXTI0_IRQHandler ; EXTI Line 0 87 | DCD EXTI1_IRQHandler ; EXTI Line 1 88 | DCD EXTI2_IRQHandler ; EXTI Line 2 89 | DCD EXTI3_IRQHandler ; EXTI Line 3 90 | DCD EXTI4_IRQHandler ; EXTI Line 4 91 | DCD DMA1_Channel1_IRQHandler ; DMA1 Channel 1 92 | DCD DMA1_Channel2_IRQHandler ; DMA1 Channel 2 93 | DCD DMA1_Channel3_IRQHandler ; DMA1 Channel 3 94 | DCD DMA1_Channel4_IRQHandler ; DMA1 Channel 4 95 | DCD DMA1_Channel5_IRQHandler ; DMA1 Channel 5 96 | DCD DMA1_Channel6_IRQHandler ; DMA1 Channel 6 97 | DCD DMA1_Channel7_IRQHandler ; DMA1 Channel 7 98 | DCD ADC1_2_IRQHandler ; ADC1 & ADC2 99 | DCD USB_HP_CAN1_TX_IRQHandler ; USB High Priority or CAN1 TX 100 | DCD USB_LP_CAN1_RX0_IRQHandler ; USB Low Priority or CAN1 RX0 101 | DCD CAN1_RX1_IRQHandler ; CAN1 RX1 102 | DCD CAN1_SCE_IRQHandler ; CAN1 SCE 103 | DCD EXTI9_5_IRQHandler ; EXTI Line 9..5 104 | DCD TIM1_BRK_IRQHandler ; TIM1 Break 105 | DCD TIM1_UP_IRQHandler ; TIM1 Update 106 | DCD TIM1_TRG_COM_IRQHandler ; TIM1 Trigger and Commutation 107 | DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare 108 | DCD TIM2_IRQHandler ; TIM2 109 | DCD TIM3_IRQHandler ; TIM3 110 | DCD TIM4_IRQHandler ; TIM4 111 | DCD I2C1_EV_IRQHandler ; I2C1 Event 112 | DCD I2C1_ER_IRQHandler ; I2C1 Error 113 | DCD I2C2_EV_IRQHandler ; I2C2 Event 114 | DCD I2C2_ER_IRQHandler ; I2C2 Error 115 | DCD SPI1_IRQHandler ; SPI1 116 | DCD SPI2_IRQHandler ; SPI2 117 | DCD USART1_IRQHandler ; USART1 118 | DCD USART2_IRQHandler ; USART2 119 | DCD USART3_IRQHandler ; USART3 120 | DCD EXTI15_10_IRQHandler ; EXTI Line 15..10 121 | DCD RTCAlarm_IRQHandler ; RTC Alarm through EXTI Line 122 | DCD USBWakeUp_IRQHandler ; USB Wakeup from suspend 123 | DCD TIM8_BRK_IRQHandler ; TIM8 Break 124 | DCD TIM8_UP_IRQHandler ; TIM8 Update 125 | DCD TIM8_TRG_COM_IRQHandler ; TIM8 Trigger and Commutation 126 | DCD TIM8_CC_IRQHandler ; TIM8 Capture Compare 127 | DCD ADC3_IRQHandler ; ADC3 128 | DCD FSMC_IRQHandler ; FSMC 129 | DCD SDIO_IRQHandler ; SDIO 130 | DCD TIM5_IRQHandler ; TIM5 131 | DCD SPI3_IRQHandler ; SPI3 132 | DCD UART4_IRQHandler ; UART4 133 | DCD UART5_IRQHandler ; UART5 134 | DCD TIM6_IRQHandler ; TIM6 135 | DCD TIM7_IRQHandler ; TIM7 136 | DCD DMA2_Channel1_IRQHandler ; DMA2 Channel1 137 | DCD DMA2_Channel2_IRQHandler ; DMA2 Channel2 138 | DCD DMA2_Channel3_IRQHandler ; DMA2 Channel3 139 | DCD DMA2_Channel4_5_IRQHandler ; DMA2 Channel4 & Channel5 140 | __Vectors_End 141 | 142 | __Vectors_Size EQU __Vectors_End - __Vectors 143 | 144 | AREA |.text|, CODE, READONLY 145 | 146 | ; Reset handler 147 | Reset_Handler PROC 148 | EXPORT Reset_Handler [WEAK] 149 | IMPORT __main 150 | IMPORT SystemInit 151 | LDR R0, =SystemInit 152 | BLX R0 153 | LDR R0, =__main 154 | BX R0 155 | ENDP 156 | 157 | ; Dummy Exception Handlers (infinite loops which can be modified) 158 | 159 | NMI_Handler PROC 160 | EXPORT NMI_Handler [WEAK] 161 | B . 162 | ENDP 163 | HardFault_Handler\ 164 | PROC 165 | EXPORT HardFault_Handler [WEAK] 166 | B . 167 | ENDP 168 | MemManage_Handler\ 169 | PROC 170 | EXPORT MemManage_Handler [WEAK] 171 | B . 172 | ENDP 173 | BusFault_Handler\ 174 | PROC 175 | EXPORT BusFault_Handler [WEAK] 176 | B . 177 | ENDP 178 | UsageFault_Handler\ 179 | PROC 180 | EXPORT UsageFault_Handler [WEAK] 181 | B . 182 | ENDP 183 | SVC_Handler PROC 184 | EXPORT SVC_Handler [WEAK] 185 | B . 186 | ENDP 187 | DebugMon_Handler\ 188 | PROC 189 | EXPORT DebugMon_Handler [WEAK] 190 | B . 191 | ENDP 192 | PendSV_Handler PROC 193 | EXPORT PendSV_Handler [WEAK] 194 | B . 195 | ENDP 196 | SysTick_Handler PROC 197 | EXPORT SysTick_Handler [WEAK] 198 | B . 199 | ENDP 200 | 201 | Default_Handler PROC 202 | 203 | EXPORT WWDG_IRQHandler [WEAK] 204 | EXPORT PVD_IRQHandler [WEAK] 205 | EXPORT TAMPER_IRQHandler [WEAK] 206 | EXPORT RTC_IRQHandler [WEAK] 207 | EXPORT FLASH_IRQHandler [WEAK] 208 | EXPORT RCC_IRQHandler [WEAK] 209 | EXPORT EXTI0_IRQHandler [WEAK] 210 | EXPORT EXTI1_IRQHandler [WEAK] 211 | EXPORT EXTI2_IRQHandler [WEAK] 212 | EXPORT EXTI3_IRQHandler [WEAK] 213 | EXPORT EXTI4_IRQHandler [WEAK] 214 | EXPORT DMA1_Channel1_IRQHandler [WEAK] 215 | EXPORT DMA1_Channel2_IRQHandler [WEAK] 216 | EXPORT DMA1_Channel3_IRQHandler [WEAK] 217 | EXPORT DMA1_Channel4_IRQHandler [WEAK] 218 | EXPORT DMA1_Channel5_IRQHandler [WEAK] 219 | EXPORT DMA1_Channel6_IRQHandler [WEAK] 220 | EXPORT DMA1_Channel7_IRQHandler [WEAK] 221 | EXPORT ADC1_2_IRQHandler [WEAK] 222 | EXPORT USB_HP_CAN1_TX_IRQHandler [WEAK] 223 | EXPORT USB_LP_CAN1_RX0_IRQHandler [WEAK] 224 | EXPORT CAN1_RX1_IRQHandler [WEAK] 225 | EXPORT CAN1_SCE_IRQHandler [WEAK] 226 | EXPORT EXTI9_5_IRQHandler [WEAK] 227 | EXPORT TIM1_BRK_IRQHandler [WEAK] 228 | EXPORT TIM1_UP_IRQHandler [WEAK] 229 | EXPORT TIM1_TRG_COM_IRQHandler [WEAK] 230 | EXPORT TIM1_CC_IRQHandler [WEAK] 231 | EXPORT TIM2_IRQHandler [WEAK] 232 | EXPORT TIM3_IRQHandler [WEAK] 233 | EXPORT TIM4_IRQHandler [WEAK] 234 | EXPORT I2C1_EV_IRQHandler [WEAK] 235 | EXPORT I2C1_ER_IRQHandler [WEAK] 236 | EXPORT I2C2_EV_IRQHandler [WEAK] 237 | EXPORT I2C2_ER_IRQHandler [WEAK] 238 | EXPORT SPI1_IRQHandler [WEAK] 239 | EXPORT SPI2_IRQHandler [WEAK] 240 | EXPORT USART1_IRQHandler [WEAK] 241 | EXPORT USART2_IRQHandler [WEAK] 242 | EXPORT USART3_IRQHandler [WEAK] 243 | EXPORT EXTI15_10_IRQHandler [WEAK] 244 | EXPORT RTCAlarm_IRQHandler [WEAK] 245 | EXPORT USBWakeUp_IRQHandler [WEAK] 246 | EXPORT TIM8_BRK_IRQHandler [WEAK] 247 | EXPORT TIM8_UP_IRQHandler [WEAK] 248 | EXPORT TIM8_TRG_COM_IRQHandler [WEAK] 249 | EXPORT TIM8_CC_IRQHandler [WEAK] 250 | EXPORT ADC3_IRQHandler [WEAK] 251 | EXPORT FSMC_IRQHandler [WEAK] 252 | EXPORT SDIO_IRQHandler [WEAK] 253 | EXPORT TIM5_IRQHandler [WEAK] 254 | EXPORT SPI3_IRQHandler [WEAK] 255 | EXPORT UART4_IRQHandler [WEAK] 256 | EXPORT UART5_IRQHandler [WEAK] 257 | EXPORT TIM6_IRQHandler [WEAK] 258 | EXPORT TIM7_IRQHandler [WEAK] 259 | EXPORT DMA2_Channel1_IRQHandler [WEAK] 260 | EXPORT DMA2_Channel2_IRQHandler [WEAK] 261 | EXPORT DMA2_Channel3_IRQHandler [WEAK] 262 | EXPORT DMA2_Channel4_5_IRQHandler [WEAK] 263 | 264 | WWDG_IRQHandler 265 | PVD_IRQHandler 266 | TAMPER_IRQHandler 267 | RTC_IRQHandler 268 | FLASH_IRQHandler 269 | RCC_IRQHandler 270 | EXTI0_IRQHandler 271 | EXTI1_IRQHandler 272 | EXTI2_IRQHandler 273 | EXTI3_IRQHandler 274 | EXTI4_IRQHandler 275 | DMA1_Channel1_IRQHandler 276 | DMA1_Channel2_IRQHandler 277 | DMA1_Channel3_IRQHandler 278 | DMA1_Channel4_IRQHandler 279 | DMA1_Channel5_IRQHandler 280 | DMA1_Channel6_IRQHandler 281 | DMA1_Channel7_IRQHandler 282 | ADC1_2_IRQHandler 283 | USB_HP_CAN1_TX_IRQHandler 284 | USB_LP_CAN1_RX0_IRQHandler 285 | CAN1_RX1_IRQHandler 286 | CAN1_SCE_IRQHandler 287 | EXTI9_5_IRQHandler 288 | TIM1_BRK_IRQHandler 289 | TIM1_UP_IRQHandler 290 | TIM1_TRG_COM_IRQHandler 291 | TIM1_CC_IRQHandler 292 | TIM2_IRQHandler 293 | TIM3_IRQHandler 294 | TIM4_IRQHandler 295 | I2C1_EV_IRQHandler 296 | I2C1_ER_IRQHandler 297 | I2C2_EV_IRQHandler 298 | I2C2_ER_IRQHandler 299 | SPI1_IRQHandler 300 | SPI2_IRQHandler 301 | USART1_IRQHandler 302 | USART2_IRQHandler 303 | USART3_IRQHandler 304 | EXTI15_10_IRQHandler 305 | RTCAlarm_IRQHandler 306 | USBWakeUp_IRQHandler 307 | TIM8_BRK_IRQHandler 308 | TIM8_UP_IRQHandler 309 | TIM8_TRG_COM_IRQHandler 310 | TIM8_CC_IRQHandler 311 | ADC3_IRQHandler 312 | FSMC_IRQHandler 313 | SDIO_IRQHandler 314 | TIM5_IRQHandler 315 | SPI3_IRQHandler 316 | UART4_IRQHandler 317 | UART5_IRQHandler 318 | TIM6_IRQHandler 319 | TIM7_IRQHandler 320 | DMA2_Channel1_IRQHandler 321 | DMA2_Channel2_IRQHandler 322 | DMA2_Channel3_IRQHandler 323 | DMA2_Channel4_5_IRQHandler 324 | B . 325 | 326 | ENDP 327 | 328 | ALIGN 329 | 330 | ;******************************************************************************* 331 | ; User Stack and Heap initialization 332 | ;******************************************************************************* 333 | IF :DEF:__MICROLIB 334 | 335 | EXPORT __initial_sp 336 | EXPORT __heap_base 337 | EXPORT __heap_limit 338 | 339 | ELSE 340 | 341 | IMPORT __use_two_region_memory 342 | EXPORT __user_initial_stackheap 343 | 344 | __user_initial_stackheap 345 | 346 | LDR R0, = Heap_Mem 347 | LDR R1, =(Stack_Mem + Stack_Size) 348 | LDR R2, = (Heap_Mem + Heap_Size) 349 | LDR R3, = Stack_Mem 350 | BX LR 351 | 352 | ALIGN 353 | 354 | ENDIF 355 | 356 | END 357 | 358 | ;******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE***** 359 | -------------------------------------------------------------------------------- /RTE/Device/STM32F103VE/stm32f10x_conf.h: -------------------------------------------------------------------------------- 1 | /** 2 | ****************************************************************************** 3 | * @file Project/STM32F10x_StdPeriph_Template/stm32f10x_conf.h 4 | * @author MCD Application Team 5 | * @version V3.5.0 6 | * @date 08-April-2011 7 | * @brief Library configuration file. 8 | ****************************************************************************** 9 | * @attention 10 | * 11 | * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS 12 | * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE 13 | * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY 14 | * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING 15 | * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE 16 | * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. 17 | * 18 | *

© COPYRIGHT 2011 STMicroelectronics

19 | ****************************************************************************** 20 | */ 21 | 22 | /* Define to prevent recursive inclusion -------------------------------------*/ 23 | #ifndef __STM32F10x_CONF_H 24 | #define __STM32F10x_CONF_H 25 | 26 | /* Run Time Environment will set specific #define for each selected module below */ 27 | #include "RTE_Components.h" 28 | 29 | #ifdef RTE_DEVICE_STDPERIPH_ADC 30 | #include "stm32f10x_adc.h" 31 | #endif 32 | #ifdef RTE_DEVICE_STDPERIPH_BKP 33 | #include "stm32f10x_bkp.h" 34 | #endif 35 | #ifdef RTE_DEVICE_STDPERIPH_CAN 36 | #include "stm32f10x_can.h" 37 | #endif 38 | #ifdef RTE_DEVICE_STDPERIPH_CEC 39 | #include "stm32f10x_cec.h" 40 | #endif 41 | #ifdef RTE_DEVICE_STDPERIPH_CRC 42 | #include "stm32f10x_crc.h" 43 | #endif 44 | #ifdef RTE_DEVICE_STDPERIPH_DAC 45 | #include "stm32f10x_dac.h" 46 | #endif 47 | #ifdef RTE_DEVICE_STDPERIPH_DBGMCU 48 | #include "stm32f10x_dbgmcu.h" 49 | #endif 50 | #ifdef RTE_DEVICE_STDPERIPH_DMA 51 | #include "stm32f10x_dma.h" 52 | #endif 53 | #ifdef RTE_DEVICE_STDPERIPH_EXTI 54 | #include "stm32f10x_exti.h" 55 | #endif 56 | #ifdef RTE_DEVICE_STDPERIPH_FLASH 57 | #include "stm32f10x_flash.h" 58 | #endif 59 | #ifdef RTE_DEVICE_STDPERIPH_FSMC 60 | #include "stm32f10x_fsmc.h" 61 | #endif 62 | #ifdef RTE_DEVICE_STDPERIPH_GPIO 63 | #include "stm32f10x_gpio.h" 64 | #endif 65 | #ifdef RTE_DEVICE_STDPERIPH_I2C 66 | #include "stm32f10x_i2c.h" 67 | #endif 68 | #ifdef RTE_DEVICE_STDPERIPH_IWDG 69 | #include "stm32f10x_iwdg.h" 70 | #endif 71 | #ifdef RTE_DEVICE_STDPERIPH_PWR 72 | #include "stm32f10x_pwr.h" 73 | #endif 74 | #ifdef RTE_DEVICE_STDPERIPH_RCC 75 | #include "stm32f10x_rcc.h" 76 | #endif 77 | #ifdef RTE_DEVICE_STDPERIPH_RTC 78 | #include "stm32f10x_rtc.h" 79 | #endif 80 | #ifdef RTE_DEVICE_STDPERIPH_SDIO 81 | #include "stm32f10x_sdio.h" 82 | #endif 83 | #ifdef RTE_DEVICE_STDPERIPH_SPI 84 | #include "stm32f10x_spi.h" 85 | #endif 86 | #ifdef RTE_DEVICE_STDPERIPH_TIM 87 | #include "stm32f10x_tim.h" 88 | #endif 89 | #ifdef RTE_DEVICE_STDPERIPH_USART 90 | #include "stm32f10x_usart.h" 91 | #endif 92 | #ifdef RTE_DEVICE_STDPERIPH_WWDG 93 | #include "stm32f10x_wwdg.h" 94 | #endif 95 | #ifdef RTE_DEVICE_STDPERIPH_FRAMEWORK 96 | #include "misc.h" /* High level functions for NVIC and SysTick (add-on to CMSIS functions) */ 97 | #endif 98 | 99 | /* Exported types ------------------------------------------------------------*/ 100 | /* Exported constants --------------------------------------------------------*/ 101 | /* Uncomment the line below to expanse the "assert_param" macro in the 102 | Standard Peripheral Library drivers code */ 103 | /* #define USE_FULL_ASSERT 1 */ 104 | 105 | /* Exported macro ------------------------------------------------------------*/ 106 | #ifdef USE_FULL_ASSERT 107 | 108 | /** 109 | * @brief The assert_param macro is used for function's parameters check. 110 | * @param expr: If expr is false, it calls assert_failed function which reports 111 | * the name of the source file and the source line number of the call 112 | * that failed. If expr is true, it returns no value. 113 | * @retval None 114 | */ 115 | #define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__)) 116 | /* Exported functions ------------------------------------------------------- */ 117 | void assert_failed(uint8_t* file, uint32_t line); 118 | #else 119 | #define assert_param(expr) ((void)0) 120 | #endif /* USE_FULL_ASSERT */ 121 | 122 | #endif /* __STM32F10x_CONF_H */ 123 | 124 | /******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ 125 | -------------------------------------------------------------------------------- /RTE/RTE_Components.h: -------------------------------------------------------------------------------- 1 | 2 | /* 3 | * Auto generated Run-Time-Environment Component Configuration File 4 | * *** Do not modify ! *** 5 | * 6 | * Project: 'mrobot' 7 | * Target: 'mrobot' 8 | */ 9 | 10 | #ifndef RTE_COMPONENTS_H 11 | #define RTE_COMPONENTS_H 12 | 13 | 14 | /* 15 | * Define the Device Header File: 16 | */ 17 | #define CMSIS_device_header "stm32f10x.h" 18 | 19 | #define RTE_DEVICE_STDPERIPH_ADC 20 | #define RTE_DEVICE_STDPERIPH_DMA 21 | #define RTE_DEVICE_STDPERIPH_EXTI 22 | #define RTE_DEVICE_STDPERIPH_FRAMEWORK 23 | #define RTE_DEVICE_STDPERIPH_GPIO 24 | #define RTE_DEVICE_STDPERIPH_I2C 25 | #define RTE_DEVICE_STDPERIPH_RCC 26 | #define RTE_DEVICE_STDPERIPH_TIM 27 | #define RTE_DEVICE_STDPERIPH_USART 28 | #define RTE_DEVICE_STDPERIPH_WWDG 29 | 30 | #endif /* RTE_COMPONENTS_H */ 31 | -------------------------------------------------------------------------------- /keilkilll.bat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/mrobot/5f7474090a7d357fdad973d72531111f9844cb04/keilkilll.bat -------------------------------------------------------------------------------- /mrobot.uvoptx: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 1.0 5 | 6 |
### uVision Project, (C) Keil Software
7 | 8 | 9 | *.c 10 | *.s*; *.src; *.a* 11 | *.obj 12 | *.lib 13 | *.txt; *.h; *.inc 14 | *.plm 15 | *.cpp 16 | 0 17 | 18 | 19 | 20 | 0 21 | 0 22 | 23 | 24 | 25 | mrobot 26 | 0x4 27 | ARM-ADS 28 | 29 | 12000000 30 | 31 | 0 32 | 1 33 | 0 34 | 1 35 | 0 36 | 37 | 38 | 1 39 | 65535 40 | 0 41 | 0 42 | 0 43 | 44 | 45 | 79 46 | 66 47 | 8 48 | .\Listings\ 49 | 50 | 51 | 1 52 | 1 53 | 1 54 | 0 55 | 1 56 | 1 57 | 0 58 | 1 59 | 0 60 | 0 61 | 0 62 | 0 63 | 64 | 65 | 1 66 | 1 67 | 1 68 | 1 69 | 1 70 | 1 71 | 1 72 | 0 73 | 0 74 | 75 | 76 | 1 77 | 0 78 | 1 79 | 80 | 0 81 | 82 | 83 | 0 84 | Quick Start Guide (MCBSTM32E) 85 | d:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\STM32E_QSG.pdf 86 | 87 | 88 | 1 89 | Base Board Schematics (MCBSTM32E) 90 | d:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e-base-board-schematics.pdf 91 | 92 | 93 | 2 94 | Display Board Schematics (MCBSTM32E) 95 | d:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e-display-board-schematics.pdf 96 | 97 | 98 | 3 99 | User Manual (MCBSTM32E) 100 | d:\Keil_v5\ARM\PACK\Keil\STM32F1xx_DFP\2.2.0\Boards\Keil\MCBSTM32E\Documentation\mcbstm32e.chm 101 | 102 | 103 | 4 104 | User Manual (NUCLEO-F103RB) 105 | d:\Keil_v5\ARM\PACK\Keil\STM32NUCLEO_BSP\1.6.0\Documents\DM00105823.pdf 106 | 107 | 108 | 5 109 | Overview (NUCLEO-F103RB) 110 | d:\Keil_v5\ARM\PACK\Keil\STM32NUCLEO_BSP\1.6.0\Documents\DM00105918.pdf 111 | 112 | 113 | 6 114 | Getting started (NUCLEO-F103RB) 115 | d:\Keil_v5\ARM\PACK\Keil\STM32NUCLEO_BSP\1.6.0\Documents\DM00105928.pdf 116 | 117 | 118 | 7 119 | Schematics (NUCLEO-F103RB) 120 | d:\Keil_v5\ARM\PACK\Keil\STM32NUCLEO_BSP\1.6.0\Documents\MB1136.pdf 121 | 122 | 123 | 8 124 | MCBSTM32E Evaluation Board Web Page (MCBSTM32E) 125 | http://www.keil.com/mcbstm32e/ 126 | 127 | 128 | 9 129 | STM32 Nucleo board (NUCLEO-F103RB) 130 | http://www.st.com/web/catalog/tools/FM116/SC959/SS1532/LN1847/PF259875 131 | 132 | 133 | 134 | 0 135 | 1 136 | 1 137 | 1 138 | 1 139 | 1 140 | 1 141 | 1 142 | 1 143 | 1 144 | 1 145 | 1 146 | 1 147 | 1 148 | 0 149 | 1 150 | 1 151 | 1 152 | 1 153 | 0 154 | 0 155 | 0 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | BIN\UL2CM3.DLL 167 | 168 | 169 | 170 | 0 171 | UL2CM3 172 | UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512 -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM)) 173 | 174 | 175 | 176 | 177 | 0 178 | 179 | 180 | 0 181 | 0 182 | 0 183 | 0 184 | 0 185 | 0 186 | 0 187 | 0 188 | 0 189 | 0 190 | 0 191 | 0 192 | 0 193 | 0 194 | 0 195 | 0 196 | 0 197 | 0 198 | 0 199 | 0 200 | 0 201 | 0 202 | 0 203 | 0 204 | 205 | 206 | 207 | 0 208 | 209 | 210 | 0 211 | 212 | 1 213 | 0 214 | 2 215 | 10000000 216 | 217 | 218 | 219 | 220 | 221 | Source 222 | 0 223 | 0 224 | 0 225 | 0 226 | 227 | 1 228 | 1 229 | 1 230 | 0 231 | 0 232 | 0 233 | .\src\main.c 234 | main.c 235 | 0 236 | 0 237 | 238 | 239 | 240 | 241 | Driver 242 | 0 243 | 0 244 | 0 245 | 0 246 | 247 | 2 248 | 2 249 | 1 250 | 0 251 | 0 252 | 0 253 | .\src\driver\battery.c 254 | battery.c 255 | 0 256 | 0 257 | 258 | 259 | 2 260 | 3 261 | 1 262 | 0 263 | 0 264 | 0 265 | .\src\driver\beep.c 266 | beep.c 267 | 0 268 | 0 269 | 270 | 271 | 2 272 | 4 273 | 1 274 | 0 275 | 0 276 | 0 277 | .\src\driver\boarddrv.c 278 | boarddrv.c 279 | 0 280 | 0 281 | 282 | 283 | 2 284 | 5 285 | 1 286 | 0 287 | 0 288 | 0 289 | .\src\driver\crc.c 290 | crc.c 291 | 0 292 | 0 293 | 294 | 295 | 2 296 | 6 297 | 1 298 | 0 299 | 0 300 | 0 301 | .\src\driver\led.c 302 | led.c 303 | 0 304 | 0 305 | 306 | 307 | 2 308 | 7 309 | 1 310 | 0 311 | 0 312 | 0 313 | .\src\driver\motor.c 314 | motor.c 315 | 0 316 | 0 317 | 318 | 319 | 2 320 | 8 321 | 1 322 | 0 323 | 0 324 | 0 325 | .\src\driver\softdelay.c 326 | softdelay.c 327 | 0 328 | 0 329 | 330 | 331 | 2 332 | 9 333 | 1 334 | 0 335 | 0 336 | 0 337 | .\src\driver\usart.c 338 | usart.c 339 | 0 340 | 0 341 | 342 | 343 | 2 344 | 10 345 | 1 346 | 0 347 | 0 348 | 0 349 | .\src\driver\watchdog.c 350 | watchdog.c 351 | 0 352 | 0 353 | 354 | 355 | 2 356 | 11 357 | 1 358 | 0 359 | 0 360 | 0 361 | .\src\driver\exti.c 362 | exti.c 363 | 0 364 | 0 365 | 366 | 367 | 2 368 | 12 369 | 1 370 | 0 371 | 0 372 | 0 373 | .\src\driver\sonar.c 374 | sonar.c 375 | 0 376 | 0 377 | 378 | 379 | 2 380 | 13 381 | 1 382 | 0 383 | 0 384 | 0 385 | .\src\driver\protocol.c 386 | protocol.c 387 | 0 388 | 0 389 | 390 | 391 | 392 | 393 | MPU6050 394 | 0 395 | 0 396 | 0 397 | 0 398 | 399 | 3 400 | 14 401 | 1 402 | 0 403 | 0 404 | 0 405 | .\src\driver\mpu6050\mpu6050.c 406 | mpu6050.c 407 | 0 408 | 0 409 | 410 | 411 | 3 412 | 15 413 | 1 414 | 0 415 | 0 416 | 0 417 | .\src\driver\mpu6050\mpuiic.c 418 | mpuiic.c 419 | 0 420 | 0 421 | 422 | 423 | 3 424 | 16 425 | 1 426 | 0 427 | 0 428 | 0 429 | .\src\driver\mpu6050\eMPL\inv_mpu.c 430 | inv_mpu.c 431 | 0 432 | 0 433 | 434 | 435 | 3 436 | 17 437 | 1 438 | 0 439 | 0 440 | 0 441 | .\src\driver\mpu6050\eMPL\inv_mpu_dmp_motion_driver.c 442 | inv_mpu_dmp_motion_driver.c 443 | 0 444 | 0 445 | 446 | 447 | 448 | 449 | utils 450 | 0 451 | 0 452 | 0 453 | 0 454 | 455 | 4 456 | 18 457 | 1 458 | 0 459 | 0 460 | 0 461 | .\src\utils\filters.c 462 | filters.c 463 | 0 464 | 0 465 | 466 | 467 | 4 468 | 19 469 | 1 470 | 0 471 | 0 472 | 0 473 | .\src\utils\hwconf.c 474 | hwconf.c 475 | 0 476 | 0 477 | 478 | 479 | 4 480 | 20 481 | 1 482 | 0 483 | 0 484 | 0 485 | .\src\utils\stm32f10x_it.c 486 | stm32f10x_it.c 487 | 0 488 | 0 489 | 490 | 491 | 492 | 493 | ::CMSIS 494 | 0 495 | 0 496 | 0 497 | 1 498 | 499 | 500 | 501 | ::Device 502 | 0 503 | 0 504 | 0 505 | 1 506 | 507 | 508 | 509 | -------------------------------------------------------------------------------- /ros_node/Serial_node.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include // 包含ROS的头文件 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include //包含boost库函数 8 | #include 9 | #include 10 | #include 11 | #include 12 | #include 13 | #include 14 | 15 | using namespace std; 16 | using namespace boost::asio; //定义一个命名空间，用于后面的读写操作 17 | ros::Time current_time, last_time; 18 | void writeSerial(const geometry_msgs::Twist& msg); 19 | 20 | io_service iosev; //节点文件 21 | serial_port sp(iosev, "/dev/mrobot"); 22 | char* FILENAME; 23 | void readConfigFile(char* filename); 24 | void writeConfigFile(char* filename); 25 | 26 | 27 | #define R 105.00 28 | #define L 210.50 29 | #define fastAbs(n) n > 0 ? n : -n 30 | #define PI 3.1415926535897932f 31 | 32 | int _ID_FLAG = 0, _READ = 1; 33 | unsigned char Get_Crc8(unsigned char *ptr, unsigned short len) 34 | { 35 | unsigned char crc; 36 | unsigned char i; 37 | crc = 0; 38 | while(len--) 39 | { 40 | crc ^= *ptr++; 41 | for(i = 0; i < 8; i++) 42 | { 43 | if(crc&0x01)crc=(crc>>1)^0x8C; 44 | else crc >>= 1; 45 | } 46 | } 47 | return crc; 48 | } 49 | 50 | const string toHexString(const unsigned char* input, const int datasize) 51 | { 52 | string output; 53 | char ch[3]; 54 | 55 | for(int i = 0; i < datasize; ++i) 56 | { 57 | snprintf(ch, 3, "%02x", input[i]); 58 | output += ch; 59 | } 60 | return output; 61 | } 62 | 63 | bool compareID(const unsigned char* ID, string ID_FROM_FILE) 64 | { 65 | string temp; 66 | temp = toHexString(ID, 12); 67 | if (temp == ID_FROM_FILE) 68 | { 69 | return true; 70 | } else 71 | { 72 | return false; 73 | } 74 | } 75 | 76 | double x = 0.0; 77 | double y = 0.0; 78 | double th = 0.0; 79 | 80 | double vx = 0.0; 81 | double vy = 0.0; 82 | double vth = 0.0; 83 | 84 | enum SendCommandType { 85 | SIMPLE_INFO = 23130, 86 | WITH_SONAR_INFO = 23125, 87 | WITH_SIX_AXIS_SENSOR_INFO = 23210, 88 | ALL_INFO = 23205, 89 | SPEED_INFO = 42330, 90 | BATTERY_INFO = 42325, 91 | SONAR_INFO = 42410, 92 | SIX_AXIS_SENSOR_INFO = 42405, 93 | }; 94 | 95 | enum ReceiveCommandType { 96 | REQUIRE_WITH_SIMPLE_INFO = 0, 97 | REQUIRE_WITH_SONAR_INFO, 98 | REQUIRE_WITH_SIX_AXIS_SENSOR_INFO, 99 | REQUIRE_WITH_ALL_INFO, 100 | REQUIRE_WITH_SPEED_INFO, 101 | REQUIRE_WITH_BATTERY_INFO, 102 | REQUIRE_WITH_ONLY_SONAR_INFO, 103 | REQUIRE_WITH_ONLY_SIX_AXIS_SENSOR_INFO, 104 | }; 105 | 106 | union sendData 107 | { 108 | int d; 109 | unsigned char data[4]; 110 | }leftdata, rightdata; 111 | 112 | union checkSum 113 | { 114 | short d; 115 | unsigned char data[1]; 116 | }SendCheckSum, ReceiveCheckSum; 117 | 118 | union receiveHeader 119 | { 120 | int d; 121 | unsigned char data[2]; 122 | }receive_command, receive_header; 123 | 124 | union receiveEnder 125 | { 126 | int d; 127 | unsigned char data[2]; 128 | }receive_ender; 129 | 130 | union sendCommand 131 | { 132 | int d; 133 | unsigned char data[2]; 134 | }send_command; 135 | 136 | union odometry //里程计数据共用体 137 | { 138 | float odoemtry_float; 139 | unsigned char odometry_char[4]; 140 | }vel_left, vel_right, temprature, odom_yaw, odom_pitch, odom_roll, sonar_front, sonar_back, sonar_left, sonar_right; 141 | 142 | union battery //电池数据共用体 143 | { 144 | float battery_float; 145 | unsigned char battery_char[4]; 146 | }electricity, battery_percentage; 147 | 148 | unsigned char buf[200]; //定义字符串长度 149 | unsigned char _ID[12]; //存放芯片ID的临时变量 150 | string read_str; 151 | short command = -1; 152 | const unsigned char ender[2] = {0x0d, 0x0a}; 153 | const unsigned char header[2] = {0x55, 0xaa}; 154 | 155 | void readSerial() 156 | { 157 | int i, _length = 0; 158 | unsigned char _checkSum; 159 | read(sp, buffer(buf)); 160 | ros::Time curr_time; 161 | for (i = 0; i < 2; i++) 162 | { 163 | receive_header.data[i] = buf[i]; 164 | } 165 | if (receive_header.data[0] == header[0] && receive_header.data[1] == header[1]) 166 | { 167 | for (i = 0; i < 2; i++) 168 | { 169 | receive_command.data[i] = buf[i + 2]; 170 | } 171 | _length = buf[4]; 172 | _checkSum = Get_Crc8(buf, 5 + _length); 173 | switch(receive_command.d) 174 | { 175 | case SIMPLE_INFO: 176 | command = REQUIRE_WITH_SIMPLE_INFO; 177 | if (buf[6 + _length] == ender[0] && buf[6 + _length + 1] == ender[1]) 178 | { 179 | ReceiveCheckSum.data[0] = buf[5 + _length]; 180 | if (_checkSum == ReceiveCheckSum.d) 181 | { 182 | for(i = 0; i < 4; i++) 183 | { 184 | vel_left.odometry_char[i] = buf[i + 5]; 185 | vel_right.odometry_char[i] = buf[i + 9]; 186 | electricity.battery_char[i] = buf[i + 13]; 187 | battery_percentage.battery_char[i] = buf[i + 17]; 188 | } 189 | vx = (vel_right.odoemtry_float + vel_left.odoemtry_float) / 2 / 1000; 190 | vth = (vel_right.odoemtry_float - vel_left.odoemtry_float) / L; 191 | 192 | curr_time = ros::Time::now(); 193 | 194 | double dt = (curr_time - last_time).toSec(); 195 | double delta_x = (vx * cos(th) - vy * sin(th)) * dt; 196 | double delta_y = (vx * sin(th) + vy * cos(th)) * dt; 197 | double delta_th = vth * dt; 198 | 199 | x += delta_x; 200 | y += delta_y; 201 | th += delta_th; 202 | last_time = curr_time; 203 | } 204 | else 205 | { 206 | ROS_INFO("Received data check sum error!"); 207 | } 208 | } 209 | break; 210 | case WITH_SONAR_INFO: 211 | command = REQUIRE_WITH_SONAR_INFO; 212 | if (buf[6 + _length] == ender[0] && buf[6 + _length + 1] == ender[1]) 213 | { 214 | ReceiveCheckSum.data[0] = buf[5 + _length]; 215 | if (_checkSum == ReceiveCheckSum.d) 216 | { 217 | for(i = 0; i < 4; i++) 218 | { 219 | vel_left.odometry_char[i] = buf[i + 5]; 220 | vel_right.odometry_char[i] = buf[i + 9]; 221 | electricity.battery_char[i] = buf[i + 13]; 222 | battery_percentage.battery_char[i] = buf[i + 17]; 223 | sonar_front.odometry_char[i] = buf[i + 21]; 224 | sonar_back.odometry_char[i] = buf[i + 25]; 225 | sonar_left.odometry_char[i] = buf[i + 29]; 226 | sonar_right.odometry_char[i] = buf[i + 33]; 227 | } 228 | vx = (vel_right.odoemtry_float + vel_left.odoemtry_float) / 2 / 1000; 229 | vth = (vel_right.odoemtry_float - vel_left.odoemtry_float) / L; 230 | 231 | curr_time = ros::Time::now(); 232 | 233 | double dt = (curr_time - last_time).toSec(); 234 | double delta_x = (vx * cos(th) - vy * sin(th)) * dt; 235 | double delta_y = (vx * sin(th) + vy * cos(th)) * dt; 236 | double delta_th = vth * dt; 237 | 238 | x += delta_x; 239 | y += delta_y; 240 | th += delta_th; 241 | last_time = curr_time; 242 | } 243 | else 244 | { 245 | ROS_INFO("Received data check sum error!"); 246 | } 247 | } 248 | break; 249 | case WITH_SIX_AXIS_SENSOR_INFO: 250 | command = REQUIRE_WITH_SIX_AXIS_SENSOR_INFO; 251 | if (buf[6 + _length] == ender[0] && buf[6 + _length + 1] == ender[1]) 252 | { 253 | ReceiveCheckSum.data[0] = buf[5 + _length]; 254 | if (_checkSum == ReceiveCheckSum.d) 255 | { 256 | for(i = 0; i < 4; i++) 257 | { 258 | vel_left.odometry_char[i] = buf[i + 5]; 259 | vel_right.odometry_char[i] = buf[i + 9]; 260 | electricity.battery_char[i] = buf[i + 13]; 261 | battery_percentage.battery_char[i] = buf[i + 17]; 262 | odom_pitch.odometry_char[i] = buf[i + 21]; 263 | odom_roll.odometry_char[i] = buf[i + 25]; 264 | odom_yaw.odometry_char[i] = buf[i + 29]; 265 | temprature.odometry_char[i] = buf[i + 33]; 266 | } 267 | vx = (vel_right.odoemtry_float + vel_left.odoemtry_float) / 2 / 1000; 268 | vth = (vel_right.odoemtry_float - vel_left.odoemtry_float) / L; 269 | 270 | curr_time = ros::Time::now(); 271 | 272 | double dt = (curr_time - last_time).toSec(); 273 | double delta_x = (vx * cos(th) - vy * sin(th)) * dt; 274 | double delta_y = (vx * sin(th) + vy * cos(th)) * dt; 275 | double delta_th = vth * dt; 276 | 277 | x += delta_x; 278 | y += delta_y; 279 | th += delta_th; 280 | last_time = curr_time; 281 | } 282 | else 283 | { 284 | ROS_INFO("Received data check sum error!"); 285 | } 286 | } 287 | break; 288 | case ALL_INFO: 289 | command = REQUIRE_WITH_ALL_INFO; 290 | if (buf[6 + _length] == ender[0] && buf[6 + _length + 1] == ender[1]) 291 | { 292 | ReceiveCheckSum.data[0] = buf[5 + _length]; 293 | if (_checkSum == ReceiveCheckSum.d) 294 | { 295 | for(i = 0; i < 4; i++) 296 | { 297 | vel_left.odometry_char[i] = buf[i + 5]; 298 | vel_right.odometry_char[i] = buf[i + 9]; 299 | electricity.battery_char[i] = buf[i + 13]; 300 | battery_percentage.battery_char[i] = buf[i + 17]; 301 | odom_pitch.odometry_char[i] = buf[i + 21]; 302 | odom_roll.odometry_char[i] = buf[i + 25]; 303 | odom_yaw.odometry_char[i] = buf[i + 29]; 304 | temprature.odometry_char[i] = buf[i + 33]; 305 | sonar_front.odometry_char[i] = buf[i + 37]; 306 | sonar_back.odometry_char[i] = buf[i + 41]; 307 | sonar_left.odometry_char[i] = buf[i + 45]; 308 | sonar_right.odometry_char[i] = buf[i + 49]; 309 | } 310 | vx = (vel_right.odoemtry_float + vel_left.odoemtry_float) / 2 / 1000; 311 | vth = (vel_right.odoemtry_float - vel_left.odoemtry_float) / L; 312 | 313 | curr_time = ros::Time::now(); 314 | 315 | double dt = (curr_time - last_time).toSec(); 316 | double delta_x = (vx * cos(th) - vy * sin(th)) * dt; 317 | double delta_y = (vx * sin(th) + vy * cos(th)) * dt; 318 | double delta_th = vth * dt; 319 | 320 | x += delta_x; 321 | y += delta_y; 322 | th += delta_th; 323 | last_time = curr_time; 324 | } 325 | else 326 | { 327 | ROS_INFO("Received data check sum error!"); 328 | } 329 | } 330 | break; 331 | case SPEED_INFO: 332 | command = REQUIRE_WITH_SPEED_INFO; 333 | if (buf[6 + _length] == ender[0] && buf[6 + _length + 1] == ender[1]) 334 | { 335 | ReceiveCheckSum.data[0] = buf[5 + _length]; 336 | if (_checkSum == ReceiveCheckSum.d) 337 | { 338 | for(i = 0; i < 4; i++) 339 | { 340 | vel_left.odometry_char[i] = buf[i + 5]; 341 | vel_right.odometry_char[i] = buf[i + 9]; 342 | } 343 | vx = (vel_right.odoemtry_float + vel_left.odoemtry_float) / 2 / 1000; 344 | vth = (vel_right.odoemtry_float - vel_left.odoemtry_float) / L; 345 | 346 | curr_time = ros::Time::now(); 347 | 348 | double dt = (curr_time - last_time).toSec(); 349 | double delta_x = (vx * cos(th) - vy * sin(th)) * dt; 350 | double delta_y = (vx * sin(th) + vy * cos(th)) * dt; 351 | double delta_th = vth * dt; 352 | 353 | x += delta_x; 354 | y += delta_y; 355 | th += delta_th; 356 | last_time = curr_time; 357 | } 358 | else 359 | { 360 | ROS_INFO("Received data check sum error!"); 361 | } 362 | } 363 | break; 364 | case BATTERY_INFO: 365 | command = REQUIRE_WITH_BATTERY_INFO; 366 | if (buf[6 + _length] == ender[0] && buf[6 + _length + 1] == ender[1]) 367 | { 368 | ReceiveCheckSum.data[0] = buf[5 + _length]; 369 | if (_checkSum == ReceiveCheckSum.d) 370 | { 371 | for(i = 0; i < 4; i++) 372 | { 373 | electricity.battery_char[i] = buf[i + 5]; 374 | battery_percentage.battery_char[i] = buf[i + 9]; 375 | } 376 | vx = (vel_right.odoemtry_float + vel_left.odoemtry_float) / 2 / 1000; 377 | vth = (vel_right.odoemtry_float - vel_left.odoemtry_float) / L; 378 | 379 | curr_time = ros::Time::now(); 380 | 381 | double dt = (curr_time - last_time).toSec(); 382 | double delta_x = (vx * cos(th) - vy * sin(th)) * dt; 383 | double delta_y = (vx * sin(th) + vy * cos(th)) * dt; 384 | double delta_th = vth * dt; 385 | 386 | x += delta_x; 387 | y += delta_y; 388 | th += delta_th; 389 | last_time = curr_time; 390 | } 391 | else 392 | { 393 | ROS_INFO("Received data check sum error!"); 394 | } 395 | } 396 | break; 397 | case SONAR_INFO: 398 | command = REQUIRE_WITH_ONLY_SONAR_INFO; 399 | if (buf[6 + _length] == ender[0] && buf[6 + _length + 1] == ender[1]) 400 | { 401 | ReceiveCheckSum.data[0] = buf[5 + _length]; 402 | if (_checkSum == ReceiveCheckSum.d) 403 | { 404 | for(i = 0; i < 4; i++) 405 | { 406 | sonar_front.odometry_char[i] = buf[i + 5]; 407 | sonar_back.odometry_char[i] = buf[i + 9]; 408 | sonar_left.odometry_char[i] = buf[i + 13]; 409 | sonar_right.odometry_char[i] = buf[i + 17]; 410 | } 411 | vx = (vel_right.odoemtry_float + vel_left.odoemtry_float) / 2 / 1000; 412 | vth = (vel_right.odoemtry_float - vel_left.odoemtry_float) / L; 413 | 414 | curr_time = ros::Time::now(); 415 | 416 | double dt = (curr_time - last_time).toSec(); 417 | double delta_x = (vx * cos(th) - vy * sin(th)) * dt; 418 | double delta_y = (vx * sin(th) + vy * cos(th)) * dt; 419 | double delta_th = vth * dt; 420 | 421 | x += delta_x; 422 | y += delta_y; 423 | th += delta_th; 424 | last_time = curr_time; 425 | } 426 | else 427 | { 428 | ROS_INFO("Received data check sum error!"); 429 | } 430 | } 431 | break; 432 | case SIX_AXIS_SENSOR_INFO: 433 | command = REQUIRE_WITH_ONLY_SIX_AXIS_SENSOR_INFO; 434 | if (buf[6 + _length] == ender[0] && buf[6 + _length + 1] == ender[1]) 435 | { 436 | ReceiveCheckSum.data[0] = buf[5 + _length]; 437 | if (_checkSum == ReceiveCheckSum.d) 438 | { 439 | for(i = 0; i < 4; i++) 440 | { 441 | odom_pitch.odometry_char[i] = buf[i + 5]; 442 | odom_roll.odometry_char[i] = buf[i + 9]; 443 | odom_yaw.odometry_char[i] = buf[i + 13]; 444 | temprature.odometry_char[i] = buf[i + 17]; 445 | } 446 | vx = (vel_right.odoemtry_float + vel_left.odoemtry_float) / 2 / 1000; 447 | vth = (vel_right.odoemtry_float - vel_left.odoemtry_float) / L; 448 | 449 | curr_time = ros::Time::now(); 450 | 451 | double dt = (curr_time - last_time).toSec(); 452 | double delta_x = (vx * cos(th) - vy * sin(th)) * dt; 453 | double delta_y = (vx * sin(th) + vy * cos(th)) * dt; 454 | double delta_th = vth * dt; 455 | 456 | x += delta_x; 457 | y += delta_y; 458 | th += delta_th; 459 | last_time = curr_time; 460 | } 461 | else 462 | { 463 | ROS_INFO("Received data check sum error!"); 464 | } 465 | } 466 | break; 467 | } 468 | for(i = 0; i < 12; i++) 469 | { 470 | _ID[i] = buf[8 + _length + i]; 471 | } 472 | readConfigFile(FILENAME); 473 | } 474 | } 475 | 476 | void writeSerial(const geometry_msgs::Twist& msg) 477 | { 478 | double RobotV = msg.linear.x * 1000; 479 | double YawRate = msg.angular.z; 480 | unsigned char buf_[16] = {0}; 481 | int i, length = 0; 482 | double r = RobotV / YawRate; 483 | if(RobotV == 0) 484 | { 485 | leftdata.d = -YawRate * R; 486 | rightdata.d = YawRate * R; 487 | } else if(YawRate == 0) 488 | { 489 | leftdata.d = RobotV; 490 | rightdata.d = RobotV; 491 | } 492 | else 493 | { 494 | leftdata.d = YawRate * (r - R); 495 | rightdata.d = YawRate * (r + R); 496 | } 497 | for(i = 0; i < 2; i++) 498 | { 499 | buf_[i] = header[i]; 500 | } 501 | send_command.d = 21850; 502 | for(i = 0; i < 2; i++) 503 | { 504 | buf_[i + 2] = send_command.data[i]; 505 | } 506 | length = 8; 507 | buf_[4] = length; 508 | for(i = 0; i < 4; i++) 509 | { 510 | buf_[i + 5] = rightdata.data[i]; 511 | buf_[i + 9] = leftdata.data[i]; 512 | } 513 | buf_[5 + length] = Get_Crc8(buf_, 5 + length); 514 | buf_[6 + length] = ender[0]; 515 | buf_[6 + length + 1] = ender[1]; 516 | write(sp, buffer(buf_)); 517 | readSerial(); 518 | } 519 | 520 | void readConfigFile(char* filename) 521 | { 522 | if (_READ) 523 | { 524 | ifstream file; 525 | file.open(filename, ios::in | ios::binary); 526 | if (file) 527 | { 528 | file >> read_str; 529 | if (compareID(_ID, read_str)) 530 | { 531 | ROS_INFO("ID Compare Successful"); 532 | }else 533 | { 534 | ROS_ERROR("ID Compare Failed"); 535 | exit(-1); 536 | } 537 | } else 538 | { 539 | writeConfigFile(filename); 540 | } 541 | file.close(); 542 | _READ = 0; 543 | } 544 | } 545 | 546 | void writeConfigFile(char* filename) 547 | { 548 | ofstream file; 549 | file.open(filename, ios::out | ios::app | ios::binary); 550 | if (file) 551 | { 552 | file << toHexString(_ID, 12); 553 | } else 554 | { 555 | ROS_INFO("Error opening Config file %s!", filename); 556 | } 557 | file.close(); 558 | _READ = 1; 559 | } 560 | 561 | int main(int argc, char** argv) 562 | { 563 | FILENAME = strcat(getenv("HOME"), "/mrobot.config"); 564 | try 565 | { 566 | // 设置参数 567 | sp.set_option(serial_port::baud_rate(115200)); 568 | sp.set_option(serial_port::flow_control(serial_port::flow_control::none)); 569 | sp.set_option(serial_port::parity(serial_port::parity::none)); 570 | sp.set_option(serial_port::stop_bits(serial_port::stop_bits::one)); 571 | sp.set_option(serial_port::character_size(8)); 572 | ROS_INFO("Serial Port initialized successful."); 573 | ros::init(argc, argv, "serial_node"); //初始化节点 574 | ros::Time::init(); 575 | current_time = ros::Time::now(); 576 | last_time = ros::Time::now(); 577 | ros::Rate loop_rate(50); 578 | ros::NodeHandle nh; 579 | ros::Publisher pub = nh.advertise("odom", 50); //定义发布消息的名称 580 | ros::Subscriber sub = nh.subscribe("cmd_vel", 50, &writeSerial); 581 | tf::TransformBroadcaster odom_broadcaster; 582 | ROS_INFO("ROS Node initialized successful."); 583 | 584 | while (ros::ok()) { 585 | ros::spinOnce(); 586 | 587 | current_time = ros::Time::now(); 588 | geometry_msgs::TransformStamped odom_trans; 589 | 590 | odom_trans.header.stamp = current_time; 591 | odom_trans.header.frame_id = "odom"; 592 | odom_trans.child_frame_id = "base_footprint"; 593 | 594 | geometry_msgs::Quaternion odom_quat; 595 | if (command == REQUIRE_WITH_ALL_INFO) 596 | { 597 | odom_quat = tf::createQuaternionMsgFromYaw(th); 598 | odom_trans.transform.translation.x = x; 599 | odom_trans.transform.translation.y = y; 600 | odom_trans.transform.translation.z = 0.0; 601 | odom_trans.transform.rotation = odom_quat; 602 | ROS_INFO("Left Speed: %.4f m/s.", vel_left.odoemtry_float / 1000); 603 | ROS_INFO("Right Speed: %.4f m/s.", vel_right.odoemtry_float / 1000); 604 | ROS_INFO("Battery Voltage: %.3f mV.", electricity.battery_float); 605 | ROS_INFO("Battery Electricity Percentage: %.3f%%.", battery_percentage.battery_float); 606 | ROS_INFO("Temprature: %.2f C.", temprature.odoemtry_float); 607 | ROS_INFO("Pitch: %.3f.", odom_pitch.odoemtry_float); 608 | ROS_INFO("Roll: %.3f.", odom_roll.odoemtry_float); 609 | ROS_INFO("Yaw: %.3f.", odom_yaw.odoemtry_float); 610 | ROS_INFO("Sonar front: %.3f m.", sonar_front.odoemtry_float); 611 | ROS_INFO("Sonar back: %.3f m.", sonar_back.odoemtry_float); 612 | ROS_INFO("Sonar left: %.3f m.", sonar_left.odoemtry_float); 613 | ROS_INFO("Sonar right: %.3f m.", sonar_right.odoemtry_float); 614 | } else if (command == REQUIRE_WITH_SIMPLE_INFO) 615 | { 616 | odom_quat = tf::createQuaternionMsgFromYaw(th); 617 | odom_trans.transform.translation.x = x; 618 | odom_trans.transform.translation.y = y; 619 | odom_trans.transform.translation.z = 0.0; 620 | odom_trans.transform.rotation = odom_quat; 621 | ROS_INFO("Left Speed: %.4f m/s.", vel_left.odoemtry_float / 1000); 622 | ROS_INFO("Right Speed: %.4f m/s.", vel_right.odoemtry_float / 1000); 623 | ROS_INFO("Battery Voltage: %.3f mV.", electricity.battery_float); 624 | ROS_INFO("Battery Electricity Percentage: %.3f%%.", battery_percentage.battery_float); 625 | } else if(command == REQUIRE_WITH_SIX_AXIS_SENSOR_INFO) 626 | { 627 | odom_quat = tf::createQuaternionMsgFromYaw(th); 628 | odom_trans.transform.translation.x = x; 629 | odom_trans.transform.translation.y = y; 630 | odom_trans.transform.translation.z = 0.0; 631 | odom_trans.transform.rotation = odom_quat; 632 | ROS_INFO("Left Speed: %.4f m/s.", vel_left.odoemtry_float / 1000); 633 | ROS_INFO("Right Speed: %.4f m/s.", vel_right.odoemtry_float / 1000); 634 | ROS_INFO("Battery Voltage: %.3f mV.", electricity.battery_float); 635 | ROS_INFO("Battery Electricity Percentage: %.3f%%.", battery_percentage.battery_float); 636 | ROS_INFO("Temprature: %.2f C.", temprature.odoemtry_float); 637 | ROS_INFO("Pitch: %.3f.", odom_pitch.odoemtry_float); 638 | ROS_INFO("Roll: %.3f.", odom_roll.odoemtry_float); 639 | ROS_INFO("Yaw: %.3f.", odom_yaw.odoemtry_float); 640 | } else 641 | { 642 | odom_quat = tf::createQuaternionMsgFromYaw(th); 643 | odom_trans.transform.translation.x = x; 644 | odom_trans.transform.translation.y = y; 645 | odom_trans.transform.translation.z = 0.0; 646 | odom_trans.transform.rotation = odom_quat; 647 | } 648 | 649 | //send the transform 650 | odom_broadcaster.sendTransform(odom_trans); 651 | 652 | nav_msgs::Odometry msgl; 653 | msgl.header.stamp = current_time; 654 | msgl.header.frame_id = "odom"; 655 | 656 | msgl.pose.pose.position.x = x; 657 | msgl.pose.pose.position.y = y; 658 | msgl.pose.pose.position.z = 0.0; 659 | msgl.pose.pose.orientation = odom_quat; 660 | 661 | msgl.child_frame_id = "base_footprint"; 662 | msgl.twist.twist.linear.x = vx; 663 | msgl.twist.twist.linear.y = vy; 664 | msgl.twist.twist.angular.z = vth; 665 | 666 | pub.publish(msgl); //发布消息 667 | command = -1; 668 | loop_rate.sleep(); 669 | } 670 | iosev.run(); 671 | } 672 | catch (exception& err) 673 | { 674 | ROS_ERROR("Exception Error: %s", err.what()); 675 | return -1; 676 | } 677 | return 0; 678 | } -------------------------------------------------------------------------------- /src/driver/battery.c: -------------------------------------------------------------------------------- 1 | #include "common.h" 2 | #include "battery.h" 3 | 4 | static _u32 batteryFrequency = 0; 5 | static float batteryElectricityPercentage = 0; 6 | extern _u32 voltage; 7 | 8 | int init_battery(void) 9 | { 10 | GPIO_InitTypeDef GPIO_InitStructure; 11 | 12 | RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); 13 | RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE); 14 | 15 | GPIO_InitStructure.GPIO_Pin = BATT_DETECT_PIN; 16 | GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz; 17 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN; 18 | GPIO_Init(BATT_DETECT_PORT, &GPIO_InitStructure); 19 | return 1; 20 | } 21 | 22 | /* 23 | * 获取电池电压函数 24 | * 返回电压值，单位：mV 25 | */ 26 | float get_electricity(void) 27 | { 28 | return (float)voltage * (3.3 / 4096) * 9090.91 - 2359.09; 29 | } 30 | /* 31 | * 获取电池容量百分比函数 32 | * 返回百分比0-100% 33 | */ 34 | float get_electricitypercentage(void) 35 | { 36 | return batteryElectricityPercentage; 37 | } 38 | 39 | /* 40 | * 电池相关模块函数 41 | * 充电状态的判定等 42 | */ 43 | void heartbeat_battery(void) 44 | { 45 | _u32 currentVolt; 46 | if ((getms() - batteryFrequency) >= 3000) { 47 | //3秒检测一次电池容量及计算百分比 48 | batteryFrequency = getms(); 49 | currentVolt = get_electricity(); 50 | if (currentVolt < BATTERY_VOLTAGE_EMPTY) { 51 | batteryElectricityPercentage = 0.0; 52 | } else if (currentVolt > BATTERY_VOLTAGE_FULL) { 53 | batteryElectricityPercentage = 100.0; 54 | } else { 55 | batteryElectricityPercentage = (float)(currentVolt - BATTERY_VOLTAGE_EMPTY) * 100 / (float)(BATTERY_VOLTAGE_FULL - BATTERY_VOLTAGE_EMPTY); 56 | } 57 | } 58 | } 59 | -------------------------------------------------------------------------------- /src/driver/beep.c: -------------------------------------------------------------------------------- 1 | #include "beep.h" 2 | 3 | static _u32 _delay = 0; 4 | static _u32 _startMs = 0; 5 | static _u32 _beeper_ticks = 0; 6 | static _u8 _beeper_status = 0; 7 | /* 8 | * 蜂鸣器初始化函数 9 | * PWM输出，频率可调 10 | */ 11 | int init_beep(void) 12 | { 13 | GPIO_InitTypeDef GPIO_InitStructure; 14 | TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; 15 | TIM_OCInitTypeDef TIM_OCInitStructure; 16 | 17 | RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); 18 | RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); 19 | RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); 20 | GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); 21 | GPIO_PinRemapConfig(GPIO_FullRemap_TIM2, ENABLE); 22 | 23 | GPIO_InitStructure.GPIO_Pin = BEEP_PIN; 24 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; 25 | GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; 26 | GPIO_Init(BEEP_GPIO, &GPIO_InitStructure); 27 | 28 | PIN_SET(BEEP_GPIO, BEEP_PIN, LOW); 29 | 30 | TIM_TimeBaseStructure.TIM_Period = TIME_PERIOD; 31 | TIM_TimeBaseStructure.TIM_Prescaler = CPU_FREQ / TIME_PRESCALER / BEEP_INIT_HZ; 32 | TIM_TimeBaseStructure.TIM_ClockDivision = 0; 33 | TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; 34 | TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); 35 | 36 | TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; 37 | TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; 38 | TIM_OCInitStructure.TIM_Pulse = 1; 39 | TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; 40 | TIM_OC1Init(TIM2, &TIM_OCInitStructure); 41 | 42 | TIM_CtrlPWMOutputs(TIM2, ENABLE); 43 | TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable); 44 | TIM_ARRPreloadConfig(TIM2, ENABLE); 45 | TIM_Cmd(TIM2, ENABLE); 46 | 47 | return 1; 48 | } 49 | /* 50 | * 蜂鸣器使能函数 51 | */ 52 | static void enable_beep(void) 53 | { 54 | GPIO_InitTypeDef GPIO_InitStructure; 55 | GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; 56 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; 57 | 58 | GPIO_InitStructure.GPIO_Pin = BEEP_PIN; 59 | GPIO_Init(BEEP_GPIO, &GPIO_InitStructure); 60 | } 61 | /* 62 | * 蜂鸣器禁止函数 63 | */ 64 | static void disable_beep(void) 65 | { 66 | GPIO_InitTypeDef GPIO_InitStructure; 67 | GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; 68 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; 69 | 70 | GPIO_InitStructure.GPIO_Pin = BEEP_PIN; 71 | GPIO_Init(BEEP_GPIO, &GPIO_InitStructure); 72 | } 73 | /* 74 | * 蜂鸣器打开函数 75 | */ 76 | void start_beep(void) 77 | { 78 | enable_beep(); 79 | } 80 | /* 81 | * 蜂鸣器关闭函数 82 | */ 83 | void stop_beep(void) 84 | { 85 | disable_beep(); 86 | } 87 | 88 | static _u32 HighFrequency[] = { 0, 1046, 1175, 1318, 1397, 1568, 1760, 1976 }; //高频发声 89 | /* 90 | * 蜂鸣器PWM频率设置函数 91 | */ 92 | static void set_beep_frequency(_u32 frequency) 93 | { 94 | TIM2->PSC = CPU_FREQ / TIME_PRESCALER / frequency; 95 | } 96 | /* 97 | * 蜂鸣器PWM脉宽设置函数 98 | */ 99 | static void set_beep_sound(_u32 sound) 100 | { 101 | TIM2->CCR1 = sound; 102 | } 103 | /* 104 | * 蜂鸣器上电特定发声函数 105 | */ 106 | void play_poweron(void) 107 | { 108 | stop_beep(); 109 | start_beep(); 110 | PIN_SET(BEEP_GPIO, BEEP_PIN, HIGH); 111 | _delay_ms(500); 112 | PIN_SET(BEEP_GPIO, BEEP_PIN, LOW); 113 | stop_beep(); 114 | _delay_ms(1000); 115 | start_beep(); 116 | PIN_SET(BEEP_GPIO, BEEP_PIN, HIGH); 117 | _delay_ms(500); 118 | PIN_SET(BEEP_GPIO, BEEP_PIN, LOW); 119 | stop_beep(); 120 | } 121 | 122 | void play_poweron_frequency(void) 123 | { 124 | stop_beep(); 125 | set_beep_frequency(HighFrequency[6]); 126 | start_beep(); 127 | _delay_ms(500); 128 | stop_beep(); 129 | _delay_ms(800); 130 | set_beep_frequency(HighFrequency[6]); 131 | start_beep(); 132 | _delay_ms(500); 133 | stop_beep(); 134 | } 135 | 136 | /* 137 | * 蜂鸣器任意发声函数 138 | */ 139 | void beep_beeper(_u32 frequency, _u32 delay, _u8 sound) 140 | { 141 | _delay = delay; 142 | _startMs = getms(); 143 | stop_beep(); 144 | set_beep_sound(sound); 145 | set_beep_frequency(frequency); 146 | start_beep(); 147 | } 148 | /* 149 | * 蜂鸣器延时关闭函数 150 | */ 151 | void heartbeat_beep(float n) 152 | { 153 | if ((getms() - _startMs) > _delay) { 154 | stop_beep(); 155 | } 156 | if (n < 15) { 157 | if (getms() - _beeper_ticks < 100) { 158 | return; 159 | } 160 | if(_beeper_status){ 161 | start_beep(); 162 | PIN_SET(BEEP_GPIO, BEEP_PIN, HIGH); 163 | _beeper_status = _beeper_status ? 0 : 1; 164 | _beeper_ticks = getms(); 165 | }else{ 166 | PIN_SET(BEEP_GPIO, BEEP_PIN, LOW); 167 | stop_beep(); 168 | _beeper_status = _beeper_status ? 0 : 1; 169 | _beeper_ticks = getms(); 170 | } 171 | }else if (n < 30) { 172 | if(_beeper_status){ 173 | if (getms() - _beeper_ticks < 15000) { 174 | return; 175 | } 176 | start_beep(); 177 | PIN_SET(BEEP_GPIO, BEEP_PIN, HIGH); 178 | _beeper_status = _beeper_status ? 0 : 1; 179 | _beeper_ticks = getms(); 180 | }else{ 181 | if (getms() - _beeper_ticks < 500) { 182 | return; 183 | } 184 | PIN_SET(BEEP_GPIO, BEEP_PIN, LOW); 185 | stop_beep(); 186 | _beeper_status = _beeper_status ? 0 : 1; 187 | _beeper_ticks = getms(); 188 | } 189 | } 190 | } 191 | 192 | void on_abort_mode(void) 193 | { 194 | while(1) 195 | { 196 | stop_beep(); 197 | // set_beep_frequency(HighFrequency[6]); 198 | start_beep(); 199 | PIN_SET(BEEP_GPIO, BEEP_PIN, HIGH); 200 | _delay_ms(1500); 201 | PIN_SET(BEEP_GPIO, BEEP_PIN, LOW); 202 | stop_beep(); 203 | // set_beep_frequency(HighFrequency[3]); 204 | _delay_ms(100); 205 | start_beep(); 206 | PIN_SET(BEEP_GPIO, BEEP_PIN, HIGH); 207 | _delay_ms(1500); 208 | PIN_SET(BEEP_GPIO, BEEP_PIN, LOW); 209 | stop_beep(); 210 | } 211 | } 212 | -------------------------------------------------------------------------------- /src/driver/boarddrv.c: -------------------------------------------------------------------------------- 1 | #include "common.h" 2 | #include "watchdog.h" 3 | 4 | static void _default_abort_proc(void); 5 | static volatile uint8_t alert_flg = 0; 6 | static abort_proc_t _abort_proc = _default_abort_proc; 7 | static volatile uint32_t _systick_val = 0; 8 | static void _default_abort_proc() 9 | { 10 | while(1); 11 | } 12 | 13 | /* 14 | * 系统定时器节拍中断 15 | * 节拍:1ms 16 | */ 17 | void SysTick_Handler(void) 18 | { 19 | _systick_val ++; 20 | } 21 | 22 | void alert(void) 23 | { 24 | alert_flg = 1; 25 | } 26 | 27 | int is_alert(void) 28 | { 29 | return alert_flg; 30 | } 31 | 32 | void clear_alert(void) 33 | { 34 | alert_flg = 0; 35 | } 36 | 37 | void board_set_abort_proc( abort_proc_t proc) 38 | { 39 | _abort_proc = proc; 40 | } 41 | 42 | void board_abort_mode() 43 | { 44 | cli(); 45 | _abort_proc(); 46 | } 47 | 48 | /* 49 | * 获取毫秒总累计数 50 | * 单位:ms 51 | */ 52 | uint32_t getms() 53 | { 54 | return _systick_val; 55 | } 56 | 57 | #define SYSTICK_uS_PER_TICK 1000L/SYSTICK_1MS_TICKS 58 | /* 59 | * 获取微秒总累计数 60 | * 单位:us 61 | */ 62 | uint64_t getus() 63 | { 64 | register _u32 cached_ms, cached_tick; 65 | 66 | _u32 context = enter_critical_section(); 67 | 68 | cached_ms = _systick_val; 69 | cached_tick = SysTick->VAL; 70 | 71 | if (SCB->ICSR & SCB_ICSR_PENDSTSET_Msk) { 72 | ++cached_ms; 73 | cached_tick = SysTick->VAL; 74 | } 75 | 76 | leave_critical_section(context); 77 | 78 | return (_u64)cached_ms*1000 + ((SYSTICK_1MS_TICKS-1 - cached_tick)*SYSTICK_uS_PER_TICK); 79 | 80 | } 81 | 82 | /* 83 | * 不可打断的延时函数 84 | * 延时单位:ms 85 | */ 86 | void delay(uint32_t ms) 87 | { 88 | uint32_t targettime = getms() + ms; 89 | 90 | while( getms() < targettime); 91 | } 92 | /* 93 | * 可打断的延时函数 94 | * 延时单位:ms 95 | */ 96 | void delay_alert(uint32_t ms) 97 | { 98 | uint32_t targettime = getms() + ms; 99 | while( getms() < targettime && (!alert_flg)); 100 | clear_alert(); 101 | } 102 | 103 | uint16_t get_adc(uint8_t ch) 104 | { 105 | ADC_RegularChannelConfig(ADC1, ch, 1, ADC_SampleTime_239Cycles5); 106 | ADC_SoftwareStartConvCmd(ADC1, ENABLE); 107 | while(!ADC_GetFlagStatus(ADC1, ADC_FLAG_EOC)); 108 | return ADC_GetConversionValue(ADC1); 109 | } 110 | 111 | uint16_t get_adc_average(uint8_t ch, uint8_t times) 112 | { 113 | uint32_t temp_val = 0; 114 | uint8_t t; 115 | for(t = 0; t < times; t++) 116 | { 117 | temp_val += get_adc(ch); 118 | mark_watchdog(); 119 | _delay_ms(5); 120 | } 121 | return temp_val / times; 122 | } 123 | -------------------------------------------------------------------------------- /src/driver/crc.c: -------------------------------------------------------------------------------- 1 | #include "crc.h" 2 | 3 | const u8 auchCRCHi[] = { 4 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 5 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 6 | 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 7 | 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 8 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 9 | 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 10 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 11 | 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 12 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 13 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 14 | 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 15 | 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 16 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 17 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 18 | 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 19 | 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 20 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 21 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 22 | 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 23 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 24 | 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 25 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 26 | 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 27 | 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 28 | 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 29 | 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40 30 | }; 31 | 32 | const u8 auchCRCLo[]={ 33 | 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 34 | 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 35 | 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 36 | 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 37 | 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, 38 | 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, 39 | 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 40 | 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 41 | 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 42 | 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 43 | 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 44 | 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, 45 | 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 46 | 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 47 | 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 48 | 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 49 | 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 50 | 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, 51 | 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 52 | 0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 53 | 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 54 | 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 55 | 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, 56 | 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, 57 | 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 58 | 0x43, 0x83, 0x41, 0x81, 0x80, 0x40 59 | }; 60 | 61 | u16 Get_Crc16(u8 *puchMsg,u16 usDataLen) 62 | { 63 | u8 uchCRCHi = 0xFF; 64 | u8 uchCRCLo = 0xFF; 65 | u32 uIndex; 66 | while(usDataLen--) 67 | { 68 | uIndex = uchCRCHi^*puchMsg++; 69 | uchCRCHi = uchCRCLo^auchCRCHi[uIndex]; 70 | uchCRCLo = auchCRCLo[uIndex]; 71 | } 72 | return (uchCRCHi<<8 | uchCRCLo); 73 | } 74 | 75 | u8 Get_Crc8(u8 *ptr,u16 len) 76 | { 77 | u8 crc; 78 | u8 i; 79 | crc = 0; 80 | while(len--) 81 | { 82 | crc ^= *ptr++; 83 | for(i = 0; i < 8; i++) 84 | { 85 | if(crc&0x01)crc = (crc>>1)^0x8C; 86 | else crc >>= 1; 87 | } 88 | } 89 | return crc; 90 | } 91 | -------------------------------------------------------------------------------- /src/driver/exti.c: -------------------------------------------------------------------------------- 1 | #include "common.h" 2 | #include "exti.h" 3 | 4 | /** 5 | @brief External line interrupt call back function. 6 | */ 7 | static exti_cb_t g_exti_cb[CONFIG_EXTI_MAX_NUM]; 8 | static _u8 g_irq_flag[CONFIG_EXIT_IRQ_NUM]; 9 | 10 | /** 11 | @brief External line 0 interrupt. 12 | @param none. 13 | @return none. 14 | */ 15 | void EXTI0_IRQHandler(void) 16 | { 17 | if ((EXTI->PR & EXTI_Line0) != (uint32_t)RESET) { 18 | EXTI_ClearITPendingBit(EXTI_Line0); 19 | if (g_exti_cb[0] != NULL) { 20 | g_exti_cb[0](); 21 | } 22 | } 23 | } 24 | 25 | /** 26 | @brief External line 1 interrupt. 27 | @param none. 28 | @return none. 29 | */ 30 | void EXTI1_IRQHandler(void) 31 | { 32 | if ((EXTI->PR & EXTI_Line1) != (uint32_t)RESET) { 33 | EXTI_ClearITPendingBit(EXTI_Line1); 34 | if (g_exti_cb[1] != NULL) { 35 | g_exti_cb[1](); 36 | } 37 | } 38 | } 39 | 40 | /** 41 | @brief External line 2 interrupt. 42 | @param none. 43 | @return none. 44 | */ 45 | void EXTI2_IRQHandler(void) 46 | { 47 | if ((EXTI->PR & EXTI_Line2) != (uint32_t)RESET) { 48 | EXTI_ClearITPendingBit(EXTI_Line2); 49 | if (g_exti_cb[2] != NULL) { 50 | g_exti_cb[2](); 51 | } 52 | } 53 | } 54 | 55 | /** 56 | @brief External line 3 interrupt. 57 | @param none. 58 | @return none. 59 | */ 60 | void EXTI3_IRQHandler(void) 61 | { 62 | if ((EXTI->PR & EXTI_Line3) != (uint32_t)RESET) { 63 | EXTI_ClearITPendingBit(EXTI_Line3); 64 | if (g_exti_cb[3] != NULL) { 65 | g_exti_cb[3](); 66 | } 67 | } 68 | } 69 | 70 | /** 71 | @brief External line 4 interrupt. 72 | @param none. 73 | @return none. 74 | */ 75 | void EXTI4_IRQHandler(void) 76 | { 77 | if ((EXTI->PR & EXTI_Line4) != (uint32_t)RESET) { 78 | EXTI_ClearITPendingBit(EXTI_Line4); 79 | if (g_exti_cb[4] != NULL) { 80 | g_exti_cb[4](); 81 | } 82 | } 83 | } 84 | 85 | /** 86 | @brief External line 5~9 interrupt. 87 | @param none. 88 | @return none. 89 | */ 90 | void EXTI9_5_IRQHandler(void) 91 | { 92 | _u8 i; 93 | 94 | for (i = 5; i <= 9; i++) { 95 | if ((EXTI->PR & EXTI_LINE(i)) != (uint32_t)RESET) { 96 | EXTI_ClearITPendingBit(EXTI_LINE(i)); 97 | if (g_exti_cb[i] != NULL) { 98 | g_exti_cb[i](); 99 | } 100 | } 101 | } 102 | } 103 | 104 | /** 105 | @brief External line 10~15 interrupt. 106 | @param none. 107 | @return none. 108 | */ 109 | void EXTI15_10_IRQHandler(void) 110 | { 111 | _u8 i; 112 | 113 | for (i = 10; i <= 15; i++) { 114 | if (i == 14) 115 | _delay_ms(10); 116 | if ((EXTI->PR & EXTI_LINE(i)) != (uint32_t)RESET) { 117 | EXTI_ClearITPendingBit(EXTI_LINE(i)); 118 | if (g_exti_cb[i] != NULL) { 119 | g_exti_cb[i](); 120 | } 121 | } 122 | } 123 | } 124 | 125 | /** 126 | @brief Register external line interrupt callback. 127 | @param exti - external line interrupt number. 128 | @param type - interrupt trigger type. 129 | @param cb - call back function. 130 | @return return true if success, or false if not. 131 | 132 | This fuction will return false if the call back has already been registered. 133 | */ 134 | bool exti_reg_callback(_u8 exti, EXTITrigger_TypeDef type, exti_cb_t cb) 135 | { 136 | _u8 irq; 137 | _u8 pri; 138 | EXTI_InitTypeDef exti_cfg; 139 | NVIC_InitTypeDef nvic_cfg; 140 | 141 | if (exti >= CONFIG_EXTI_MAX_NUM || cb == NULL) { 142 | return false; 143 | } 144 | /* Check if the call back has been registered already. */ 145 | if (g_exti_cb[exti] != NULL) { 146 | return false; 147 | } 148 | 149 | EXTI_ClearITPendingBit(EXTI_LINE(exti)); 150 | 151 | exti_cfg.EXTI_Line = EXTI_LINE(exti); 152 | exti_cfg.EXTI_Mode = EXTI_Mode_Interrupt; 153 | exti_cfg.EXTI_Trigger = type; 154 | exti_cfg.EXTI_LineCmd = ENABLE; 155 | EXTI_Init(&exti_cfg); 156 | 157 | if (exti < 5) { 158 | irq = EXTI0_IRQn + exti; 159 | pri = exti; 160 | g_irq_flag[pri] = 1; 161 | } else if (exti < 10) { 162 | irq = EXTI9_5_IRQn; 163 | pri = 5; 164 | g_irq_flag[pri] |= (1 << (exti-5)); 165 | } else { 166 | irq = EXTI15_10_IRQn; 167 | pri = 6; 168 | g_irq_flag[pri] |= (1 << (exti-10)); 169 | } 170 | 171 | nvic_cfg.NVIC_IRQChannel = irq; 172 | nvic_cfg.NVIC_IRQChannelPreemptionPriority = 2; 173 | nvic_cfg.NVIC_IRQChannelSubPriority = pri; 174 | nvic_cfg.NVIC_IRQChannelCmd = ENABLE; 175 | NVIC_Init(&nvic_cfg); 176 | 177 | g_exti_cb[exti] = cb; 178 | return true; 179 | } 180 | 181 | /** 182 | @brief Un-register external line interrupt callback. 183 | @param exti - external line interrupt number. 184 | @return none. 185 | */ 186 | void exti_unreg_callback(_u8 exti) 187 | { 188 | _u8 irq; 189 | _u8 pri; 190 | EXTI_InitTypeDef exti_cfg; 191 | NVIC_InitTypeDef nvic_cfg; 192 | 193 | if (exti >= CONFIG_EXTI_MAX_NUM) { 194 | return ; 195 | } 196 | /* Check if the call back has been registered already. */ 197 | if (g_exti_cb[exti] == NULL) { 198 | return ; 199 | } 200 | 201 | EXTI_ClearITPendingBit(EXTI_LINE(exti)); 202 | 203 | exti_cfg.EXTI_Line = EXTI_LINE(exti); 204 | exti_cfg.EXTI_Mode = EXTI_Mode_Interrupt; 205 | exti_cfg.EXTI_Trigger = EXTI_Trigger_Rising_Falling; 206 | exti_cfg.EXTI_LineCmd = DISABLE; 207 | EXTI_Init(&exti_cfg); 208 | 209 | if (exti < 5) { 210 | irq = EXTI0_IRQn + exti; 211 | pri = exti; 212 | g_irq_flag[pri] = 0; 213 | } else if (exti < 10) { 214 | irq = EXTI9_5_IRQn; 215 | pri = 5; 216 | g_irq_flag[pri] &= ~(1 << (exti-5)); 217 | } else { 218 | irq = EXTI15_10_IRQn; 219 | pri = 6; 220 | g_irq_flag[pri] &= ~(1 << (exti-10)); 221 | } 222 | 223 | if (!g_irq_flag[pri]) { 224 | nvic_cfg.NVIC_IRQChannel = irq; 225 | nvic_cfg.NVIC_IRQChannelPreemptionPriority = 1; 226 | nvic_cfg.NVIC_IRQChannelSubPriority = pri; 227 | nvic_cfg.NVIC_IRQChannelCmd = DISABLE; 228 | NVIC_Init(&nvic_cfg); 229 | } 230 | 231 | g_exti_cb[exti] = NULL; 232 | return ; 233 | } 234 | -------------------------------------------------------------------------------- /src/driver/led.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/mrobot/5f7474090a7d357fdad973d72531111f9844cb04/src/driver/led.c -------------------------------------------------------------------------------- /src/driver/motor.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/mrobot/5f7474090a7d357fdad973d72531111f9844cb04/src/driver/motor.c -------------------------------------------------------------------------------- /src/driver/mpu6050/eMPL/inv_mpu.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/mrobot/5f7474090a7d357fdad973d72531111f9844cb04/src/driver/mpu6050/eMPL/inv_mpu.c -------------------------------------------------------------------------------- /src/driver/mpu6050/eMPL/inv_mpu_dmp_motion_driver.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/mrobot/5f7474090a7d357fdad973d72531111f9844cb04/src/driver/mpu6050/eMPL/inv_mpu_dmp_motion_driver.c -------------------------------------------------------------------------------- /src/driver/mpu6050/mpu6050.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/mrobot/5f7474090a7d357fdad973d72531111f9844cb04/src/driver/mpu6050/mpu6050.c -------------------------------------------------------------------------------- /src/driver/mpu6050/mpuiic.c: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/mrobot/5f7474090a7d357fdad973d72531111f9844cb04/src/driver/mpu6050/mpuiic.c -------------------------------------------------------------------------------- /src/driver/protocol.c: -------------------------------------------------------------------------------- 1 | #include "protocol.h" 2 | #include "crc.h" 3 | #include "usart.h" 4 | #include "motor.h" 5 | #include "sonar.h" 6 | #include "battery.h" 7 | #include "mpu6050.h" 8 | #include "inv_mpu.h" 9 | 10 | enum diretion { 11 | FRONT = 0, 12 | BACK, 13 | LEFT, 14 | RIGHT, 15 | }; 16 | 17 | enum SendCommandType { 18 | SIMPLE_INFO = 0, 19 | WITH_SONAR_INFO, 20 | WITH_SIX_AXIS_SENSOR_INFO, 21 | ALL_INFO, 22 | SPEED_INFO, 23 | BATTERY_INFO, 24 | SONAR_INFO, 25 | SIX_AXIS_SENSOR_INFO, 26 | }; 27 | 28 | enum ReceiveCommandType { 29 | SETTING_SPEED_WITH_SIMPLE_INFO = 21930, //0x55AA 30 | SETTING_SPEED_WITH_SONAR_INFO = 21845, //0x5555 31 | SETTING_SPEED_WITH_SIX_AXIS_SENSOR_INFO = 21925, //0x55A5 32 | SETTING_SPEED_WITH_ALL_INFO = 21850, //0x555A 33 | SETTING_SPEED_WITH_SPEED_INFO = 43690, //0xAAAA 34 | SETTING_SPEED_WITH_BATTERY_INFO = 43605, //0xAA55 35 | SETTING_SPEED_WITH_ONLY_SONAR_INFO = 43685, //0xAAA5 36 | SETTING_SPEED_WITH_ONLY_SIX_AXIS_SENSOR_INFO = 43610, //0xAA5A 37 | }; 38 | 39 | union checkSum 40 | { 41 | u8 d; 42 | unsigned char data[1]; 43 | }SendCheckSum, ReceiveCheckSum; 44 | 45 | union receiveData //接收到的数据 46 | { 47 | _s32 d; //左右轮速度 48 | unsigned char data[4]; 49 | }leftdata, rightdata; //接收的左右轮数据 50 | 51 | union receiveHeader 52 | { 53 | _u16 d; 54 | unsigned char data[2]; 55 | }receive_command, receive_header; 56 | 57 | union receiveEnder 58 | { 59 | _u16 d; 60 | unsigned char data[2]; 61 | }receive_ender; 62 | 63 | union sendCommand 64 | { 65 | _u16 d; 66 | unsigned char data[2]; 67 | }send_command; 68 | 69 | union odometry //里程计数据共用体 70 | { 71 | float odoemtry_float; 72 | unsigned char odometry_char[4]; 73 | }vel_left, vel_right, temprature, odom_yaw, odom_pitch, odom_roll, sonar_front, sonar_back, sonar_left, sonar_right; 74 | 75 | union battery //电池数据共用体 76 | { 77 | float battery_float; 78 | unsigned char battery_char[4]; 79 | }electricity, battery_percentage; 80 | 81 | short command = -1; 82 | const unsigned char ender[2] = {0x0d, 0x0a}; 83 | const unsigned char header[2] = {0x55, 0xaa}; 84 | ///////////////////////////////////////////// 85 | // 通讯协议概述 86 | // [消息头(2字节)][命令(2字节)][长度(1字节)][数据(n字节，n=长度)][校验(1字节)][消息尾(2字节)] 87 | // 消息头固定为[0x55 0xaa]，消息尾固定为[0x0d 0x0a] 88 | // 发送用命令参数： 89 | // (1)0x5a 0x5a：发送速度信息和电池信息 90 | // (2)0x5a 0x55：发送速度信息，电池信息和超声波信息 91 | // (3)0x5a 0xaa：发送速度信息，电池信息和六轴传感器信息 92 | // (4)0x5a 0xa5：发送速度信息，电池信息，超声波信息和六轴传感器信息 93 | // (5)0xa5 0x5a：发送速度信息 94 | // (6)0xa5 0x55：发送电池信息 95 | // (7)0xa5 0xaa：发送超声波信息 96 | // (8)0xa5 0xa5：发送六轴传感器信息 97 | // 接收用命令参数： 98 | // (1)0x55 0xaa：请求发送速度信息和电池信息 99 | // (2)0x55 0x55：请求发送速度信息，电池信息和超声波信息 100 | // (3)0x55 0xa5：请求发送速度信息，电池信息和六轴传感器信息 101 | // (4)0x55 0x5a：请求发送速度信息，电池信息，超声波信息和六轴传感器信息 102 | // (5)0xaa 0xaa：请求发送速度信息 103 | // (6)0xaa 0x55：请求发送电池信息 104 | // (7)0xaa 0xa5：请求发送超声波信息 105 | // (8)0xaa 0x5a：请求发送六轴传感器信息 106 | ///////////////////////////////////////////// 107 | 108 | unsigned char _ID[12]; //存放芯片ID的临时变量 109 | 110 | void GetChipID(void) 111 | { 112 | u32 _ID0, _ID1, _ID2; 113 | _ID0 = *(__IO u32*)(0x1FFFF7E8); //产品唯一身份标识寄存器（96位） 114 | _ID1 = *(__IO u32*)(0x1FFFF7EC); 115 | _ID2 = *(__IO u32*)(0x1FFFF7F0); 116 | 117 | _ID[0] = (u8)(_ID0 & 0x000000FF); 118 | _ID[1] = (u8)((_ID0 & 0x0000FF00)>>8); 119 | _ID[2] = (u8)((_ID0 & 0x00FF0000)>>16); 120 | _ID[3] = (u8)((_ID0 & 0xFF000000)>>24); 121 | _ID[4] = (u8)(_ID1 & 0x000000FF); 122 | _ID[5] = (u8)((_ID1 & 0x0000FF00)>>8); 123 | _ID[6] = (u8)((_ID1 & 0x00FF0000)>>16); 124 | _ID[7] = (u8)((_ID1 & 0xFF000000)>>24); 125 | _ID[8] = (u8)(_ID2 & 0x000000FF); 126 | _ID[9] = (u8)((_ID2 & 0x0000FF00)>>8); 127 | _ID[10] = (u8)((_ID2 & 0x00FF0000)>>16); 128 | _ID[11] = (u8)((_ID2 & 0xFF000000)>>24); 129 | } 130 | 131 | void SendData(short Temperature, float pitch, float roll, float yaw) 132 | { 133 | int i, length = 0; 134 | vel_left.odoemtry_float = get_walkingmotor_lspeed_mm(); 135 | vel_right.odoemtry_float = get_walkingmotor_rspeed_mm(); 136 | sonar_front.odoemtry_float = sonar_get(FRONT); 137 | sonar_back.odoemtry_float = sonar_get(BACK); 138 | sonar_left.odoemtry_float = sonar_get(LEFT); 139 | sonar_right.odoemtry_float = sonar_get(RIGHT); 140 | electricity.battery_float = get_electricity(); 141 | battery_percentage.battery_float = get_electricitypercentage(); 142 | temprature.odoemtry_float = (float)Temperature / 100; 143 | odom_pitch.odoemtry_float = pitch; 144 | odom_roll.odoemtry_float = roll; 145 | odom_yaw.odoemtry_float = yaw; 146 | for(i = 0; i < 2; i++) 147 | { 148 | send_data[i] = header[i]; 149 | } 150 | switch(command) 151 | { 152 | case SIMPLE_INFO: 153 | send_command.d = 23130; 154 | for(i = 0; i < 2; i++) 155 | { 156 | send_data[i + 2] = send_command.data[i]; 157 | } 158 | length = 16; 159 | send_data[4] = length; 160 | for(i = 0; i < 4; i++) 161 | { 162 | send_data[i + 5] = vel_left.odometry_char[i]; 163 | send_data[i + 9] = vel_right.odometry_char[i]; 164 | send_data[i + 13] = electricity.battery_char[i]; 165 | send_data[i + 17] = battery_percentage.battery_char[i]; 166 | } 167 | break; 168 | case WITH_SONAR_INFO: 169 | send_command.d = 23125; 170 | for(i = 0; i < 2; i++) 171 | { 172 | send_data[i + 2] = send_command.data[i]; 173 | } 174 | length = 32; 175 | send_data[4] = length; 176 | for(i = 0; i < 4; i++) 177 | { 178 | send_data[i + 5] = vel_left.odometry_char[i]; 179 | send_data[i + 9] = vel_right.odometry_char[i]; 180 | send_data[i + 13] = electricity.battery_char[i]; 181 | send_data[i + 17] = battery_percentage.battery_char[i]; 182 | send_data[i + 21] = sonar_front.odometry_char[i]; 183 | send_data[i + 25] = sonar_back.odometry_char[i]; 184 | send_data[i + 29] = sonar_left.odometry_char[i]; 185 | send_data[i + 33] = sonar_right.odometry_char[i]; 186 | } 187 | break; 188 | case WITH_SIX_AXIS_SENSOR_INFO: 189 | send_command.d = 23210; 190 | for(i = 0; i < 2; i++) 191 | { 192 | send_data[i + 2] = send_command.data[i]; 193 | } 194 | length = 32; 195 | send_data[4] = length; 196 | for(i = 0; i < 4; i++) 197 | { 198 | send_data[i + 5] = vel_left.odometry_char[i]; 199 | send_data[i + 9] = vel_right.odometry_char[i]; 200 | send_data[i + 13] = electricity.battery_char[i]; 201 | send_data[i + 17] = battery_percentage.battery_char[i]; 202 | send_data[i + 21] = odom_pitch.odometry_char[i]; 203 | send_data[i + 25] = odom_roll.odometry_char[i]; 204 | send_data[i + 29] = odom_yaw.odometry_char[i]; 205 | send_data[i + 33] = temprature.odometry_char[i]; 206 | } 207 | break; 208 | case ALL_INFO: 209 | send_command.d = 23205; 210 | for(i = 0; i < 2; i++) 211 | { 212 | send_data[i + 2] = send_command.data[i]; 213 | } 214 | length = 48; 215 | send_data[4] = length; 216 | for(i = 0; i < 4; i++) 217 | { 218 | send_data[i + 5] = vel_left.odometry_char[i]; 219 | send_data[i + 9] = vel_right.odometry_char[i]; 220 | send_data[i + 13] = electricity.battery_char[i]; 221 | send_data[i + 17] = battery_percentage.battery_char[i]; 222 | send_data[i + 21] = odom_pitch.odometry_char[i]; 223 | send_data[i + 25] = odom_roll.odometry_char[i]; 224 | send_data[i + 29] = odom_yaw.odometry_char[i]; 225 | send_data[i + 33] = temprature.odometry_char[i]; 226 | send_data[i + 37] = sonar_front.odometry_char[i]; 227 | send_data[i + 41] = sonar_back.odometry_char[i]; 228 | send_data[i + 45] = sonar_left.odometry_char[i]; 229 | send_data[i + 49] = sonar_right.odometry_char[i]; 230 | } 231 | break; 232 | case SPEED_INFO: 233 | send_command.d = 42330; 234 | for(i = 0; i < 2; i++) 235 | { 236 | send_data[i + 2] = send_command.data[i]; 237 | } 238 | length = 8; 239 | send_data[4] = length; 240 | for(i = 0; i < 4; i++) 241 | { 242 | send_data[i + 5] = vel_left.odometry_char[i]; 243 | send_data[i + 9] = vel_right.odometry_char[i]; 244 | } 245 | break; 246 | case BATTERY_INFO: 247 | send_command.d = 42325; 248 | for(i = 0; i < 2; i++) 249 | { 250 | send_data[i + 2] = send_command.data[i]; 251 | } 252 | length = 8; 253 | send_data[4] = length; 254 | for(i = 0; i < 4; i++) 255 | { 256 | send_data[i + 5] = electricity.battery_char[i]; 257 | send_data[i + 9] = battery_percentage.battery_char[i]; 258 | } 259 | break; 260 | case SONAR_INFO: 261 | send_command.d = 42410; 262 | for(i = 0; i < 2; i++) 263 | { 264 | send_data[i + 2] = send_command.data[i]; 265 | } 266 | length = 16; 267 | send_data[4] = length; 268 | for(i = 0; i < 4; i++) 269 | { 270 | send_data[i + 5] = sonar_front.odometry_char[i]; 271 | send_data[i + 9] = sonar_back.odometry_char[i]; 272 | send_data[i + 13] = sonar_left.odometry_char[i]; 273 | send_data[i + 17] = sonar_right.odometry_char[i]; 274 | } 275 | break; 276 | case SIX_AXIS_SENSOR_INFO: 277 | send_command.d = 42405; 278 | for(i = 0; i < 2; i++) 279 | { 280 | send_data[i + 2] = send_command.data[i]; 281 | } 282 | length = 16; 283 | send_data[4] = length; 284 | for(i = 0; i < 4; i++) 285 | { 286 | send_data[i + 5] = odom_pitch.odometry_char[i]; 287 | send_data[i + 9] = odom_roll.odometry_char[i]; 288 | send_data[i + 13] = odom_yaw.odometry_char[i]; 289 | send_data[i + 17] = temprature.odometry_char[i]; 290 | } 291 | break; 292 | } 293 | send_data[5 + length] = Get_Crc8(send_data, 5 + length); 294 | send_data[6 + length] = ender[0]; 295 | send_data[6 + length + 1] = ender[1]; 296 | GetChipID(); 297 | for(i = 0; i < 12; i++) 298 | { 299 | send_data[8 + length + i] = _ID[i]; 300 | } 301 | #ifdef _DMA_USART 302 | USART_DMACmd(USART3, USART_DMAReq_Tx, ENABLE); 303 | DMA_Enable(DMA1_Channel2); 304 | while(1) 305 | { 306 | if(DMA_GetFlagStatus(DMA1_FLAG_TC2) != RESET) 307 | { 308 | DMA_ClearFlag(DMA1_FLAG_TC2); 309 | break; 310 | } 311 | } 312 | #else 313 | for(i = 0; i < 200; i++) 314 | { 315 | USART_SendData(USART3, send_data[i]); //发送一个字节到串口 316 | while(USART_GetFlagStatus(USART3, USART_FLAG_TC) != SET); //等待发送结束 317 | } 318 | #endif 319 | } 320 | 321 | void ReceiveData(short Temperature, float pitch, float roll, float yaw) 322 | { 323 | int i, length, _checkSum; 324 | _s32 lspeed = 0, rspeed = 0; 325 | if(USART3_RX_STA) 326 | { 327 | for (i = 0; i < 2; i++) 328 | { 329 | receive_header.data[i] = USART3_RX_BUF[i]; 330 | } 331 | if (receive_header.data[0] == header[0] && receive_header.data[1] == header[1]) 332 | { 333 | for (i = 0; i < 2; i++) 334 | { 335 | receive_command.data[i] = USART3_RX_BUF[i + 2]; 336 | } 337 | length = USART3_RX_BUF[4]; 338 | _checkSum = Get_Crc8(USART3_RX_BUF, 5 + length); 339 | switch(receive_command.d) 340 | { 341 | case SETTING_SPEED_WITH_SIMPLE_INFO: 342 | if (USART3_RX_BUF[6 + length] == ender[0] && USART3_RX_BUF[6 + length + 1] == ender[1]) 343 | { 344 | ReceiveCheckSum.data[0] = USART3_RX_BUF[5 + length]; 345 | if (_checkSum == ReceiveCheckSum.d) 346 | { 347 | for(i = 0; i < 4; i++) 348 | { 349 | rightdata.data[i] = USART3_RX_BUF[i + 5]; 350 | leftdata.data[i] = USART3_RX_BUF[i + 9]; 351 | } 352 | rspeed = rightdata.d; 353 | lspeed = leftdata.d; 354 | command = SIMPLE_INFO; 355 | } 356 | } 357 | USART3_RX_STA = 0; //清楚接收标志位 358 | Res3 = 0; 359 | set_walkingmotor_speed(lspeed, rspeed); 360 | SendData(Temperature, pitch, roll, yaw); 361 | break; 362 | case SETTING_SPEED_WITH_SONAR_INFO: 363 | if (USART3_RX_BUF[6 + length] == ender[0] && USART3_RX_BUF[6 + length + 1] == ender[1]) 364 | { 365 | ReceiveCheckSum.data[0] = USART3_RX_BUF[5 + length]; 366 | if (_checkSum == ReceiveCheckSum.d) 367 | { 368 | for(i = 0; i < 4; i++) 369 | { 370 | rightdata.data[i] = USART3_RX_BUF[i + 5]; 371 | leftdata.data[i] = USART3_RX_BUF[i + 9]; 372 | } 373 | rspeed = rightdata.d; 374 | lspeed = leftdata.d; 375 | command = WITH_SONAR_INFO; 376 | } 377 | } 378 | USART3_RX_STA = 0; //清楚接收标志位 379 | Res3 = 0; 380 | set_walkingmotor_speed(lspeed, rspeed); 381 | SendData(Temperature, pitch, roll, yaw); 382 | break; 383 | case SETTING_SPEED_WITH_SIX_AXIS_SENSOR_INFO: 384 | if (USART3_RX_BUF[6 + length] == ender[0] && USART3_RX_BUF[6 + length + 1] == ender[1]) 385 | { 386 | ReceiveCheckSum.data[0] = USART3_RX_BUF[5 + length]; 387 | if (_checkSum == ReceiveCheckSum.d) 388 | { 389 | for(i = 0; i < 4; i++) 390 | { 391 | rightdata.data[i] = USART3_RX_BUF[i + 5]; 392 | leftdata.data[i] = USART3_RX_BUF[i + 9]; 393 | } 394 | rspeed = rightdata.d; 395 | lspeed = leftdata.d; 396 | command = WITH_SIX_AXIS_SENSOR_INFO; 397 | } 398 | } 399 | USART3_RX_STA = 0; //清楚接收标志位 400 | Res3 = 0; 401 | set_walkingmotor_speed(lspeed, rspeed); 402 | SendData(Temperature, pitch, roll, yaw); 403 | break; 404 | case SETTING_SPEED_WITH_ALL_INFO: 405 | if (USART3_RX_BUF[6 + length] == ender[0] && USART3_RX_BUF[6 + length + 1] == ender[1]) 406 | { 407 | ReceiveCheckSum.data[0] = USART3_RX_BUF[5 + length]; 408 | if (_checkSum == ReceiveCheckSum.d) 409 | { 410 | for(i = 0; i < 4; i++) 411 | { 412 | rightdata.data[i] = USART3_RX_BUF[i + 5]; 413 | leftdata.data[i] = USART3_RX_BUF[i + 9]; 414 | } 415 | rspeed = rightdata.d; 416 | lspeed = leftdata.d; 417 | command = ALL_INFO; 418 | } 419 | } 420 | USART3_RX_STA = 0; //清楚接收标志位 421 | Res3 = 0; 422 | set_walkingmotor_speed(lspeed, rspeed); 423 | SendData(Temperature, pitch, roll, yaw); 424 | break; 425 | case SETTING_SPEED_WITH_SPEED_INFO: 426 | if (USART3_RX_BUF[6 + length] == ender[0] && USART3_RX_BUF[6 + length + 1] == ender[1]) 427 | { 428 | ReceiveCheckSum.data[0] = USART3_RX_BUF[5 + length]; 429 | if (_checkSum == ReceiveCheckSum.d) 430 | { 431 | for(i = 0; i < 4; i++) 432 | { 433 | rightdata.data[i] = USART3_RX_BUF[i + 5]; 434 | leftdata.data[i] = USART3_RX_BUF[i + 9]; 435 | } 436 | rspeed = rightdata.d; 437 | lspeed = leftdata.d; 438 | command = SPEED_INFO; 439 | } 440 | } 441 | USART3_RX_STA = 0; //清楚接收标志位 442 | Res3 = 0; 443 | set_walkingmotor_speed(lspeed, rspeed); 444 | SendData(Temperature, pitch, roll, yaw); 445 | break; 446 | case SETTING_SPEED_WITH_BATTERY_INFO: 447 | if (USART3_RX_BUF[6 + length] == ender[0] && USART3_RX_BUF[6 + length + 1] == ender[1]) 448 | { 449 | ReceiveCheckSum.data[0] = USART3_RX_BUF[5 + length]; 450 | if (_checkSum == ReceiveCheckSum.d) 451 | { 452 | for(i = 0; i < 4; i++) 453 | { 454 | rightdata.data[i] = USART3_RX_BUF[i + 5]; 455 | leftdata.data[i] = USART3_RX_BUF[i + 9]; 456 | } 457 | rspeed = rightdata.d; 458 | lspeed = leftdata.d; 459 | command = BATTERY_INFO; 460 | } 461 | } 462 | USART3_RX_STA = 0; //清楚接收标志位 463 | Res3 = 0; 464 | set_walkingmotor_speed(lspeed, rspeed); 465 | SendData(Temperature, pitch, roll, yaw); 466 | break; 467 | case SETTING_SPEED_WITH_ONLY_SONAR_INFO: 468 | if (USART3_RX_BUF[6 + length] == ender[0] && USART3_RX_BUF[6 + length + 1] == ender[1]) 469 | { 470 | ReceiveCheckSum.data[0] = USART3_RX_BUF[5 + length]; 471 | if (_checkSum == ReceiveCheckSum.d) 472 | { 473 | for(i = 0; i < 4; i++) 474 | { 475 | rightdata.data[i] = USART3_RX_BUF[i + 5]; 476 | leftdata.data[i] = USART3_RX_BUF[i + 9]; 477 | } 478 | rspeed = rightdata.d; 479 | lspeed = leftdata.d; 480 | command = SONAR_INFO; 481 | } 482 | } 483 | USART3_RX_STA = 0; //清楚接收标志位 484 | Res3 = 0; 485 | set_walkingmotor_speed(lspeed, rspeed); 486 | SendData(Temperature, pitch, roll, yaw); 487 | break; 488 | case SETTING_SPEED_WITH_ONLY_SIX_AXIS_SENSOR_INFO: 489 | if (USART3_RX_BUF[6 + length] == ender[0] && USART3_RX_BUF[6 + length + 1] == ender[1]) 490 | { 491 | ReceiveCheckSum.data[0] = USART3_RX_BUF[5 + length]; 492 | if (_checkSum == ReceiveCheckSum.d) 493 | { 494 | for(i = 0; i < 4; i++) 495 | { 496 | rightdata.data[i] = USART3_RX_BUF[i + 5]; 497 | leftdata.data[i] = USART3_RX_BUF[i + 9]; 498 | } 499 | rspeed = rightdata.d; 500 | lspeed = leftdata.d; 501 | command = SIX_AXIS_SENSOR_INFO; 502 | } 503 | } 504 | USART3_RX_STA = 0; //清楚接收标志位 505 | Res3 = 0; 506 | set_walkingmotor_speed(lspeed, rspeed); 507 | SendData(Temperature, pitch, roll, yaw); 508 | break; 509 | default: 510 | USART3_RX_STA = 0; //清楚接收标志位 511 | Res3 = 0; 512 | break; 513 | } 514 | } 515 | } 516 | } 517 | -------------------------------------------------------------------------------- /src/driver/softdelay.c: -------------------------------------------------------------------------------- 1 | #include "common.h" 2 | 3 | _u32 _ticks_per_us = 8; //true for 72Mhz with 2cycles' flash delay 4 | #define CALIBRATION_TICKS 500000UL 5 | 6 | static void _delay_loop(volatile _u32 count) 7 | { 8 | while(count--); 9 | } 10 | /* 11 | * 微秒级延时矫正函数 12 | */ 13 | void softdelay_calibrate() 14 | { 15 | _u64 usedTime; 16 | _u64 startUs = getus(); 17 | _delay_loop(CALIBRATION_TICKS); 18 | usedTime = getus() - startUs; 19 | 20 | if (!usedTime) usedTime = 1; 21 | 22 | _ticks_per_us = CALIBRATION_TICKS/usedTime; 23 | if (!_ticks_per_us) _ticks_per_us = 1; 24 | } 25 | /* 26 | * 微秒级延时函数 27 | */ 28 | void _delay_us(volatile uint32_t us) 29 | { 30 | _delay_loop(us * _ticks_per_us); 31 | } 32 | -------------------------------------------------------------------------------- /src/driver/sonar.c: -------------------------------------------------------------------------------- 1 | #include "common.h" 2 | #include "filters.h" 3 | #include "exti.h" 4 | #include "led.h" 5 | #include "sonar.h" 6 | //#include 7 | 8 | /** 9 | @defgroup sonar ultrasonic sonar module. 10 | @addtogroup drivers 11 | @{ 12 | 13 | Resource consumption: GPIOE 5, 7 ~ 12, 15. 14 | EXTI line 5,7,8,9 with interrupt. 15 | TIM6 as counter timer. 16 | */ 17 | #define SONAR_TIMER TIM6 18 | 19 | static uint8_t g_sonar_ch = 0; /**< Active sonar channel index. */ 20 | 21 | /** 22 | @brief Global sonar channel descriptors. 23 | */ 24 | static sonar_channel_t g_sonar[CONFIG_SONAR_CHANNEL_NUM]; 25 | 26 | /** 27 | @brief Global sonar channel configurations. 28 | */ 29 | static const sonar_cfg_t g_sonar_cfg[] = { 30 | {SONAR_TRIG1_PORT, SONAR_TRIG1_PIN, SONAR_ECHO1_PORT, SONAR_ECHO1_PIN, 5}, 31 | {SONAR_TRIG2_PORT, SONAR_TRIG2_PIN, SONAR_ECHO2_PORT, SONAR_ECHO2_PIN, 7}, 32 | {SONAR_TRIG3_PORT, SONAR_TRIG3_PIN, SONAR_ECHO3_PORT, SONAR_ECHO3_PIN, 8}, 33 | {SONAR_TRIG4_PORT, SONAR_TRIG4_PIN, SONAR_ECHO4_PORT, SONAR_ECHO4_PIN, 9}, 34 | }; 35 | 36 | /** 37 | @brief Sonar echo read. 38 | @param ch - sonar channel index, 0 ~ CONFIG_SONAR_CHANNEL_NUM. 39 | @return none. 40 | */ 41 | static inline uint8_t SONAR_ECHO(uint8_t ch) 42 | { 43 | return GPIO_ReadInputDataBit(g_sonar_cfg[ch].echo_port, g_sonar_cfg[ch].echo_pin); 44 | } 45 | 46 | /** 47 | @brief Sonar trigger function. 48 | @param ch - sonar channel index, 1 ~ CONFIG_SONAR_CHANNEL_NUM-1. 49 | @param level - sonar trigger level. 50 | @return none. 51 | */ 52 | static inline void SONAR_TRIG(uint8_t ch, uint8_t level) 53 | { 54 | if (level == HIGH) { 55 | GPIO_SetBits(g_sonar_cfg[ch].trig_port, g_sonar_cfg[ch].trig_pin); 56 | } else { 57 | GPIO_ResetBits(g_sonar_cfg[ch].trig_port, g_sonar_cfg[ch].trig_pin); 58 | } 59 | } 60 | 61 | static void sonar_exti_cb(void) 62 | { 63 | uint8_t id; 64 | uint8_t status; 65 | TIM_TimeBaseInitTypeDef tim_base; 66 | 67 | status = SONAR_ECHO(g_sonar_ch); 68 | if (status == HIGH) { 69 | RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); 70 | /* Start counter timer. */ 71 | tim_base.TIM_Period = 60000; 72 | tim_base.TIM_Prescaler = (SYSTICK_1MS_TICKS/1000-1); 73 | tim_base.TIM_ClockDivision = TIM_CKD_DIV1; 74 | tim_base.TIM_CounterMode = TIM_CounterMode_Up; 75 | 76 | TIM_TimeBaseInit(SONAR_TIMER, &tim_base); 77 | TIM_SetCounter(SONAR_TIMER, 0); 78 | TIM_Cmd(SONAR_TIMER, ENABLE); 79 | } else { 80 | /* Stop counter timer. */ 81 | TIM_Cmd(SONAR_TIMER, DISABLE); 82 | 83 | id = g_sonar[g_sonar_ch].id; 84 | if (id >= CONFIG_SONAR_SAMPLE_SIZE) { 85 | id = 0; 86 | } 87 | g_sonar[g_sonar_ch].sample[id++] = TIM_GetCounter(SONAR_TIMER); 88 | g_sonar[g_sonar_ch].state++; /* Move to next state. */ 89 | g_sonar[g_sonar_ch].id = id; 90 | if (g_sonar[g_sonar_ch].cnt < CONFIG_SONAR_SAMPLE_SIZE) { 91 | g_sonar[g_sonar_ch].cnt++; 92 | } 93 | } 94 | } 95 | 96 | /** 97 | @brief Trigger a sonar channel. 98 | @param ch - channel number to be triggered, 1 ~ CONFIG_SONAR_CHANNEL_NUM. 99 | @return none. 100 | 101 | */ 102 | static void sonar_trigger(uint8_t ch) 103 | { 104 | if (ch >= _countof(g_sonar_cfg)) { 105 | return ; 106 | } 107 | 108 | /* Send trigger wave. */ 109 | SONAR_TRIG(ch, HIGH); 110 | _delay_us(20); 111 | SONAR_TRIG(ch, LOW); 112 | 113 | /* Prepare for echo rising edge interrupt. */ 114 | GPIO_EXTILineConfig(GPIO_PortSourceGPIOE, g_sonar_cfg[ch].exti_line); 115 | exti_reg_callback(g_sonar_cfg[ch].exti_line, EXTI_Trigger_Rising_Falling, sonar_exti_cb); 116 | return ; 117 | } 118 | 119 | /** 120 | @brief Shutdown a sonar channel. 121 | @param ch - channel number to be shutdown, 0 ~ CONFIG_SONAR_CHANNEL_NUM. 122 | @return none. 123 | 124 | */ 125 | static void sonar_shutdown(uint8_t ch) 126 | { 127 | if (ch >= _countof(g_sonar_cfg)) { 128 | return ; 129 | } 130 | 131 | SONAR_TRIG(ch, LOW); 132 | exti_unreg_callback(g_sonar_cfg[ch].exti_line); 133 | return ; 134 | } 135 | 136 | /** 137 | @brief Calculate sonar distance by sample value. 138 | @param ch - sonar channel, 0 ~ CONFIG_SONAR_CHANNEL_NUM 139 | @return none. 140 | 141 | This distance is in mm. 142 | */ 143 | float sonar_distance(uint8_t ch) 144 | { 145 | uint8_t i; 146 | uint32_t avg; 147 | float d; 148 | 149 | if (ch >= _countof(g_sonar_cfg)) { 150 | return -1; 151 | } 152 | 153 | avg = 0; 154 | for (i = 0; i < g_sonar[ch].cnt; i++) { 155 | avg += g_sonar[ch].sample[i]; 156 | } 157 | if (i > 0) { 158 | avg /= i; 159 | } else { 160 | avg = 0; 161 | } 162 | 163 | d = CONFIG_SONAR_COE_A + CONFIG_SONAR_COE_B * (float)(Temperature / 100); 164 | d *= avg / 2 / 1000.0; 165 | g_sonar[ch].distance = (float)d; 166 | return d; 167 | } 168 | 169 | /** 170 | @brief ultrasonic sonar module heartbeat. 171 | @param None. 172 | @return None. 173 | ___ ___ 174 | TRIG ___| |_______________________________________________________| |____ 175 | >10us _ _ _ _ _ _ _ _ at least 10ms wait 176 | SENSOR _________| |_| |_| |_| |_| |_| |_| |_| |________________________________ 177 | Send 8 40KHz wave 178 | ________ 179 | ECHO __________________________________________| |____________________ 180 | 10us ~ 18ms 181 | */ 182 | void sonar_heartbeat(void) 183 | { 184 | if (g_sonar_ch >= _countof(g_sonar_cfg)) { 185 | g_sonar_ch = 0; 186 | g_sonar[g_sonar_ch].state = SONAR_INIT; 187 | } 188 | 189 | switch (g_sonar[g_sonar_ch].state) { 190 | case SONAR_INIT: 191 | sonar_trigger(g_sonar_ch); 192 | g_sonar[g_sonar_ch].state++; /* Move to next state. */ 193 | g_sonar[g_sonar_ch].ticks = getms(); 194 | break; 195 | case SONAR_MEASURE: /* Wait until measurement done. */ 196 | if (getms() - g_sonar[g_sonar_ch].ticks > CONFIG_SONAR_TIMEOUT_MS) { 197 | /* Timeout. Abort measurement and move to next channel. */ 198 | // _SONAR = -1; 199 | TIM_Cmd(SONAR_TIMER, DISABLE); 200 | sonar_shutdown(g_sonar_ch); 201 | g_sonar[g_sonar_ch].ticks = getms(); 202 | g_sonar[g_sonar_ch].state = SONAR_IDLE; 203 | memset(g_sonar[g_sonar_ch].sample, 0, sizeof(g_sonar[g_sonar_ch].sample)); 204 | g_sonar_ch++; 205 | if (g_sonar_ch >= _countof(g_sonar_cfg)) { 206 | g_sonar_ch = 0; 207 | } 208 | // drv_led_set(0, 0, 0); 209 | } 210 | break; 211 | case SONAR_DONE: /* Measurement is done. */ 212 | if (g_sonar[g_sonar_ch].cnt == 0) { 213 | break; 214 | } 215 | if (g_sonar[g_sonar_ch].cnt >= CONFIG_SONAR_SAMPLE_SIZE) { 216 | g_sonar[g_sonar_ch].cnt = CONFIG_SONAR_SAMPLE_SIZE; 217 | } 218 | // printf("sonar distance: %.4f", sonar_distance(g_sonar_ch)); 219 | g_sonar[g_sonar_ch].state++; 220 | /* Blink the led by channel. */ 221 | // drv_led_set((g_sonar_ch%3)==0?1:0, (g_sonar_ch%3)==1?1:0, (g_sonar_ch%3)==2?1:0); 222 | // sonar_dbg("ch %d, distance %d\r\n", g_sonar_ch, g_sonar[g_sonar_ch].distance); 223 | break; 224 | case SONAR_EXIT: /* Channel measurement is done. Move to next. */ 225 | sonar_shutdown(g_sonar_ch); 226 | g_sonar[g_sonar_ch].ticks = getms(); 227 | g_sonar[g_sonar_ch].state = SONAR_IDLE; 228 | g_sonar_ch++; 229 | if (g_sonar_ch >= _countof(g_sonar_cfg)) { 230 | g_sonar_ch = 0; 231 | } 232 | break; 233 | default: 234 | if (getms() - g_sonar[g_sonar_ch].ticks < CONFIG_SONAR_TICKS) { 235 | break; 236 | } 237 | g_sonar[g_sonar_ch].state = SONAR_INIT; 238 | break; 239 | } 240 | 241 | return ; 242 | } 243 | 244 | /** 245 | @brief Get Sonar channel distance measurement value. 246 | @param ch - Sonar channel number, 1 ~ CONFIG_SONAR_CHANNEL_NUM. 247 | @return return disatance measured in mm. 248 | */ 249 | uint32_t sonar_get(uint8_t ch) 250 | { 251 | if (ch >= _countof(g_sonar_cfg)) { 252 | return 0; 253 | } 254 | 255 | sonar_distance(ch); 256 | return g_sonar[ch].distance; 257 | } 258 | 259 | /** 260 | @brief Initialize ultrasonic sonar module. 261 | @param None. 262 | @return None. 263 | */ 264 | int sonar_init(void) 265 | { 266 | uint8_t ch; 267 | 268 | /* These pins are pull up by default. So pull down them. */ 269 | for (ch = 0; ch < _countof(g_sonar_cfg); ch++) { 270 | pinMode(g_sonar_cfg[ch].echo_port, g_sonar_cfg[ch].echo_pin, 271 | GPIO_Mode_IPD, GPIO_Speed_10MHz); 272 | pinMode(g_sonar_cfg[ch].trig_port, g_sonar_cfg[ch].trig_pin, 273 | GPIO_Mode_Out_PP, GPIO_Speed_50MHz); 274 | SONAR_TRIG(ch, 0); 275 | } 276 | 277 | /* Enable line5 ~ line9 external interrupt. */ 278 | 279 | memset(g_sonar, 0, sizeof(g_sonar)); 280 | return 1; 281 | } 282 | 283 | /** 284 | @brief Clean ultrasonic sonar module. 285 | @param None. 286 | @return None. 287 | */ 288 | void sonar_exit(void) 289 | { 290 | uint8_t ch; 291 | 292 | for (ch = 0; ch < _countof(g_sonar_cfg); ch++) { 293 | SONAR_TRIG(ch, 0); 294 | } 295 | 296 | /* Disable line5 ~ line9 external interrupt. */ 297 | 298 | memset(g_sonar, 0, sizeof(g_sonar)); 299 | } 300 | -------------------------------------------------------------------------------- /src/driver/usart.c: -------------------------------------------------------------------------------- 1 | #include "usart.h" 2 | #include "stdio.h" 3 | 4 | #ifdef _PRINT 5 | #pragma import(__use_no_semihosting) 6 | 7 | struct __FILE 8 | { 9 | int handle; 10 | }; 11 | 12 | FILE __stdout; 13 | 14 | int fputc(int ch, FILE *f) 15 | { 16 | while((USART3->SR&0X40)==0){}; 17 | USART3->DR = (u8) ch; 18 | return ch; 19 | } 20 | #endif 21 | u8 send_data[USART_MAX_LEN]; 22 | u8 USART2_RX_BUF[USART_MAX_LEN]; //接收缓冲,最大USART_MAX_LEN个字节. 23 | u16 USART2_RX_STA = 0; //接收状态标记 24 | u8 Res2 = 0; 25 | u8 USART3_RX_BUF[USART_MAX_LEN]; //接收缓冲,最大USART_MAX_LEN个字节. 26 | u16 USART3_RX_STA = 0; //接收状态标记 27 | u8 Res3 = 0; 28 | 29 | int usart3_init(u32 bound){ 30 | //GPIO端口设置 31 | GPIO_InitTypeDef GPIO_InitStructure; 32 | USART_InitTypeDef USART_InitStructure; 33 | NVIC_InitTypeDef NVIC_InitStructure; 34 | #ifdef _REMAP 35 | RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOC, ENABLE); 36 | RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); 37 | 38 | GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); //将USART3局部重映射到PC10，PC11 39 | #else 40 | RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE); 41 | RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); 42 | #endif 43 | //USART3_TX GPIOB.10 44 | GPIO_InitStructure.GPIO_Pin = USART3_TX; //PB.10 45 | GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; 46 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出 47 | GPIO_Init(USART3_PORT, &GPIO_InitStructure); //初始化GPIOB.10 48 | 49 | //USART3_RX GPIOB.11初始化 50 | GPIO_InitStructure.GPIO_Pin = USART3_RX; //PC.11 51 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入 52 | GPIO_Init(USART3_PORT, &GPIO_InitStructure); //初始化GPIOB.11 53 | 54 | //USART3 NVIC 配置 55 | NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn; 56 | NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3; //抢占优先级3 57 | NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //子优先级3 58 | NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能 59 | NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器 60 | 61 | //USART 初始化设置 62 | 63 | USART_InitStructure.USART_BaudRate = bound; //串口波特率 64 | USART_InitStructure.USART_WordLength = USART_WordLength_8b; //字长为8位数据格式 65 | USART_InitStructure.USART_StopBits = USART_StopBits_1; //一个停止位 66 | USART_InitStructure.USART_Parity = USART_Parity_No; //无奇偶校验位 67 | USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //无硬件数据流控制 68 | USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //收发模式 69 | 70 | USART_Init(USART3, &USART_InitStructure); //初始化串口3 71 | #ifdef _DMA_USART 72 | USART_ITConfig(USART3, USART_IT_IDLE, ENABLE); 73 | #endif 74 | USART_ITConfig(USART3, USART_IT_RXNE, ENABLE); //开启串口接受中断 75 | USART_Cmd(USART3, ENABLE); //使能串口3 76 | #ifdef _DMA_USART 77 | DMA_InitTypeDef DMA_InitStructure; 78 | 79 | DMA_DeInit(DMA1_Channel2); //将DMA的通道12寄存器重设为缺省值 串口1对应的是DMA通道5 80 | DMA_InitStructure.DMA_PeripheralBaseAddr = (u32)&USART3->DR; //DMA外设usart基地址 81 | DMA_InitStructure.DMA_MemoryBaseAddr = (u32)send_data; //DMA内存基地址 82 | DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST; //数据传输方向，从外设读取发送到内存 83 | DMA_InitStructure.DMA_BufferSize = USART_MAX_LEN; //DMA通道的DMA缓存的大小 84 | DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; //外设地址寄存器不变 85 | DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; //内存地址寄存器递增 86 | DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; //数据宽度为8位 87 | DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; //数据宽度为8位 88 | DMA_InitStructure.DMA_Mode = DMA_Mode_Normal; //工作在正常缓存模式 89 | DMA_InitStructure.DMA_Priority = DMA_Priority_Medium; //DMA通道12拥有中优先级 90 | DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; //DMA通道12没有设置为内存到内存传输 91 | DMA_Init(DMA1_Channel2, &DMA_InitStructure); //根据DMA_InitStruct中指定的参数初始化DMA的通道 92 | DMA_Cmd(DMA1_Channel2, ENABLE); //正式驱动DMA传输 93 | 94 | //DMA串口接收配置 95 | DMA_DeInit(DMA1_Channel3); //将DMA的通道13寄存器重设为缺省值 串口1对应的是DMA通道5 96 | DMA_InitStructure.DMA_PeripheralBaseAddr = (u32)&USART3->DR; //DMA外设usart基地址 97 | DMA_InitStructure.DMA_MemoryBaseAddr = (u32)USART3_RX_BUF; //DMA内存基地址 98 | DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC; //数据传输方向，从外设读取发送到内存 99 | DMA_InitStructure.DMA_BufferSize = 16; //DMA通道的DMA缓存的大小 100 | DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; //外设地址寄存器不变 101 | DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; //内存地址寄存器递增 102 | DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; //数据宽度为8位 103 | DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; //数据宽度为8位 104 | DMA_InitStructure.DMA_Mode = DMA_Mode_Normal; //工作在正常缓存模式 105 | DMA_InitStructure.DMA_Priority = DMA_Priority_Medium; //DMA通道13拥有中优先级 106 | DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; //DMA通道13没有设置为内存到内存传输 107 | DMA_Init(DMA1_Channel3, &DMA_InitStructure); //根据DMA_InitStruct中指定的参数初始化DMA的通道 108 | DMA_Cmd(DMA1_Channel3, ENABLE); //正式驱动DMA传输 109 | 110 | USART_DMACmd(USART3, USART_DMAReq_Tx, ENABLE); //开启串口DMA发送 111 | USART_DMACmd(USART3, USART_DMAReq_Rx, ENABLE); //开启串口DMA接收 112 | #endif 113 | return 1; 114 | } 115 | 116 | #ifdef _DMA_USART 117 | //int usart3_dma_init(u32 bound){ 118 | // //GPIO端口设置 119 | // GPIO_InitTypeDef GPIO_InitStructure; 120 | // USART_InitTypeDef USART_InitStructure; 121 | // NVIC_InitTypeDef NVIC_InitStructure; 122 | // DMA_InitTypeDef DMA_InitStructure; 123 | 124 | //#ifdef _REMAP 125 | // RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOC, ENABLE); 126 | // RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); 127 | 128 | // GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE); //将USART3局部重映射到PC10，PC11 129 | //#else 130 | // RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE); 131 | // RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); 132 | //#endif 133 | 134 | // //USART3_TX GPIOB.10 135 | // GPIO_InitStructure.GPIO_Pin = USART3_TX; //PB.10 136 | // GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; 137 | // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出 138 | // GPIO_Init(USART3_PORT, &GPIO_InitStructure); //初始化GPIOB.10 139 | 140 | // //USART3_RX GPIOB.11初始化 141 | // GPIO_InitStructure.GPIO_Pin = USART3_RX; //PC.11 142 | // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入 143 | // GPIO_Init(USART3_PORT, &GPIO_InitStructure); //初始化GPIOB.11 144 | 145 | // //USART3 NVIC 配置 146 | // NVIC_InitStructure.NVIC_IRQChannel = USART3_IRQn; 147 | // NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3; //抢占优先级3 148 | // NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3; //子优先级3 149 | // NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能 150 | // NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器 151 | 152 | // //USART 初始化设置 153 | 154 | // USART_InitStructure.USART_BaudRate = bound; //串口波特率 155 | // USART_InitStructure.USART_WordLength = USART_WordLength_8b; //字长为8位数据格式 156 | // USART_InitStructure.USART_StopBits = USART_StopBits_1; //一个停止位 157 | // USART_InitStructure.USART_Parity = USART_Parity_No; //无奇偶校验位 158 | // USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //无硬件数据流控制 159 | // USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //收发模式 160 | 161 | // USART_Init(USART3, &USART_InitStructure); //初始化串口3 162 | // USART_ITConfig(USART3, USART_IT_IDLE, ENABLE); 163 | // USART_ITConfig(USART3, USART_IT_RXNE, ENABLE); //开启串口接受中断 164 | // USART_Cmd(USART3, ENABLE); //使能串口3 165 | 166 | // //DMA串口发送配置 167 | // DMA_DeInit(DMA1_Channel2); //将DMA的通道12寄存器重设为缺省值 串口1对应的是DMA通道5 168 | // DMA_InitStructure.DMA_PeripheralBaseAddr = (u32)&USART3->DR; //DMA外设usart基地址 169 | // DMA_InitStructure.DMA_MemoryBaseAddr = (u32)send_data; //DMA内存基地址 170 | // DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST; //数据传输方向，从外设读取发送到内存 171 | // DMA_InitStructure.DMA_BufferSize = USART_MAX_LEN; //DMA通道的DMA缓存的大小 172 | // DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; //外设地址寄存器不变 173 | // DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; //内存地址寄存器递增 174 | // DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; //数据宽度为8位 175 | // DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; //数据宽度为8位 176 | // DMA_InitStructure.DMA_Mode = DMA_Mode_Normal; //工作在正常缓存模式 177 | // DMA_InitStructure.DMA_Priority = DMA_Priority_Medium; //DMA通道12拥有中优先级 178 | // DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; //DMA通道12没有设置为内存到内存传输 179 | // DMA_Init(DMA1_Channel2, &DMA_InitStructure); //根据DMA_InitStruct中指定的参数初始化DMA的通道 180 | // DMA_Cmd(DMA1_Channel2, ENABLE); //正式驱动DMA传输 181 | 182 | // //DMA串口接收配置 183 | // DMA_DeInit(DMA1_Channel3); //将DMA的通道13寄存器重设为缺省值 串口1对应的是DMA通道5 184 | // DMA_InitStructure.DMA_PeripheralBaseAddr = (u32)&USART3->DR; //DMA外设usart基地址 185 | // DMA_InitStructure.DMA_MemoryBaseAddr = (u32)USART3_RX_BUF; //DMA内存基地址 186 | // DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC; //数据传输方向，从外设读取发送到内存 187 | // DMA_InitStructure.DMA_BufferSize = USART_MAX_LEN; //DMA通道的DMA缓存的大小 188 | // DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; //外设地址寄存器不变 189 | // DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; //内存地址寄存器递增 190 | // DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; //数据宽度为8位 191 | // DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; //数据宽度为8位 192 | // DMA_InitStructure.DMA_Mode = DMA_Mode_Normal; //工作在正常缓存模式 193 | // DMA_InitStructure.DMA_Priority = DMA_Priority_Medium; //DMA通道13拥有中优先级 194 | // DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; //DMA通道13没有设置为内存到内存传输 195 | // DMA_Init(DMA1_Channel3, &DMA_InitStructure); //根据DMA_InitStruct中指定的参数初始化DMA的通道 196 | // DMA_Cmd(DMA1_Channel3, ENABLE); //正式驱动DMA传输 197 | 198 | // USART_DMACmd(USART3, USART_DMAReq_Tx, ENABLE); //开启串口DMA发送 199 | // USART_DMACmd(USART3, USART_DMAReq_Rx, ENABLE); //开启串口DMA接收 200 | 201 | // return 1; 202 | //} 203 | 204 | void DMA_Enable(DMA_Channel_TypeDef * DMA_CHx) 205 | { 206 | DMA_Cmd(DMA_CHx, DISABLE); 207 | DMA_SetCurrDataCounter(DMA_CHx, USART_MAX_LEN); 208 | DMA_Cmd(DMA_CHx, ENABLE); 209 | } 210 | #endif 211 | 212 | int usart2_init(u32 bound){ 213 | //GPIO端口设置 214 | GPIO_InitTypeDef GPIO_InitStructure; 215 | USART_InitTypeDef USART_InitStructure; 216 | NVIC_InitTypeDef NVIC_InitStructure; 217 | 218 | RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA, ENABLE); 219 | RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); 220 | 221 | //USART2_TX GPIOA.2 222 | GPIO_InitStructure.GPIO_Pin = USART2_TX; //PA.2 223 | GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; 224 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出 225 | GPIO_Init(USART2_PORT, &GPIO_InitStructure); 226 | 227 | //USART2_RX GPIOA.3 228 | GPIO_InitStructure.GPIO_Pin = USART2_RX;//PA.3 229 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入 230 | GPIO_Init(USART2_PORT, &GPIO_InitStructure); 231 | 232 | //USART2 NVIC 配置 233 | NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn; 234 | NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3; //抢占优先级3 235 | NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; //子优先级2 236 | NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能 237 | NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器 238 | 239 | //USART 初始化设置 240 | 241 | USART_InitStructure.USART_BaudRate = bound; //串口波特率 242 | USART_InitStructure.USART_WordLength = USART_WordLength_8b; //字长为8位数据格式 243 | USART_InitStructure.USART_StopBits = USART_StopBits_1; //一个停止位 244 | USART_InitStructure.USART_Parity = USART_Parity_No; //无奇偶校验位 245 | USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //无硬件数据流控制 246 | USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //收发模式 247 | 248 | USART_Init(USART2, &USART_InitStructure); //初始化串口2 249 | USART_ITConfig(USART2, USART_IT_RXNE, ENABLE); //开启串口接受中断 250 | USART_Cmd(USART2, ENABLE); //使能串口2 251 | return 1; 252 | } 253 | #ifndef _REMAP 254 | 255 | u8 UART4_RX_BUF[USART_MAX_LEN]; //接收缓冲,最大USART_MAX_LEN个字节. 256 | u16 UART4_RX_STA = 0; //接收状态标记 257 | u8 Res4 = 0; 258 | 259 | int uart4_init(u32 bound){ 260 | //GPIO端口设置 261 | GPIO_InitTypeDef GPIO_InitStructure; 262 | USART_InitTypeDef USART_InitStructure; 263 | NVIC_InitTypeDef NVIC_InitStructure; 264 | 265 | RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOC, ENABLE); 266 | RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART4, ENABLE); 267 | 268 | //UART4_TX GPIOC.10 269 | GPIO_InitStructure.GPIO_Pin = UART4_TX; //PC.10 270 | GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; 271 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出 272 | GPIO_Init(UART4_PORT, &GPIO_InitStructure); //初始化GPIOC.10 273 | 274 | //UART4_RX GPIOC.11初始化 275 | GPIO_InitStructure.GPIO_Pin = UART4_RX; //PC.11 276 | GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入 277 | GPIO_Init(UART4_PORT, &GPIO_InitStructure); //初始化GPIOC.11 278 | 279 | //UART4 NVIC 配置 280 | NVIC_InitStructure.NVIC_IRQChannel = UART4_IRQn; 281 | NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3; //抢占优先级3 282 | NVIC_InitStructure.NVIC_IRQChannelSubPriority = 4; //子优先级4 283 | NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能 284 | NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器 285 | 286 | //USART 初始化设置 287 | 288 | USART_InitStructure.USART_BaudRate = bound; //串口波特率 289 | USART_InitStructure.USART_WordLength = USART_WordLength_8b; //字长为8位数据格式 290 | USART_InitStructure.USART_StopBits = USART_StopBits_1; //一个停止位 291 | USART_InitStructure.USART_Parity = USART_Parity_No; //无奇偶校验位 292 | USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; //无硬件数据流控制 293 | USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //收发模式 294 | 295 | USART_Init(UART4, &USART_InitStructure); //初始化串口4 296 | USART_ITConfig(UART4, USART_IT_RXNE, ENABLE); //开启串口接受中断 297 | USART_Cmd(UART4, ENABLE); //使能串口4 298 | return 1; 299 | } 300 | 301 | void UART4_IRQHandler(void) //串口4中断服务程序 302 | { 303 | if(USART_GetITStatus(UART4, USART_IT_RXNE) != RESET) 304 | { 305 | USART_ClearITPendingBit(UART4, USART_IT_RXNE); 306 | UART4_RX_BUF[Res4] = USART_ReceiveData(UART4); 307 | Res4++; 308 | } 309 | 310 | if((UART4_RX_BUF[Res4 - 2] == 0x0D)&&(USART2_RX_BUF[Res4 - 1] == 0x0A)) UART4_RX_STA = 1; 311 | if(USART_GetFlagStatus(UART4, USART_FLAG_ORE) == SET) 312 | { 313 | USART_ClearFlag(UART4, USART_FLAG_ORE); 314 | USART_ReceiveData(UART4); 315 | } 316 | } 317 | #endif 318 | 319 | #ifdef _DMA_USART 320 | void USART3_IRQHandler(void) 321 | { 322 | if(USART_GetITStatus(USART3, USART_IT_IDLE) != RESET) 323 | { 324 | USART_ReceiveData(USART3); 325 | USART3_RX_STA = 1; 326 | USART_ClearITPendingBit(USART3, USART_IT_IDLE); 327 | DMA_Enable(DMA1_Channel3); 328 | } 329 | } 330 | #else 331 | void USART3_IRQHandler(void) //串口3中断服务程序 332 | { 333 | if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET) 334 | { 335 | USART_ClearITPendingBit(USART3, USART_IT_RXNE); 336 | USART3_RX_BUF[Res3] = USART_ReceiveData(USART3); 337 | Res3++; 338 | } 339 | 340 | if((USART3_RX_BUF[Res3 - 2] == 0x0D)&&(USART3_RX_BUF[Res3 - 1] == 0x0A)) USART3_RX_STA = 1; 341 | if(USART_GetFlagStatus(USART3, USART_FLAG_ORE) == SET) 342 | { 343 | USART_ClearFlag(USART3, USART_FLAG_ORE); 344 | USART_ReceiveData(USART3); 345 | } 346 | } 347 | #endif 348 | 349 | void USART2_IRQHandler(void) //串口2中断服务程序 350 | { 351 | if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) 352 | { 353 | USART_ClearITPendingBit(USART2, USART_IT_RXNE); 354 | USART2_RX_BUF[Res2] = USART_ReceiveData(USART2); 355 | Res2++; 356 | } 357 | 358 | if((USART2_RX_BUF[Res2 - 2] == 0x0D)&&(USART2_RX_BUF[Res2 - 1] == 0x0A)) USART2_RX_STA = 1; 359 | if(USART_GetFlagStatus(USART2, USART_FLAG_ORE) == SET) 360 | { 361 | USART_ClearFlag(USART2, USART_FLAG_ORE); 362 | USART_ReceiveData(USART2); 363 | } 364 | } 365 | -------------------------------------------------------------------------------- /src/driver/watchdog.c: -------------------------------------------------------------------------------- 1 | #include "watchdog.h" 2 | /* 3 | * 看门狗使能函数 4 | * 打开看门狗 5 | */ 6 | void enable_watchdog() 7 | { 8 | RCC_ClearFlag(); 9 | RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE); 10 | WWDG_SetPrescaler(WWDG_Prescaler_8); 11 | WWDG_SetWindowValue(127); 12 | WWDG_Enable(127); 13 | } 14 | /* 15 | * 看门狗禁止函数 16 | * 关闭看门狗 17 | */ 18 | void disable_watchdog() 19 | { 20 | mark_watchdog(); 21 | RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE); 22 | } 23 | /* 24 | * 喂狗函数 25 | */ 26 | void mark_watchdog() 27 | { 28 | WWDG_SetCounter(127); 29 | } 30 | -------------------------------------------------------------------------------- /src/include/battery.h: -------------------------------------------------------------------------------- 1 | #ifndef __BATTERY_H 2 | #define __BATTERY_H 3 | 4 | #define BATT_DETECT_PORT GPIOC 5 | #define BATT_DETECT_PIN GPIO_Pin_0 6 | 7 | 8 | #define BATTERY_VOLTAGE_FULL ((int)(12.4 * 1000)) //mV 9 | #define BATTERY_VOLTAGE_EMPTY ((int)(9.25 * 1000)) //mV 10 | 11 | int init_battery(void); 12 | float get_electricity(void); 13 | float get_electricitypercentage(void); 14 | void heartbeat_battery(void); 15 | 16 | #endif 17 | -------------------------------------------------------------------------------- /src/include/beep.h: -------------------------------------------------------------------------------- 1 | #ifndef __BEEP_H 2 | #define __BEEP_H 3 | 4 | #include "common.h" 5 | 6 | #define BEEP_GPIO GPIOA 7 | #define BEEP_PIN GPIO_Pin_15 8 | #define BEEP_PWM TIM2 9 | 10 | #define TIME_PERIOD 255 11 | #define TIME_PRESCALER (TIME_PERIOD + 1) 12 | #define BEEP_INIT_HZ 1568 13 | 14 | //#define BEEP_OPEN() (GPIO_SetBits(GPIOC, GPIO_Pin_12)) 15 | //#define BEEP_CLOSE() (GPIO_ResetBits(GPIOC, GPIO_Pin_12)) 16 | enum { 17 | BEEP_START = 1, 18 | BEEP_STOP = 2, 19 | BEEP_WORKING = 3, 20 | }; 21 | enum { 22 | BEEP_POWERON = 1, 23 | BEEP_POWEROFF = 2, 24 | BEEP_POWERLOW = 3, 25 | BEEP_POWERCHARGE = 4, 26 | BEEP_PLAYWORKING = 5, 27 | }; 28 | int init_beep(void); 29 | void start_beep(void); 30 | void stop_beep(void); 31 | void play_music(void); 32 | void play_poweron(void); 33 | void play_poweron_frequency(void); 34 | void beep_beeper(_u32 frequency, _u32 delay, _u8 sound); 35 | void heartbeat_beep(float n); 36 | void on_abort_mode(void); 37 | #endif 38 | -------------------------------------------------------------------------------- /src/include/boarddef.h: -------------------------------------------------------------------------------- 1 | //MCU主频 2 | #define CPU_FREQ 72000000L 3 | 4 | //IO端口重映射 5 | #define PERFORM_IO_REMAP() GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);\ 6 | GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE) 7 | 8 | //APB2总线上的外设 9 | #define APB2PERIPH_INIT_LIST \ 10 | ( RCC_APB2Periph_GPIOA \ 11 | | RCC_APB2Periph_GPIOB \ 12 | | RCC_APB2Periph_GPIOC \ 13 | | RCC_APB2Periph_AFIO \ 14 | | RCC_APB2Periph_ADC1 \ 15 | ) 16 | //APB1总线上的外设 17 | #define APB1PERIPH_INIT_LIST \ 18 | ( RCC_APB1Periph_USART2 \ 19 | | RCC_APB1Periph_TIM3 \ 20 | | RCC_APB1Periph_USART3 \ 21 | ) 22 | -------------------------------------------------------------------------------- /src/include/boardfunc.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #include "types.h" 3 | 4 | #define SYSTICK_1MS_TICKS (CPU_FREQ/1000) 5 | 6 | #define cli __disable_irq 7 | #define sei __enable_irq 8 | 9 | static _u32 enter_critical_section(void) 10 | { 11 | _u32 context=__get_PRIMASK(); 12 | cli(); 13 | return context; 14 | } 15 | 16 | static void leave_critical_section(_u32 context) 17 | { 18 | __set_PRIMASK(context); 19 | } 20 | 21 | 22 | typedef void (* abort_proc_t ) (void); 23 | void board_abort_mode(void); 24 | void board_set_abort_proc( abort_proc_t proc); 25 | uint32_t getms(void); 26 | uint64_t getus(void); 27 | void delay(uint32_t ms); 28 | void delay_alert(uint32_t ms); 29 | extern void _delay_us(volatile uint32_t us); 30 | static void _delay_ms(uint32_t ms) 31 | { 32 | while(ms--) 33 | { 34 | _delay_us(1000); 35 | } 36 | } 37 | void alert(void); 38 | void clear_alert(void); 39 | int is_alert(void); 40 | 41 | /* 42 | * GPIO相关 43 | */ 44 | #define HIGH 1 45 | #define LOW 0 46 | 47 | #define _PIN_SET_1(port, pin) port->BSRR = pin 48 | #define _PIN_SET_0(port, pin) port->BRR = pin 49 | #define _PIN_SET(port, pin, val) _PIN_SET_##val(port, pin) 50 | 51 | #define PIN_SET(port, pin, val) EXPAND_WRAPPER(_PIN_SET, port, pin, val) 52 | #define PIN_READ(port, pin) ((port)->IDR & pin) 53 | 54 | #define pinSet GPIO_WriteBit 55 | #define pinRead GPIO_ReadInputDataBit 56 | 57 | #define _RAW_PWM_SET(channel, timer, val) \ 58 | TIM##timer->CCR##channel = val 59 | 60 | #define RAW_PWM_SET(channel, timer, val) \ 61 | EXPAND_WRAPPER(_RAW_PWM_SET, channel, timer, val) 62 | 63 | static void pinMode(GPIO_TypeDef* GPIOx, uint16_t pin, 64 | GPIOMode_TypeDef mode, GPIOSpeed_TypeDef GPIO_Speed) 65 | { 66 | //GPIO_InitTypeDef init = { pin, GPIO_Speed, mode}; 67 | GPIO_InitTypeDef init; 68 | init.GPIO_Pin = pin; 69 | init.GPIO_Speed = GPIO_Speed; 70 | init.GPIO_Mode = mode; 71 | GPIO_Init(GPIOx, &init); 72 | } 73 | 74 | /* 75 | * ADC相关 76 | */ 77 | void adc_read_start(ADC_TypeDef * adc_dev, uint8_t ADC_Channel); 78 | uint16_t adc_read_final(ADC_TypeDef * adc_dev); 79 | uint16_t adc_read_wait(ADC_TypeDef * adc_dev); 80 | static int adc_read_is_ready(ADC_TypeDef * adc_dev) 81 | { 82 | return (adc_dev->SR & ADC_FLAG_EOC); 83 | } 84 | float board_get_temperature(void); 85 | uint16_t get_adc(uint8_t ch); 86 | uint16_t get_adc_average(uint8_t ch, uint8_t times); 87 | #include "softdelay.h" 88 | #include "rpstm32.h" 89 | #include "usart.h" 90 | -------------------------------------------------------------------------------- /src/include/common.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #include "rpstm32.h" 4 | 5 | /** 6 | @brief input port definitions. 7 | */ 8 | typedef struct _in_port { 9 | GPIO_TypeDef *port; /**< input port. */ 10 | _u16 pin; /**< input pin. */ 11 | _u8 level; /**< input trigger level. */ 12 | } in_port_t; 13 | 14 | /** 15 | @brief output definitions. 16 | */ 17 | typedef struct _out_port { 18 | GPIO_TypeDef *port; /**< output port. */ 19 | _u16 pin; /**< output pin. */ 20 | _u8 level; /**< output default level. */ 21 | } out_port_t; 22 | 23 | /** 24 | @brief pwm control port definitions. 25 | */ 26 | typedef struct _pwm_port { 27 | GPIO_TypeDef *port; /**< pwm control port. */ 28 | _u16 pin; /**< pwm control pin. */ 29 | TIM_TypeDef *tim; /**< pwm timer. */ 30 | _u8 tim_ch; /**< pwm channel. */ 31 | } pwm_port_t; 32 | 33 | /** 34 | @brief external interrupt port definitions. 35 | */ 36 | typedef struct _exti_cfg { 37 | GPIO_TypeDef *port; /**< EXTI port. */ 38 | _u16 pin; /**< EXTI pin. */ 39 | _u8 exti; /**< external interrupt. */ 40 | } exti_port_t; 41 | 42 | typedef struct _dire_cfg { 43 | GPIO_TypeDef *port; /**< direction port. */ 44 | _u16 f_pin; /**< direction pin. */ 45 | _u16 b_pin; /**< direction pin. */ 46 | } dire_port_t; 47 | 48 | _s32 init_board(void); 49 | -------------------------------------------------------------------------------- /src/include/crc.h: -------------------------------------------------------------------------------- 1 | #ifndef __CRC_H 2 | #define __CRC_H 3 | #include "stm32f10x.h" 4 | 5 | u8 Get_Crc8(u8 *ptr,u16 len); 6 | u16 Get_Crc16(u8 *puchMsg,u16 usDataLen); 7 | 8 | #endif 9 | -------------------------------------------------------------------------------- /src/include/dmpKey.h: -------------------------------------------------------------------------------- 1 | /* 2 | $License: 3 | Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. 4 | $ 5 | */ 6 | #ifndef DMPKEY_H__ 7 | #define DMPKEY_H__ 8 | 9 | #define KEY_CFG_25 (0) 10 | #define KEY_CFG_24 (KEY_CFG_25 + 1) 11 | #define KEY_CFG_26 (KEY_CFG_24 + 1) 12 | #define KEY_CFG_27 (KEY_CFG_26 + 1) 13 | #define KEY_CFG_21 (KEY_CFG_27 + 1) 14 | #define KEY_CFG_20 (KEY_CFG_21 + 1) 15 | #define KEY_CFG_TAP4 (KEY_CFG_20 + 1) 16 | #define KEY_CFG_TAP5 (KEY_CFG_TAP4 + 1) 17 | #define KEY_CFG_TAP6 (KEY_CFG_TAP5 + 1) 18 | #define KEY_CFG_TAP7 (KEY_CFG_TAP6 + 1) 19 | #define KEY_CFG_TAP0 (KEY_CFG_TAP7 + 1) 20 | #define KEY_CFG_TAP1 (KEY_CFG_TAP0 + 1) 21 | #define KEY_CFG_TAP2 (KEY_CFG_TAP1 + 1) 22 | #define KEY_CFG_TAP3 (KEY_CFG_TAP2 + 1) 23 | #define KEY_CFG_TAP_QUANTIZE (KEY_CFG_TAP3 + 1) 24 | #define KEY_CFG_TAP_JERK (KEY_CFG_TAP_QUANTIZE + 1) 25 | #define KEY_CFG_DR_INT (KEY_CFG_TAP_JERK + 1) 26 | #define KEY_CFG_AUTH (KEY_CFG_DR_INT + 1) 27 | #define KEY_CFG_TAP_SAVE_ACCB (KEY_CFG_AUTH + 1) 28 | #define KEY_CFG_TAP_CLEAR_STICKY (KEY_CFG_TAP_SAVE_ACCB + 1) 29 | #define KEY_CFG_FIFO_ON_EVENT (KEY_CFG_TAP_CLEAR_STICKY + 1) 30 | #define KEY_FCFG_ACCEL_INPUT (KEY_CFG_FIFO_ON_EVENT + 1) 31 | #define KEY_FCFG_ACCEL_INIT (KEY_FCFG_ACCEL_INPUT + 1) 32 | #define KEY_CFG_23 (KEY_FCFG_ACCEL_INIT + 1) 33 | #define KEY_FCFG_1 (KEY_CFG_23 + 1) 34 | #define KEY_FCFG_3 (KEY_FCFG_1 + 1) 35 | #define KEY_FCFG_2 (KEY_FCFG_3 + 1) 36 | #define KEY_CFG_3D (KEY_FCFG_2 + 1) 37 | #define KEY_CFG_3B (KEY_CFG_3D + 1) 38 | #define KEY_CFG_3C (KEY_CFG_3B + 1) 39 | #define KEY_FCFG_5 (KEY_CFG_3C + 1) 40 | #define KEY_FCFG_4 (KEY_FCFG_5 + 1) 41 | #define KEY_FCFG_7 (KEY_FCFG_4 + 1) 42 | #define KEY_FCFG_FSCALE (KEY_FCFG_7 + 1) 43 | #define KEY_FCFG_AZ (KEY_FCFG_FSCALE + 1) 44 | #define KEY_FCFG_6 (KEY_FCFG_AZ + 1) 45 | #define KEY_FCFG_LSB4 (KEY_FCFG_6 + 1) 46 | #define KEY_CFG_12 (KEY_FCFG_LSB4 + 1) 47 | #define KEY_CFG_14 (KEY_CFG_12 + 1) 48 | #define KEY_CFG_15 (KEY_CFG_14 + 1) 49 | #define KEY_CFG_16 (KEY_CFG_15 + 1) 50 | #define KEY_CFG_18 (KEY_CFG_16 + 1) 51 | #define KEY_CFG_6 (KEY_CFG_18 + 1) 52 | #define KEY_CFG_7 (KEY_CFG_6 + 1) 53 | #define KEY_CFG_4 (KEY_CFG_7 + 1) 54 | #define KEY_CFG_5 (KEY_CFG_4 + 1) 55 | #define KEY_CFG_2 (KEY_CFG_5 + 1) 56 | #define KEY_CFG_3 (KEY_CFG_2 + 1) 57 | #define KEY_CFG_1 (KEY_CFG_3 + 1) 58 | #define KEY_CFG_EXTERNAL (KEY_CFG_1 + 1) 59 | #define KEY_CFG_8 (KEY_CFG_EXTERNAL + 1) 60 | #define KEY_CFG_9 (KEY_CFG_8 + 1) 61 | #define KEY_CFG_ORIENT_3 (KEY_CFG_9 + 1) 62 | #define KEY_CFG_ORIENT_2 (KEY_CFG_ORIENT_3 + 1) 63 | #define KEY_CFG_ORIENT_1 (KEY_CFG_ORIENT_2 + 1) 64 | #define KEY_CFG_GYRO_SOURCE (KEY_CFG_ORIENT_1 + 1) 65 | #define KEY_CFG_ORIENT_IRQ_1 (KEY_CFG_GYRO_SOURCE + 1) 66 | #define KEY_CFG_ORIENT_IRQ_2 (KEY_CFG_ORIENT_IRQ_1 + 1) 67 | #define KEY_CFG_ORIENT_IRQ_3 (KEY_CFG_ORIENT_IRQ_2 + 1) 68 | #define KEY_FCFG_MAG_VAL (KEY_CFG_ORIENT_IRQ_3 + 1) 69 | #define KEY_FCFG_MAG_MOV (KEY_FCFG_MAG_VAL + 1) 70 | #define KEY_CFG_LP_QUAT (KEY_FCFG_MAG_MOV + 1) 71 | 72 | /* MPU6050 keys */ 73 | #define KEY_CFG_ACCEL_FILTER (KEY_CFG_LP_QUAT + 1) 74 | #define KEY_CFG_MOTION_BIAS (KEY_CFG_ACCEL_FILTER + 1) 75 | #define KEY_TEMPLABEL (KEY_CFG_MOTION_BIAS + 1) 76 | 77 | #define KEY_D_0_22 (KEY_TEMPLABEL + 1) 78 | #define KEY_D_0_24 (KEY_D_0_22 + 1) 79 | #define KEY_D_0_36 (KEY_D_0_24 + 1) 80 | #define KEY_D_0_52 (KEY_D_0_36 + 1) 81 | #define KEY_D_0_96 (KEY_D_0_52 + 1) 82 | #define KEY_D_0_104 (KEY_D_0_96 + 1) 83 | #define KEY_D_0_108 (KEY_D_0_104 + 1) 84 | #define KEY_D_0_163 (KEY_D_0_108 + 1) 85 | #define KEY_D_0_188 (KEY_D_0_163 + 1) 86 | #define KEY_D_0_192 (KEY_D_0_188 + 1) 87 | #define KEY_D_0_224 (KEY_D_0_192 + 1) 88 | #define KEY_D_0_228 (KEY_D_0_224 + 1) 89 | #define KEY_D_0_232 (KEY_D_0_228 + 1) 90 | #define KEY_D_0_236 (KEY_D_0_232 + 1) 91 | 92 | #define KEY_DMP_PREVPTAT (KEY_D_0_236 + 1) 93 | #define KEY_D_1_2 (KEY_DMP_PREVPTAT + 1) 94 | #define KEY_D_1_4 (KEY_D_1_2 + 1) 95 | #define KEY_D_1_8 (KEY_D_1_4 + 1) 96 | #define KEY_D_1_10 (KEY_D_1_8 + 1) 97 | #define KEY_D_1_24 (KEY_D_1_10 + 1) 98 | #define KEY_D_1_28 (KEY_D_1_24 + 1) 99 | #define KEY_D_1_36 (KEY_D_1_28 + 1) 100 | #define KEY_D_1_40 (KEY_D_1_36 + 1) 101 | #define KEY_D_1_44 (KEY_D_1_40 + 1) 102 | #define KEY_D_1_72 (KEY_D_1_44 + 1) 103 | #define KEY_D_1_74 (KEY_D_1_72 + 1) 104 | #define KEY_D_1_79 (KEY_D_1_74 + 1) 105 | #define KEY_D_1_88 (KEY_D_1_79 + 1) 106 | #define KEY_D_1_90 (KEY_D_1_88 + 1) 107 | #define KEY_D_1_92 (KEY_D_1_90 + 1) 108 | #define KEY_D_1_96 (KEY_D_1_92 + 1) 109 | #define KEY_D_1_98 (KEY_D_1_96 + 1) 110 | #define KEY_D_1_100 (KEY_D_1_98 + 1) 111 | #define KEY_D_1_106 (KEY_D_1_100 + 1) 112 | #define KEY_D_1_108 (KEY_D_1_106 + 1) 113 | #define KEY_D_1_112 (KEY_D_1_108 + 1) 114 | #define KEY_D_1_128 (KEY_D_1_112 + 1) 115 | #define KEY_D_1_152 (KEY_D_1_128 + 1) 116 | #define KEY_D_1_160 (KEY_D_1_152 + 1) 117 | #define KEY_D_1_168 (KEY_D_1_160 + 1) 118 | #define KEY_D_1_175 (KEY_D_1_168 + 1) 119 | #define KEY_D_1_176 (KEY_D_1_175 + 1) 120 | #define KEY_D_1_178 (KEY_D_1_176 + 1) 121 | #define KEY_D_1_179 (KEY_D_1_178 + 1) 122 | #define KEY_D_1_218 (KEY_D_1_179 + 1) 123 | #define KEY_D_1_232 (KEY_D_1_218 + 1) 124 | #define KEY_D_1_236 (KEY_D_1_232 + 1) 125 | #define KEY_D_1_240 (KEY_D_1_236 + 1) 126 | #define KEY_D_1_244 (KEY_D_1_240 + 1) 127 | #define KEY_D_1_250 (KEY_D_1_244 + 1) 128 | #define KEY_D_1_252 (KEY_D_1_250 + 1) 129 | #define KEY_D_2_12 (KEY_D_1_252 + 1) 130 | #define KEY_D_2_96 (KEY_D_2_12 + 1) 131 | #define KEY_D_2_108 (KEY_D_2_96 + 1) 132 | #define KEY_D_2_208 (KEY_D_2_108 + 1) 133 | #define KEY_FLICK_MSG (KEY_D_2_208 + 1) 134 | #define KEY_FLICK_COUNTER (KEY_FLICK_MSG + 1) 135 | #define KEY_FLICK_LOWER (KEY_FLICK_COUNTER + 1) 136 | #define KEY_CFG_FLICK_IN (KEY_FLICK_LOWER + 1) 137 | #define KEY_FLICK_UPPER (KEY_CFG_FLICK_IN + 1) 138 | #define KEY_CGNOTICE_INTR (KEY_FLICK_UPPER + 1) 139 | #define KEY_D_2_224 (KEY_CGNOTICE_INTR + 1) 140 | #define KEY_D_2_244 (KEY_D_2_224 + 1) 141 | #define KEY_D_2_248 (KEY_D_2_244 + 1) 142 | #define KEY_D_2_252 (KEY_D_2_248 + 1) 143 | 144 | #define KEY_D_GYRO_BIAS_X (KEY_D_2_252 + 1) 145 | #define KEY_D_GYRO_BIAS_Y (KEY_D_GYRO_BIAS_X + 1) 146 | #define KEY_D_GYRO_BIAS_Z (KEY_D_GYRO_BIAS_Y + 1) 147 | #define KEY_D_ACC_BIAS_X (KEY_D_GYRO_BIAS_Z + 1) 148 | #define KEY_D_ACC_BIAS_Y (KEY_D_ACC_BIAS_X + 1) 149 | #define KEY_D_ACC_BIAS_Z (KEY_D_ACC_BIAS_Y + 1) 150 | #define KEY_D_GYRO_ENABLE (KEY_D_ACC_BIAS_Z + 1) 151 | #define KEY_D_ACCEL_ENABLE (KEY_D_GYRO_ENABLE + 1) 152 | #define KEY_D_QUAT_ENABLE (KEY_D_ACCEL_ENABLE +1) 153 | #define KEY_D_OUTPUT_ENABLE (KEY_D_QUAT_ENABLE + 1) 154 | #define KEY_D_CR_TIME_G (KEY_D_OUTPUT_ENABLE + 1) 155 | #define KEY_D_CR_TIME_A (KEY_D_CR_TIME_G + 1) 156 | #define KEY_D_CR_TIME_Q (KEY_D_CR_TIME_A + 1) 157 | #define KEY_D_CS_TAX (KEY_D_CR_TIME_Q + 1) 158 | #define KEY_D_CS_TAY (KEY_D_CS_TAX + 1) 159 | #define KEY_D_CS_TAZ (KEY_D_CS_TAY + 1) 160 | #define KEY_D_CS_TGX (KEY_D_CS_TAZ + 1) 161 | #define KEY_D_CS_TGY (KEY_D_CS_TGX + 1) 162 | #define KEY_D_CS_TGZ (KEY_D_CS_TGY + 1) 163 | #define KEY_D_CS_TQ0 (KEY_D_CS_TGZ + 1) 164 | #define KEY_D_CS_TQ1 (KEY_D_CS_TQ0 + 1) 165 | #define KEY_D_CS_TQ2 (KEY_D_CS_TQ1 + 1) 166 | #define KEY_D_CS_TQ3 (KEY_D_CS_TQ2 + 1) 167 | 168 | /* Compass keys */ 169 | #define KEY_CPASS_BIAS_X (KEY_D_CS_TQ3 + 1) 170 | #define KEY_CPASS_BIAS_Y (KEY_CPASS_BIAS_X + 1) 171 | #define KEY_CPASS_BIAS_Z (KEY_CPASS_BIAS_Y + 1) 172 | #define KEY_CPASS_MTX_00 (KEY_CPASS_BIAS_Z + 1) 173 | #define KEY_CPASS_MTX_01 (KEY_CPASS_MTX_00 + 1) 174 | #define KEY_CPASS_MTX_02 (KEY_CPASS_MTX_01 + 1) 175 | #define KEY_CPASS_MTX_10 (KEY_CPASS_MTX_02 + 1) 176 | #define KEY_CPASS_MTX_11 (KEY_CPASS_MTX_10 + 1) 177 | #define KEY_CPASS_MTX_12 (KEY_CPASS_MTX_11 + 1) 178 | #define KEY_CPASS_MTX_20 (KEY_CPASS_MTX_12 + 1) 179 | #define KEY_CPASS_MTX_21 (KEY_CPASS_MTX_20 + 1) 180 | #define KEY_CPASS_MTX_22 (KEY_CPASS_MTX_21 + 1) 181 | 182 | /* Gesture Keys */ 183 | #define KEY_DMP_TAPW_MIN (KEY_CPASS_MTX_22 + 1) 184 | #define KEY_DMP_TAP_THR_X (KEY_DMP_TAPW_MIN + 1) 185 | #define KEY_DMP_TAP_THR_Y (KEY_DMP_TAP_THR_X + 1) 186 | #define KEY_DMP_TAP_THR_Z (KEY_DMP_TAP_THR_Y + 1) 187 | #define KEY_DMP_SH_TH_Y (KEY_DMP_TAP_THR_Z + 1) 188 | #define KEY_DMP_SH_TH_X (KEY_DMP_SH_TH_Y + 1) 189 | #define KEY_DMP_SH_TH_Z (KEY_DMP_SH_TH_X + 1) 190 | #define KEY_DMP_ORIENT (KEY_DMP_SH_TH_Z + 1) 191 | #define KEY_D_ACT0 (KEY_DMP_ORIENT + 1) 192 | #define KEY_D_ACSX (KEY_D_ACT0 + 1) 193 | #define KEY_D_ACSY (KEY_D_ACSX + 1) 194 | #define KEY_D_ACSZ (KEY_D_ACSY + 1) 195 | 196 | #define KEY_X_GRT_Y_TMP (KEY_D_ACSZ + 1) 197 | #define KEY_SKIP_X_GRT_Y_TMP (KEY_X_GRT_Y_TMP + 1) 198 | #define KEY_SKIP_END_COMPARE (KEY_SKIP_X_GRT_Y_TMP + 1) 199 | #define KEY_END_COMPARE_Y_X_TMP2 (KEY_SKIP_END_COMPARE + 1) 200 | #define KEY_CFG_ANDROID_ORIENT_INT (KEY_END_COMPARE_Y_X_TMP2 + 1) 201 | #define KEY_NO_ORIENT_INTERRUPT (KEY_CFG_ANDROID_ORIENT_INT + 1) 202 | #define KEY_END_COMPARE_Y_X_TMP (KEY_NO_ORIENT_INTERRUPT + 1) 203 | #define KEY_END_ORIENT_1 (KEY_END_COMPARE_Y_X_TMP + 1) 204 | #define KEY_END_COMPARE_Y_X (KEY_END_ORIENT_1 + 1) 205 | #define KEY_END_ORIENT (KEY_END_COMPARE_Y_X + 1) 206 | #define KEY_X_GRT_Y (KEY_END_ORIENT + 1) 207 | #define KEY_NOT_TIME_MINUS_1 (KEY_X_GRT_Y + 1) 208 | #define KEY_END_COMPARE_Y_X_TMP3 (KEY_NOT_TIME_MINUS_1 + 1) 209 | #define KEY_X_GRT_Y_TMP2 (KEY_END_COMPARE_Y_X_TMP3 + 1) 210 | 211 | /* Authenticate Keys */ 212 | #define KEY_D_AUTH_OUT (KEY_X_GRT_Y_TMP2 + 1) 213 | #define KEY_D_AUTH_IN (KEY_D_AUTH_OUT + 1) 214 | #define KEY_D_AUTH_A (KEY_D_AUTH_IN + 1) 215 | #define KEY_D_AUTH_B (KEY_D_AUTH_A + 1) 216 | 217 | /* Pedometer standalone only keys */ 218 | #define KEY_D_PEDSTD_BP_B (KEY_D_AUTH_B + 1) 219 | #define KEY_D_PEDSTD_HP_A (KEY_D_PEDSTD_BP_B + 1) 220 | #define KEY_D_PEDSTD_HP_B (KEY_D_PEDSTD_HP_A + 1) 221 | #define KEY_D_PEDSTD_BP_A4 (KEY_D_PEDSTD_HP_B + 1) 222 | #define KEY_D_PEDSTD_BP_A3 (KEY_D_PEDSTD_BP_A4 + 1) 223 | #define KEY_D_PEDSTD_BP_A2 (KEY_D_PEDSTD_BP_A3 + 1) 224 | #define KEY_D_PEDSTD_BP_A1 (KEY_D_PEDSTD_BP_A2 + 1) 225 | #define KEY_D_PEDSTD_INT_THRSH (KEY_D_PEDSTD_BP_A1 + 1) 226 | #define KEY_D_PEDSTD_CLIP (KEY_D_PEDSTD_INT_THRSH + 1) 227 | #define KEY_D_PEDSTD_SB (KEY_D_PEDSTD_CLIP + 1) 228 | #define KEY_D_PEDSTD_SB_TIME (KEY_D_PEDSTD_SB + 1) 229 | #define KEY_D_PEDSTD_PEAKTHRSH (KEY_D_PEDSTD_SB_TIME + 1) 230 | #define KEY_D_PEDSTD_TIML (KEY_D_PEDSTD_PEAKTHRSH + 1) 231 | #define KEY_D_PEDSTD_TIMH (KEY_D_PEDSTD_TIML + 1) 232 | #define KEY_D_PEDSTD_PEAK (KEY_D_PEDSTD_TIMH + 1) 233 | #define KEY_D_PEDSTD_TIMECTR (KEY_D_PEDSTD_PEAK + 1) 234 | #define KEY_D_PEDSTD_STEPCTR (KEY_D_PEDSTD_TIMECTR + 1) 235 | #define KEY_D_PEDSTD_WALKTIME (KEY_D_PEDSTD_STEPCTR + 1) 236 | #define KEY_D_PEDSTD_DECI (KEY_D_PEDSTD_WALKTIME + 1) 237 | 238 | /*Host Based No Motion*/ 239 | #define KEY_D_HOST_NO_MOT (KEY_D_PEDSTD_DECI + 1) 240 | 241 | /* EIS keys */ 242 | #define KEY_P_EIS_FIFO_FOOTER (KEY_D_HOST_NO_MOT + 1) 243 | #define KEY_P_EIS_FIFO_YSHIFT (KEY_P_EIS_FIFO_FOOTER + 1) 244 | #define KEY_P_EIS_DATA_RATE (KEY_P_EIS_FIFO_YSHIFT + 1) 245 | #define KEY_P_EIS_FIFO_XSHIFT (KEY_P_EIS_DATA_RATE + 1) 246 | #define KEY_P_EIS_FIFO_SYNC (KEY_P_EIS_FIFO_XSHIFT + 1) 247 | #define KEY_P_EIS_FIFO_ZSHIFT (KEY_P_EIS_FIFO_SYNC + 1) 248 | #define KEY_P_EIS_FIFO_READY (KEY_P_EIS_FIFO_ZSHIFT + 1) 249 | #define KEY_DMP_FOOTER (KEY_P_EIS_FIFO_READY + 1) 250 | #define KEY_DMP_INTX_HC (KEY_DMP_FOOTER + 1) 251 | #define KEY_DMP_INTX_PH (KEY_DMP_INTX_HC + 1) 252 | #define KEY_DMP_INTX_SH (KEY_DMP_INTX_PH + 1) 253 | #define KEY_DMP_AINV_SH (KEY_DMP_INTX_SH + 1) 254 | #define KEY_DMP_A_INV_XH (KEY_DMP_AINV_SH + 1) 255 | #define KEY_DMP_AINV_PH (KEY_DMP_A_INV_XH + 1) 256 | #define KEY_DMP_CTHX_H (KEY_DMP_AINV_PH + 1) 257 | #define KEY_DMP_CTHY_H (KEY_DMP_CTHX_H + 1) 258 | #define KEY_DMP_CTHZ_H (KEY_DMP_CTHY_H + 1) 259 | #define KEY_DMP_NCTHX_H (KEY_DMP_CTHZ_H + 1) 260 | #define KEY_DMP_NCTHY_H (KEY_DMP_NCTHX_H + 1) 261 | #define KEY_DMP_NCTHZ_H (KEY_DMP_NCTHY_H + 1) 262 | #define KEY_DMP_CTSQ_XH (KEY_DMP_NCTHZ_H + 1) 263 | #define KEY_DMP_CTSQ_YH (KEY_DMP_CTSQ_XH + 1) 264 | #define KEY_DMP_CTSQ_ZH (KEY_DMP_CTSQ_YH + 1) 265 | #define KEY_DMP_INTX_H (KEY_DMP_CTSQ_ZH + 1) 266 | #define KEY_DMP_INTY_H (KEY_DMP_INTX_H + 1) 267 | #define KEY_DMP_INTZ_H (KEY_DMP_INTY_H + 1) 268 | //#define KEY_DMP_HPX_H (KEY_DMP_INTZ_H + 1) 269 | //#define KEY_DMP_HPY_H (KEY_DMP_HPX_H + 1) 270 | //#define KEY_DMP_HPZ_H (KEY_DMP_HPY_H + 1) 271 | 272 | /* Stream keys */ 273 | #define KEY_STREAM_P_GYRO_Z (KEY_DMP_INTZ_H + 1) 274 | #define KEY_STREAM_P_GYRO_Y (KEY_STREAM_P_GYRO_Z + 1) 275 | #define KEY_STREAM_P_GYRO_X (KEY_STREAM_P_GYRO_Y + 1) 276 | #define KEY_STREAM_P_TEMP (KEY_STREAM_P_GYRO_X + 1) 277 | #define KEY_STREAM_P_AUX_Y (KEY_STREAM_P_TEMP + 1) 278 | #define KEY_STREAM_P_AUX_X (KEY_STREAM_P_AUX_Y + 1) 279 | #define KEY_STREAM_P_AUX_Z (KEY_STREAM_P_AUX_X + 1) 280 | #define KEY_STREAM_P_ACCEL_Y (KEY_STREAM_P_AUX_Z + 1) 281 | #define KEY_STREAM_P_ACCEL_X (KEY_STREAM_P_ACCEL_Y + 1) 282 | #define KEY_STREAM_P_FOOTER (KEY_STREAM_P_ACCEL_X + 1) 283 | #define KEY_STREAM_P_ACCEL_Z (KEY_STREAM_P_FOOTER + 1) 284 | 285 | #define NUM_KEYS (KEY_STREAM_P_ACCEL_Z + 1) 286 | 287 | typedef struct { 288 | unsigned short key; 289 | unsigned short addr; 290 | } tKeyLabel; 291 | 292 | #define DINA0A 0x0a 293 | #define DINA22 0x22 294 | #define DINA42 0x42 295 | #define DINA5A 0x5a 296 | 297 | #define DINA06 0x06 298 | #define DINA0E 0x0e 299 | #define DINA16 0x16 300 | #define DINA1E 0x1e 301 | #define DINA26 0x26 302 | #define DINA2E 0x2e 303 | #define DINA36 0x36 304 | #define DINA3E 0x3e 305 | #define DINA46 0x46 306 | #define DINA4E 0x4e 307 | #define DINA56 0x56 308 | #define DINA5E 0x5e 309 | #define DINA66 0x66 310 | #define DINA6E 0x6e 311 | #define DINA76 0x76 312 | #define DINA7E 0x7e 313 | 314 | #define DINA00 0x00 315 | #define DINA08 0x08 316 | #define DINA10 0x10 317 | #define DINA18 0x18 318 | #define DINA20 0x20 319 | #define DINA28 0x28 320 | #define DINA30 0x30 321 | #define DINA38 0x38 322 | #define DINA40 0x40 323 | #define DINA48 0x48 324 | #define DINA50 0x50 325 | #define DINA58 0x58 326 | #define DINA60 0x60 327 | #define DINA68 0x68 328 | #define DINA70 0x70 329 | #define DINA78 0x78 330 | 331 | #define DINA04 0x04 332 | #define DINA0C 0x0c 333 | #define DINA14 0x14 334 | #define DINA1C 0x1C 335 | #define DINA24 0x24 336 | #define DINA2C 0x2c 337 | #define DINA34 0x34 338 | #define DINA3C 0x3c 339 | #define DINA44 0x44 340 | #define DINA4C 0x4c 341 | #define DINA54 0x54 342 | #define DINA5C 0x5c 343 | #define DINA64 0x64 344 | #define DINA6C 0x6c 345 | #define DINA74 0x74 346 | #define DINA7C 0x7c 347 | 348 | #define DINA01 0x01 349 | #define DINA09 0x09 350 | #define DINA11 0x11 351 | #define DINA19 0x19 352 | #define DINA21 0x21 353 | #define DINA29 0x29 354 | #define DINA31 0x31 355 | #define DINA39 0x39 356 | #define DINA41 0x41 357 | #define DINA49 0x49 358 | #define DINA51 0x51 359 | #define DINA59 0x59 360 | #define DINA61 0x61 361 | #define DINA69 0x69 362 | #define DINA71 0x71 363 | #define DINA79 0x79 364 | 365 | #define DINA25 0x25 366 | #define DINA2D 0x2d 367 | #define DINA35 0x35 368 | #define DINA3D 0x3d 369 | #define DINA4D 0x4d 370 | #define DINA55 0x55 371 | #define DINA5D 0x5D 372 | #define DINA6D 0x6d 373 | #define DINA75 0x75 374 | #define DINA7D 0x7d 375 | 376 | #define DINADC 0xdc 377 | #define DINAF2 0xf2 378 | #define DINAAB 0xab 379 | #define DINAAA 0xaa 380 | #define DINAF1 0xf1 381 | #define DINADF 0xdf 382 | #define DINADA 0xda 383 | #define DINAB1 0xb1 384 | #define DINAB9 0xb9 385 | #define DINAF3 0xf3 386 | #define DINA8B 0x8b 387 | #define DINAA3 0xa3 388 | #define DINA91 0x91 389 | #define DINAB6 0xb6 390 | #define DINAB4 0xb4 391 | 392 | 393 | #define DINC00 0x00 394 | #define DINC01 0x01 395 | #define DINC02 0x02 396 | #define DINC03 0x03 397 | #define DINC08 0x08 398 | #define DINC09 0x09 399 | #define DINC0A 0x0a 400 | #define DINC0B 0x0b 401 | #define DINC10 0x10 402 | #define DINC11 0x11 403 | #define DINC12 0x12 404 | #define DINC13 0x13 405 | #define DINC18 0x18 406 | #define DINC19 0x19 407 | #define DINC1A 0x1a 408 | #define DINC1B 0x1b 409 | 410 | #define DINC20 0x20 411 | #define DINC21 0x21 412 | #define DINC22 0x22 413 | #define DINC23 0x23 414 | #define DINC28 0x28 415 | #define DINC29 0x29 416 | #define DINC2A 0x2a 417 | #define DINC2B 0x2b 418 | #define DINC30 0x30 419 | #define DINC31 0x31 420 | #define DINC32 0x32 421 | #define DINC33 0x33 422 | #define DINC38 0x38 423 | #define DINC39 0x39 424 | #define DINC3A 0x3a 425 | #define DINC3B 0x3b 426 | 427 | #define DINC40 0x40 428 | #define DINC41 0x41 429 | #define DINC42 0x42 430 | #define DINC43 0x43 431 | #define DINC48 0x48 432 | #define DINC49 0x49 433 | #define DINC4A 0x4a 434 | #define DINC4B 0x4b 435 | #define DINC50 0x50 436 | #define DINC51 0x51 437 | #define DINC52 0x52 438 | #define DINC53 0x53 439 | #define DINC58 0x58 440 | #define DINC59 0x59 441 | #define DINC5A 0x5a 442 | #define DINC5B 0x5b 443 | 444 | #define DINC60 0x60 445 | #define DINC61 0x61 446 | #define DINC62 0x62 447 | #define DINC63 0x63 448 | #define DINC68 0x68 449 | #define DINC69 0x69 450 | #define DINC6A 0x6a 451 | #define DINC6B 0x6b 452 | #define DINC70 0x70 453 | #define DINC71 0x71 454 | #define DINC72 0x72 455 | #define DINC73 0x73 456 | #define DINC78 0x78 457 | #define DINC79 0x79 458 | #define DINC7A 0x7a 459 | #define DINC7B 0x7b 460 | 461 | #define DIND40 0x40 462 | 463 | 464 | #define DINA80 0x80 465 | #define DINA90 0x90 466 | #define DINAA0 0xa0 467 | #define DINAC9 0xc9 468 | #define DINACB 0xcb 469 | #define DINACD 0xcd 470 | #define DINACF 0xcf 471 | #define DINAC8 0xc8 472 | #define DINACA 0xca 473 | #define DINACC 0xcc 474 | #define DINACE 0xce 475 | #define DINAD8 0xd8 476 | #define DINADD 0xdd 477 | #define DINAF8 0xf0 478 | #define DINAFE 0xfe 479 | 480 | #define DINBF8 0xf8 481 | #define DINAC0 0xb0 482 | #define DINAC1 0xb1 483 | #define DINAC2 0xb4 484 | #define DINAC3 0xb5 485 | #define DINAC4 0xb8 486 | #define DINAC5 0xb9 487 | #define DINBC0 0xc0 488 | #define DINBC2 0xc2 489 | #define DINBC4 0xc4 490 | #define DINBC6 0xc6 491 | 492 | 493 | 494 | #endif // DMPKEY_H__ 495 | -------------------------------------------------------------------------------- /src/include/dmpmap.h: -------------------------------------------------------------------------------- 1 | /* 2 | $License: 3 | Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. 4 | $ 5 | */ 6 | #ifndef DMPMAP_H 7 | #define DMPMAP_H 8 | 9 | #ifdef __cplusplus 10 | extern "C" 11 | { 12 | #endif 13 | 14 | #define DMP_PTAT 0 15 | #define DMP_XGYR 2 16 | #define DMP_YGYR 4 17 | #define DMP_ZGYR 6 18 | #define DMP_XACC 8 19 | #define DMP_YACC 10 20 | #define DMP_ZACC 12 21 | #define DMP_ADC1 14 22 | #define DMP_ADC2 16 23 | #define DMP_ADC3 18 24 | #define DMP_BIASUNC 20 25 | #define DMP_FIFORT 22 26 | #define DMP_INVGSFH 24 27 | #define DMP_INVGSFL 26 28 | #define DMP_1H 28 29 | #define DMP_1L 30 30 | #define DMP_BLPFSTCH 32 31 | #define DMP_BLPFSTCL 34 32 | #define DMP_BLPFSXH 36 33 | #define DMP_BLPFSXL 38 34 | #define DMP_BLPFSYH 40 35 | #define DMP_BLPFSYL 42 36 | #define DMP_BLPFSZH 44 37 | #define DMP_BLPFSZL 46 38 | #define DMP_BLPFMTC 48 39 | #define DMP_SMC 50 40 | #define DMP_BLPFMXH 52 41 | #define DMP_BLPFMXL 54 42 | #define DMP_BLPFMYH 56 43 | #define DMP_BLPFMYL 58 44 | #define DMP_BLPFMZH 60 45 | #define DMP_BLPFMZL 62 46 | #define DMP_BLPFC 64 47 | #define DMP_SMCTH 66 48 | #define DMP_0H2 68 49 | #define DMP_0L2 70 50 | #define DMP_BERR2H 72 51 | #define DMP_BERR2L 74 52 | #define DMP_BERR2NH 76 53 | #define DMP_SMCINC 78 54 | #define DMP_ANGVBXH 80 55 | #define DMP_ANGVBXL 82 56 | #define DMP_ANGVBYH 84 57 | #define DMP_ANGVBYL 86 58 | #define DMP_ANGVBZH 88 59 | #define DMP_ANGVBZL 90 60 | #define DMP_BERR1H 92 61 | #define DMP_BERR1L 94 62 | #define DMP_ATCH 96 63 | #define DMP_BIASUNCSF 98 64 | #define DMP_ACT2H 100 65 | #define DMP_ACT2L 102 66 | #define DMP_GSFH 104 67 | #define DMP_GSFL 106 68 | #define DMP_GH 108 69 | #define DMP_GL 110 70 | #define DMP_0_5H 112 71 | #define DMP_0_5L 114 72 | #define DMP_0_0H 116 73 | #define DMP_0_0L 118 74 | #define DMP_1_0H 120 75 | #define DMP_1_0L 122 76 | #define DMP_1_5H 124 77 | #define DMP_1_5L 126 78 | #define DMP_TMP1AH 128 79 | #define DMP_TMP1AL 130 80 | #define DMP_TMP2AH 132 81 | #define DMP_TMP2AL 134 82 | #define DMP_TMP3AH 136 83 | #define DMP_TMP3AL 138 84 | #define DMP_TMP4AH 140 85 | #define DMP_TMP4AL 142 86 | #define DMP_XACCW 144 87 | #define DMP_TMP5 146 88 | #define DMP_XACCB 148 89 | #define DMP_TMP8 150 90 | #define DMP_YACCB 152 91 | #define DMP_TMP9 154 92 | #define DMP_ZACCB 156 93 | #define DMP_TMP10 158 94 | #define DMP_DZH 160 95 | #define DMP_DZL 162 96 | #define DMP_XGCH 164 97 | #define DMP_XGCL 166 98 | #define DMP_YGCH 168 99 | #define DMP_YGCL 170 100 | #define DMP_ZGCH 172 101 | #define DMP_ZGCL 174 102 | #define DMP_YACCW 176 103 | #define DMP_TMP7 178 104 | #define DMP_AFB1H 180 105 | #define DMP_AFB1L 182 106 | #define DMP_AFB2H 184 107 | #define DMP_AFB2L 186 108 | #define DMP_MAGFBH 188 109 | #define DMP_MAGFBL 190 110 | #define DMP_QT1H 192 111 | #define DMP_QT1L 194 112 | #define DMP_QT2H 196 113 | #define DMP_QT2L 198 114 | #define DMP_QT3H 200 115 | #define DMP_QT3L 202 116 | #define DMP_QT4H 204 117 | #define DMP_QT4L 206 118 | #define DMP_CTRL1H 208 119 | #define DMP_CTRL1L 210 120 | #define DMP_CTRL2H 212 121 | #define DMP_CTRL2L 214 122 | #define DMP_CTRL3H 216 123 | #define DMP_CTRL3L 218 124 | #define DMP_CTRL4H 220 125 | #define DMP_CTRL4L 222 126 | #define DMP_CTRLS1 224 127 | #define DMP_CTRLSF1 226 128 | #define DMP_CTRLS2 228 129 | #define DMP_CTRLSF2 230 130 | #define DMP_CTRLS3 232 131 | #define DMP_CTRLSFNLL 234 132 | #define DMP_CTRLS4 236 133 | #define DMP_CTRLSFNL2 238 134 | #define DMP_CTRLSFNL 240 135 | #define DMP_TMP30 242 136 | #define DMP_CTRLSFJT 244 137 | #define DMP_TMP31 246 138 | #define DMP_TMP11 248 139 | #define DMP_CTRLSF2_2 250 140 | #define DMP_TMP12 252 141 | #define DMP_CTRLSF1_2 254 142 | #define DMP_PREVPTAT 256 143 | #define DMP_ACCZB 258 144 | #define DMP_ACCXB 264 145 | #define DMP_ACCYB 266 146 | #define DMP_1HB 272 147 | #define DMP_1LB 274 148 | #define DMP_0H 276 149 | #define DMP_0L 278 150 | #define DMP_ASR22H 280 151 | #define DMP_ASR22L 282 152 | #define DMP_ASR6H 284 153 | #define DMP_ASR6L 286 154 | #define DMP_TMP13 288 155 | #define DMP_TMP14 290 156 | #define DMP_FINTXH 292 157 | #define DMP_FINTXL 294 158 | #define DMP_FINTYH 296 159 | #define DMP_FINTYL 298 160 | #define DMP_FINTZH 300 161 | #define DMP_FINTZL 302 162 | #define DMP_TMP1BH 304 163 | #define DMP_TMP1BL 306 164 | #define DMP_TMP2BH 308 165 | #define DMP_TMP2BL 310 166 | #define DMP_TMP3BH 312 167 | #define DMP_TMP3BL 314 168 | #define DMP_TMP4BH 316 169 | #define DMP_TMP4BL 318 170 | #define DMP_STXG 320 171 | #define DMP_ZCTXG 322 172 | #define DMP_STYG 324 173 | #define DMP_ZCTYG 326 174 | #define DMP_STZG 328 175 | #define DMP_ZCTZG 330 176 | #define DMP_CTRLSFJT2 332 177 | #define DMP_CTRLSFJTCNT 334 178 | #define DMP_PVXG 336 179 | #define DMP_TMP15 338 180 | #define DMP_PVYG 340 181 | #define DMP_TMP16 342 182 | #define DMP_PVZG 344 183 | #define DMP_TMP17 346 184 | #define DMP_MNMFLAGH 352 185 | #define DMP_MNMFLAGL 354 186 | #define DMP_MNMTMH 356 187 | #define DMP_MNMTML 358 188 | #define DMP_MNMTMTHRH 360 189 | #define DMP_MNMTMTHRL 362 190 | #define DMP_MNMTHRH 364 191 | #define DMP_MNMTHRL 366 192 | #define DMP_ACCQD4H 368 193 | #define DMP_ACCQD4L 370 194 | #define DMP_ACCQD5H 372 195 | #define DMP_ACCQD5L 374 196 | #define DMP_ACCQD6H 376 197 | #define DMP_ACCQD6L 378 198 | #define DMP_ACCQD7H 380 199 | #define DMP_ACCQD7L 382 200 | #define DMP_ACCQD0H 384 201 | #define DMP_ACCQD0L 386 202 | #define DMP_ACCQD1H 388 203 | #define DMP_ACCQD1L 390 204 | #define DMP_ACCQD2H 392 205 | #define DMP_ACCQD2L 394 206 | #define DMP_ACCQD3H 396 207 | #define DMP_ACCQD3L 398 208 | #define DMP_XN2H 400 209 | #define DMP_XN2L 402 210 | #define DMP_XN1H 404 211 | #define DMP_XN1L 406 212 | #define DMP_YN2H 408 213 | #define DMP_YN2L 410 214 | #define DMP_YN1H 412 215 | #define DMP_YN1L 414 216 | #define DMP_YH 416 217 | #define DMP_YL 418 218 | #define DMP_B0H 420 219 | #define DMP_B0L 422 220 | #define DMP_A1H 424 221 | #define DMP_A1L 426 222 | #define DMP_A2H 428 223 | #define DMP_A2L 430 224 | #define DMP_SEM1 432 225 | #define DMP_FIFOCNT 434 226 | #define DMP_SH_TH_X 436 227 | #define DMP_PACKET 438 228 | #define DMP_SH_TH_Y 440 229 | #define DMP_FOOTER 442 230 | #define DMP_SH_TH_Z 444 231 | #define DMP_TEMP29 448 232 | #define DMP_TEMP30 450 233 | #define DMP_XACCB_PRE 452 234 | #define DMP_XACCB_PREL 454 235 | #define DMP_YACCB_PRE 456 236 | #define DMP_YACCB_PREL 458 237 | #define DMP_ZACCB_PRE 460 238 | #define DMP_ZACCB_PREL 462 239 | #define DMP_TMP22 464 240 | #define DMP_TAP_TIMER 466 241 | #define DMP_TAP_THX 468 242 | #define DMP_TAP_THY 472 243 | #define DMP_TAP_THZ 476 244 | #define DMP_TAPW_MIN 478 245 | #define DMP_TMP25 480 246 | #define DMP_TMP26 482 247 | #define DMP_TMP27 484 248 | #define DMP_TMP28 486 249 | #define DMP_ORIENT 488 250 | #define DMP_THRSH 490 251 | #define DMP_ENDIANH 492 252 | #define DMP_ENDIANL 494 253 | #define DMP_BLPFNMTCH 496 254 | #define DMP_BLPFNMTCL 498 255 | #define DMP_BLPFNMXH 500 256 | #define DMP_BLPFNMXL 502 257 | #define DMP_BLPFNMYH 504 258 | #define DMP_BLPFNMYL 506 259 | #define DMP_BLPFNMZH 508 260 | #define DMP_BLPFNMZL 510 261 | #ifdef __cplusplus 262 | } 263 | #endif 264 | #endif // DMPMAP_H 265 | -------------------------------------------------------------------------------- /src/include/exti.h: -------------------------------------------------------------------------------- 1 | #ifndef __EXTI_H 2 | #define __EXTI_H 3 | 4 | #include "common.h" 5 | #include "types.h" 6 | #include 7 | 8 | #define CONFIG_EXTI_MAX_NUM 16 /**< Maximum external line channels. */ 9 | #define CONFIG_EXIT_IRQ_NUM 7 /**< External irq number, irq EXTI0~EXTI4, EXTI9-5, EXTI15-10 */ 10 | 11 | /** 12 | @brief get gpio port source by port id. 13 | @param port - gpio port id. 14 | @return return gpio source number. 15 | */ 16 | static _u8 GPIO_PortSource(GPIO_TypeDef *port) 17 | { 18 | if (port == NULL) { 19 | return 0; 20 | } 21 | if (port == GPIOA) { 22 | return GPIO_PortSourceGPIOA; 23 | } else if (port == GPIOB) { 24 | return GPIO_PortSourceGPIOB; 25 | } else if (port == GPIOC) { 26 | return GPIO_PortSourceGPIOC; 27 | } else if (port == GPIOD) { 28 | return GPIO_PortSourceGPIOD; 29 | } else if (port == GPIOE) { 30 | return GPIO_PortSourceGPIOE; 31 | } else if (port == GPIOF) { 32 | return GPIO_PortSourceGPIOF; 33 | } else if (port == GPIOG) { 34 | return GPIO_PortSourceGPIOG; 35 | } else { 36 | return 0; 37 | } 38 | } 39 | 40 | #define EXTI_LINE(l) (EXTI_Line0 << (l)) 41 | 42 | /** 43 | @brief External line interrupt call back function. 44 | */ 45 | typedef void (*exti_cb_t)(void); 46 | 47 | bool exti_reg_callback(_u8 exti, EXTITrigger_TypeDef type, exti_cb_t cb); 48 | void exti_unreg_callback(_u8 exti); 49 | 50 | #endif 51 | -------------------------------------------------------------------------------- /src/include/filters.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #include "common.h" 3 | extern float angle, angle_dot; 4 | void Kalman_Filter(float Accel, float Gyro); 5 | _u16 add_to_avg_filter_u16(_u16 new_data, _u16 * filter, size_t pos, size_t size); 6 | _s16 add_to_avg_filter_s16(_s16 new_data, _s16 * filter, size_t pos, size_t size); 7 | _u32 add_to_avg_filter_u32(_u32 new_data, _u32 * filter, size_t pos, size_t size); 8 | -------------------------------------------------------------------------------- /src/include/inv_mpu.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/mrobot/5f7474090a7d357fdad973d72531111f9844cb04/src/include/inv_mpu.h -------------------------------------------------------------------------------- /src/include/inv_mpu_dmp_motion_driver.h: -------------------------------------------------------------------------------- 1 | /* 2 | $License: 3 | Copyright (C) 2011-2012 InvenSense Corporation, All Rights Reserved. 4 | See included License.txt for License information. 5 | $ 6 | */ 7 | /** 8 | * @addtogroup DRIVERS Sensor Driver Layer 9 | * @brief Hardware drivers to communicate with sensors via I2C. 10 | * 11 | * @{ 12 | * @file inv_mpu_dmp_motion_driver.h 13 | * @brief DMP image and interface functions. 14 | * @details All functions are preceded by the dmp_ prefix to 15 | * differentiate among MPL and general driver function calls. 16 | */ 17 | #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ 18 | #define _INV_MPU_DMP_MOTION_DRIVER_H_ 19 | 20 | #define TAP_X (0x01) 21 | #define TAP_Y (0x02) 22 | #define TAP_Z (0x04) 23 | #define TAP_XYZ (0x07) 24 | 25 | #define TAP_X_UP (0x01) 26 | #define TAP_X_DOWN (0x02) 27 | #define TAP_Y_UP (0x03) 28 | #define TAP_Y_DOWN (0x04) 29 | #define TAP_Z_UP (0x05) 30 | #define TAP_Z_DOWN (0x06) 31 | 32 | #define ANDROID_ORIENT_PORTRAIT (0x00) 33 | #define ANDROID_ORIENT_LANDSCAPE (0x01) 34 | #define ANDROID_ORIENT_REVERSE_PORTRAIT (0x02) 35 | #define ANDROID_ORIENT_REVERSE_LANDSCAPE (0x03) 36 | 37 | #define DMP_INT_GESTURE (0x01) 38 | #define DMP_INT_CONTINUOUS (0x02) 39 | 40 | #define DMP_FEATURE_TAP (0x001) 41 | #define DMP_FEATURE_ANDROID_ORIENT (0x002) 42 | #define DMP_FEATURE_LP_QUAT (0x004) 43 | #define DMP_FEATURE_PEDOMETER (0x008) 44 | #define DMP_FEATURE_6X_LP_QUAT (0x010) 45 | #define DMP_FEATURE_GYRO_CAL (0x020) 46 | #define DMP_FEATURE_SEND_RAW_ACCEL (0x040) 47 | #define DMP_FEATURE_SEND_RAW_GYRO (0x080) 48 | #define DMP_FEATURE_SEND_CAL_GYRO (0x100) 49 | 50 | #define INV_WXYZ_QUAT (0x100) 51 | 52 | /* Set up functions. */ 53 | int dmp_load_motion_driver_firmware(void); 54 | int dmp_set_fifo_rate(unsigned short rate); 55 | int dmp_get_fifo_rate(unsigned short *rate); 56 | int dmp_enable_feature(unsigned short mask); 57 | int dmp_get_enabled_features(unsigned short *mask); 58 | int dmp_set_interrupt_mode(unsigned char mode); 59 | int dmp_set_orientation(unsigned short orient); 60 | int dmp_set_gyro_bias(long *bias); 61 | int dmp_set_accel_bias(long *bias); 62 | 63 | /* Tap functions. */ 64 | int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char)); 65 | int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh); 66 | int dmp_set_tap_axes(unsigned char axis); 67 | int dmp_set_tap_count(unsigned char min_taps); 68 | int dmp_set_tap_time(unsigned short time); 69 | int dmp_set_tap_time_multi(unsigned short time); 70 | int dmp_set_shake_reject_thresh(long sf, unsigned short thresh); 71 | int dmp_set_shake_reject_time(unsigned short time); 72 | int dmp_set_shake_reject_timeout(unsigned short time); 73 | 74 | /* Android orientation functions. */ 75 | int dmp_register_android_orient_cb(void (*func)(unsigned char)); 76 | 77 | /* LP quaternion functions. */ 78 | int dmp_enable_lp_quat(unsigned char enable); 79 | int dmp_enable_6x_lp_quat(unsigned char enable); 80 | 81 | /* Pedometer functions. */ 82 | int dmp_get_pedometer_step_count(unsigned long *count); 83 | int dmp_set_pedometer_step_count(unsigned long count); 84 | int dmp_get_pedometer_walk_time(unsigned long *time); 85 | int dmp_set_pedometer_walk_time(unsigned long time); 86 | 87 | /* DMP gyro calibration functions. */ 88 | int dmp_enable_gyro_cal(unsigned char enable); 89 | 90 | /* Read function. This function should be called whenever the MPU interrupt is 91 | * detected. 92 | */ 93 | int dmp_read_fifo(short *gyro, short *accel, long *quat, 94 | unsigned long *timestamp, short *sensors, unsigned char *more); 95 | 96 | #endif /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */ 97 | 98 | -------------------------------------------------------------------------------- /src/include/led.h: -------------------------------------------------------------------------------- 1 | #ifndef _LED_H_ 2 | #define _LED_H_ 3 | 4 | #ifdef _RGB 5 | #define LED_COLOR_PORT GPIOA 6 | #define LED_COLOR_RED GPIO_Pin_8 7 | #define LED_COLOR_GREEN GPIO_Pin_9 8 | #define LED_COLOR_BLUE GPIO_Pin_12 9 | #define LED_COLOR_PINs LED_COLOR_RED | LED_COLOR_GREEN | LED_COLOR_BLUE 10 | #else 11 | #define LED_COLOR_PORT GPIOB 12 | #define LED_COLOR_PIN GPIO_Pin_12 13 | #endif 14 | 15 | int drv_led_init(void); 16 | void drv_led_shutdown(void); 17 | void drv_led_set(int r, int g, int b); 18 | void led_heartbeat(float n); 19 | #endif 20 | -------------------------------------------------------------------------------- /src/include/motor.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/mrobot/5f7474090a7d357fdad973d72531111f9844cb04/src/include/motor.h -------------------------------------------------------------------------------- /src/include/mpu6050.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/mrobot/5f7474090a7d357fdad973d72531111f9844cb04/src/include/mpu6050.h -------------------------------------------------------------------------------- /src/include/mpuiic.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/mrobot/5f7474090a7d357fdad973d72531111f9844cb04/src/include/mpuiic.h -------------------------------------------------------------------------------- /src/include/protocol.h: -------------------------------------------------------------------------------- 1 | #ifndef _PROTOCOL_H_ 2 | #define _PROTOCOL_H_ 3 | #include "types.h" 4 | #include "stm32f10x.h" 5 | 6 | void SendData(short Temperature, float pitch, float roll, float yaw); 7 | void ReceiveData(short Temperature, float pitch, float roll, float yaw); 8 | 9 | #endif 10 | -------------------------------------------------------------------------------- /src/include/rpstm32.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | #ifndef RPSTM32_HEADER_H 4 | #define RPSTM32_HEADER_H 5 | 6 | #define EXPAND_WRAPPER( __NEXTLEVEL__, ...) __NEXTLEVEL__( __VA_ARGS__ ) 7 | 8 | // Helper Macros 9 | 10 | #define _GET_ADC_PERIPH(x) RCC_APB2Periph_ADC##x 11 | #define _GET_TIM(x) TIM##x 12 | #define GET_ADC_PERIPH(x) EXPAND_WRAPPER(_GET_ADC_PERIPH,x) 13 | #define GET_TIM(x) EXPAND_WRAPPER(_GET_TIM,x) 14 | 15 | // ST-FWlib 16 | #include "stm32f10x.h" 17 | 18 | // Lib-c 19 | #include 20 | #include 21 | #include 22 | 23 | #include "types.h" 24 | 25 | // Board Def 26 | #include "boarddef.h" 27 | 28 | // Board HAL 29 | #include "boardfunc.h" 30 | 31 | #endif // #ifndef RPSTM32_HEADER_H 32 | -------------------------------------------------------------------------------- /src/include/softdelay.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | 3 | void softdelay_calibrate(void); 4 | void _delay_us(volatile uint32_t us); 5 | -------------------------------------------------------------------------------- /src/include/sonar.h: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include "common.h" 4 | 5 | /** 6 | @addtogroup sonar 7 | @{ 8 | */ 9 | 10 | #ifndef _SONAR_H 11 | #define _SONAR_H 12 | extern short Temperature; 13 | //extern int _SONAR; 14 | /** 15 | @brief ultrasonic speed coefficient is different by temperature. 16 | 17 | Tempearture -30 -20 -10 0 10 20 30 100 18 | Speed(m/s) 313 319 325 332 338 344 349 386 19 | 20 | V = 331.45 + 0.607 * T 21 | S = V * t / 2 22 | FIXME: use tempearture sensor to select speed coefficient. 23 | */ 24 | #define CONFIG_SONAR_COE_A 331.45 /*< Sonar distance coefficient A. */ 25 | #define CONFIG_SONAR_COE_B 0.607 /*< Sonar distance coefficient B. */ 26 | //#define CONFIG_SONAR_COE_T 20 /*< Sonar distance coefficient T at 20. */ 27 | 28 | #define CONFIG_SONAR_CHANNEL_NUM 4 /**< Sonar channel number. */ 29 | #define CONFIG_SONAR_SAMPLE_SIZE 4 /**< Sonar sample buffer size. */ 30 | #define CONFIG_SONAR_TIMEOUT_MS 50 /**< Sonar detection timeout in ms. */ 31 | #define CONFIG_SONAR_TICKS 100 /**< Sonar detection timeout in ms. */ 32 | 33 | #define CONFIG_SONAR_BLOCK_DIST 100 /**< Sonar block distance in mm. */ 34 | 35 | #define SONAR_TRIG1_PORT GPIOB 36 | #define SONAR_TRIG1_PIN GPIO_Pin_0 37 | 38 | #define SONAR_ECHO1_PORT GPIOB 39 | #define SONAR_ECHO1_PIN GPIO_Pin_1 40 | 41 | #define SONAR_TRIG2_PORT GPIOB 42 | #define SONAR_TRIG2_PIN GPIO_Pin_3 43 | 44 | #define SONAR_ECHO2_PORT GPIOB 45 | #define SONAR_ECHO2_PIN GPIO_Pin_4 46 | 47 | #define SONAR_TRIG3_PORT GPIOB 48 | #define SONAR_TRIG3_PIN GPIO_Pin_8 49 | 50 | #define SONAR_ECHO3_PORT GPIOB 51 | #define SONAR_ECHO3_PIN GPIO_Pin_9 52 | 53 | #define SONAR_TRIG4_PORT GPIOB 54 | #define SONAR_TRIG4_PIN GPIO_Pin_14 55 | 56 | #define SONAR_ECHO4_PORT GPIOB 57 | #define SONAR_ECHO4_PIN GPIO_Pin_15 58 | 59 | #if !defined(_countof) 60 | #define _countof(_Array) (sizeof(_Array) / sizeof(_Array[0])) 61 | #endif 62 | 63 | /** 64 | @brief sonar channel info structure. 65 | */ 66 | typedef struct _sonar_channel { 67 | uint8_t state; /**< Sonar sensor state. */ 68 | uint8_t id; /**< Sonar smaple buffer id. */ 69 | uint8_t cnt; /**< Sonar smaple count. */ 70 | uint16_t sample[CONFIG_SONAR_SAMPLE_SIZE]; /**< Sonar sample buffer. */ 71 | uint32_t ticks; /**< Sonar sample ticks. */ 72 | float distance; /**< Sonar sampel result. */ 73 | } sonar_channel_t; 74 | 75 | /** 76 | @brief sonar channel configuration. 77 | */ 78 | typedef struct _sonar_cfg { 79 | GPIO_TypeDef *trig_port; /**< Sonar channel trigger IO port. */ 80 | uint16_t trig_pin; /**< Sonar channel tirgger IO pin. */ 81 | GPIO_TypeDef *echo_port; /**< Sonar channel echo input IO port. */ 82 | uint16_t echo_pin; /**< Sonar channel echo input IO pin. */ 83 | uint32_t exti_line; /**< Sonar channel echo input interrupt line. */ 84 | } sonar_cfg_t; 85 | 86 | /** 87 | @brief Sonar sensor states. 88 | */ 89 | enum _sonar_state { 90 | SONAR_IDLE = 0, 91 | SONAR_INIT, 92 | SONAR_MEASURE, 93 | SONAR_DONE, 94 | SONAR_EXIT, 95 | }; 96 | 97 | int sonar_init(void); 98 | void sonar_exit(void); 99 | void sonar_heartbeat(void); 100 | uint32_t sonar_get(uint8_t ch); 101 | float sonar_distance(uint8_t ch); 102 | 103 | #endif 104 | 105 | /** @} */ 106 | -------------------------------------------------------------------------------- /src/include/stm32f10x_it.h: -------------------------------------------------------------------------------- 1 | /* Define to prevent recursive inclusion -------------------------------------*/ 2 | #ifndef __STM32F10x_IT_H 3 | #define __STM32F10x_IT_H 4 | 5 | /* Includes ------------------------------------------------------------------*/ 6 | #include "stm32f10x.h" 7 | 8 | /* Exported types ------------------------------------------------------------*/ 9 | /* Exported constants --------------------------------------------------------*/ 10 | /* Exported macro ------------------------------------------------------------*/ 11 | /* Exported functions ------------------------------------------------------- */ 12 | 13 | void NMI_Handler(void); 14 | void HardFault_Handler(void); 15 | void MemManage_Handler(void); 16 | void BusFault_Handler(void); 17 | void UsageFault_Handler(void); 18 | void SVC_Handler(void); 19 | void DebugMon_Handler(void); 20 | void PendSV_Handler(void); 21 | void SysTick_Handler(void); 22 | 23 | #endif /* __STM32F10x_IT_H */ 24 | -------------------------------------------------------------------------------- /src/include/sys.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zsirui/mrobot/5f7474090a7d357fdad973d72531111f9844cb04/src/include/sys.h -------------------------------------------------------------------------------- /src/include/types.h: -------------------------------------------------------------------------------- 1 | #ifndef _TYPES_H_ 2 | #define _TYPES_H_ 3 | 4 | #include 5 | 6 | //based on stdint.h 7 | typedef int8_t _s8; 8 | typedef uint8_t _u8; 9 | 10 | typedef int16_t _s16; 11 | typedef uint16_t _u16; 12 | 13 | typedef int32_t _s32; 14 | typedef uint32_t _u32; 15 | 16 | typedef int64_t _s64; 17 | typedef uint64_t _u64; 18 | 19 | #endif 20 | -------------------------------------------------------------------------------- /src/include/usart.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #include "common.h" 3 | 4 | #define USART_MAX_LEN 200 //定义最大接收字节数 200 5 | 6 | extern u8 send_data[USART_MAX_LEN]; 7 | extern u8 USART3_RX_BUF[USART_MAX_LEN]; //接收缓冲,最大USART_MAX_LEN个字节.末字节为换行符 8 | extern u16 USART3_RX_STA; //接收状态标记 9 | extern u8 Res3; 10 | extern u8 USART2_RX_BUF[USART_MAX_LEN]; //接收缓冲,最大USART_MAX_LEN个字节.末字节为换行符 11 | extern u16 USART2_RX_STA; //接收状态标记 12 | extern u8 Res2; 13 | 14 | #define USART2_PORT GPIOA 15 | #define USART2_TX GPIO_Pin_2 16 | #define USART2_RX GPIO_Pin_3 17 | #ifdef _REMAP 18 | #define USART3_PORT GPIOC 19 | #else 20 | #define USART3_PORT GPIOB 21 | #endif 22 | #define USART3_TX GPIO_Pin_10 23 | #define USART3_RX GPIO_Pin_11 24 | #define UART4_PORT GPIOC 25 | #define UART4_TX GPIO_Pin_10 26 | #define UART4_RX GPIO_Pin_11 27 | 28 | int usart2_init(u32 bound); 29 | int usart3_init(u32 bound); 30 | #ifdef _DMA_USART 31 | //int usart3_dma_init(u32 bound); 32 | void DMA_Enable(DMA_Channel_TypeDef * DMA_CHx); 33 | #endif 34 | #ifndef _REMAP 35 | extern u8 UART4_RX_BUF[USART_MAX_LEN]; //接收缓冲,最大USART_MAX_LEN个字节.末字节为换行符 36 | extern u16 UART4_RX_STA; //接收状态标记 37 | extern u8 Res4; 38 | int uart4_init(u32 bound); 39 | #endif 40 | -------------------------------------------------------------------------------- /src/include/watchdog.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #include "common.h" 3 | 4 | void enable_watchdog(void); 5 | void disable_watchdog(void); 6 | void mark_watchdog(void); 7 | -------------------------------------------------------------------------------- /src/main.c: -------------------------------------------------------------------------------- 1 | #include "common.h" 2 | #include 3 | #include 4 | #include "beep.h" 5 | #include "battery.h" 6 | #include "motor.h" 7 | #include "watchdog.h" 8 | #include "led.h" 9 | #include "sonar.h" 10 | #include "mpu6050.h" 11 | #include "inv_mpu.h" 12 | #include "filters.h" 13 | #include "protocol.h" 14 | 15 | #define PI 3.14159265358979f 16 | #define fastAbs(n) n > 0 ? n : -n 17 | 18 | int _MPU6050 = 1, _MPU6050_DMP = 1, _MOTOR, _USART3, _LED, _BATTERY, _BEEP, _SONAR; 19 | short Temperature; //温度 20 | float pitch, roll, yaw; //欧拉角 21 | 22 | /* 23 | * 初始化板级外设函数 24 | */ 25 | static _s32 init_dev(void) 26 | { 27 | //#ifdef _PRINT 28 | // int _USART2; 29 | // _USART2 = usart2_init(115200); 30 | //#endif 31 | _USART3 = usart3_init(115200); 32 | _LED = drv_led_init(); 33 | _BATTERY = init_battery(); //初始化电池电量、充电相关 34 | _BEEP = init_beep(); //初始化蜂鸣器，用于各种声音提示 35 | _MOTOR = InitMotor(); //初始化两路行走电机，输出的速度分辨率为-300 ~ 300 36 | stalldetector_init(); 37 | _SONAR = sonar_init(); 38 | #ifdef _ENABLE_MPU6050 39 | _MPU6050 = MPU_Init(); 40 | _MPU6050_DMP = mpu_dmp_init(); 41 | #endif 42 | set_walkingmotor_speed(0, 0); //速度设定 左：0mm/s 右：0mm/s 43 | return 1; 44 | } 45 | 46 | extern _u8 sdp_status; 47 | /* 48 | * 模块循环处理函数 49 | */ 50 | static void dev_heartbeat(void) 51 | { 52 | #ifdef _ENABLE_MPU6050 53 | int get_data; 54 | short aacx, aacy, aacz; //加速度传感器原始数据 55 | short gyrox, gyroy, gyroz; //陀螺仪原始数据 56 | #ifdef _PRINT 57 | printf("_MPU6050: %d\r\n", _MPU6050); 58 | printf("_MPU6050_DMP: %d\r\n", _MPU6050_DMP); 59 | #endif 60 | if(_MPU6050 == 0 && _MPU6050_DMP == 0) 61 | { 62 | get_data = mpu_dmp_get_data(&pitch, &roll, &yaw); 63 | #ifdef _PRINT 64 | printf("get_data: %d\r\n", get_data); 65 | #endif 66 | if(get_data == 0) 67 | { 68 | Temperature = MPU_Get_Temperature(); //得到温度值 69 | MPU_Get_Accelerometer(&aacx, &aacy, &aacz); //得到加速度传感器数据 70 | MPU_Get_Gyroscope(&gyrox, &gyroy, &gyroz); //得到陀螺仪数据 71 | Kalman_Filter(atan2(aacx, aacy) * 180 / PI, -(float)gyroz /16.4); 72 | #ifdef _PRINT 73 | printf("\r\nAccelerometer: x: %.6f, y: %.6f, z: %.6f\r\n\r\n", (float)aacx / 16384, (float)aacy / 16384, (float)aacz / 16384); 74 | printf("Gyroscope: x: %.6f, y: %.6f, z: %.6f\r\n\r\n", (float)gyrox / 16.4, (float)gyroy / 16.4, (float)gyroz / 16.4); 75 | printf("Pitch: %.2f, Roll: %.2f, Yaw: %.2f\r\n\r\n", pitch, roll, yaw); 76 | printf("Kalman Filter Yaw: %.2f\r\n\r\n", angle); 77 | printf("Temperature: %.2f\r\n\r\n", (float)Temperature / 100); 78 | #endif 79 | } 80 | } 81 | #endif 82 | heartbeat_battery(); 83 | heartbeat_beep(get_electricitypercentage()); 84 | ReceiveData(Temperature, pitch, roll, yaw); 85 | speedctl_heartbeat(); 86 | stalldetector_heartbeat(); 87 | sonar_heartbeat(); 88 | #ifdef _PRINT 89 | printf("Voltage of battery: %.2f mV\r\n", get_electricity()); 90 | printf("Percentage of battery: %.2f%%\r\n", get_electricitypercentage()); 91 | #endif 92 | } 93 | 94 | /* 95 | * 主循环函数 96 | */ 97 | static _s32 loop(void) 98 | { 99 | led_heartbeat(get_electricitypercentage()); 100 | dev_heartbeat(); //处理各个功能模块 101 | return 1; 102 | } 103 | /* 104 | * 主程序函数 105 | */ 106 | int main(void) 107 | { 108 | _delay_ms(100); //等待上电电源稳定 109 | 110 | init_board(); //MCU低级初始化 111 | if (!init_dev()) 112 | { //所有外设初始化 113 | goto _on_fail; 114 | } 115 | 116 | play_poweron(); //开机发声 117 | enable_watchdog(); 118 | 119 | while (loop()) 120 | { 121 | mark_watchdog(); 122 | } 123 | 124 | _on_fail: 125 | disable_watchdog(); 126 | drv_led_shutdown(); 127 | set_walkingmotor_speed(0, 0); 128 | cli(); 129 | on_abort_mode(); 130 | return 0; 131 | } 132 | -------------------------------------------------------------------------------- /src/utils/filters.c: -------------------------------------------------------------------------------- 1 | #include "common.h" 2 | #include "filters.h" 3 | float angle, angle_dot; 4 | float Q_angle = 0.001; 5 | float Q_gyro = 0.003; 6 | float R_angle = 0.5; 7 | float dt = 0.005; 8 | char C_0 = 1; 9 | float Q_bias, Angle_err; 10 | float PCt_0, PCt_1, E; 11 | float K_0, K_1, t_0, t_1; 12 | float Pdot[4] = {0,0,0,0}; 13 | float PP[2][2] = { { 1, 0 },{ 0, 1 } }; 14 | 15 | void Kalman_Filter(float Accel, float Gyro) 16 | { 17 | angle+=(Gyro - Q_bias) * dt; 18 | Pdot[0]=Q_angle - PP[0][1] - PP[1][0]; 19 | 20 | Pdot[1]=-PP[1][1]; 21 | Pdot[2]=-PP[1][1]; 22 | Pdot[3]=Q_gyro; 23 | PP[0][0] += Pdot[0] * dt; 24 | PP[0][1] += Pdot[1] * dt; 25 | PP[1][0] += Pdot[2] * dt; 26 | PP[1][1] += Pdot[3] * dt; 27 | 28 | Angle_err = Accel - angle; 29 | 30 | PCt_0 = C_0 * PP[0][0]; 31 | PCt_1 = C_0 * PP[1][0]; 32 | 33 | E = R_angle + C_0 * PCt_0; 34 | 35 | K_0 = PCt_0 / E; 36 | K_1 = PCt_1 / E; 37 | 38 | t_0 = PCt_0; 39 | t_1 = C_0 * PP[0][1]; 40 | 41 | PP[0][0] -= K_0 * t_0; 42 | PP[0][1] -= K_0 * t_1; 43 | PP[1][0] -= K_1 * t_0; 44 | PP[1][1] -= K_1 * t_1; 45 | 46 | angle += K_0 * Angle_err; 47 | Q_bias += K_1 * Angle_err; 48 | angle_dot = Gyro - Q_bias; 49 | } 50 | /* 51 | * 平均滤波函数 52 | * 将新数据放入滤波器再求平均 53 | * 数据类型：unsigned short 54 | */ 55 | _u16 add_to_avg_filter_u16(_u16 new_data, _u16 * filter, size_t pos, size_t size) 56 | { 57 | _s32 * sum = (_s32 *)(filter + size); 58 | 59 | *sum -= (_s32)filter[pos]; 60 | *sum += (_s32)new_data; 61 | filter[pos] = new_data; 62 | 63 | return (_u16)((*sum)/size); 64 | } 65 | 66 | /* 67 | * 平均滤波函数 68 | * 将新数据放入滤波器再求平均 69 | * 数据类型：short 70 | */ 71 | _s16 add_to_avg_filter_s16(_s16 new_data, _s16 * filter, size_t pos, size_t size) 72 | { 73 | _s32 * sum = (_s32 *)(filter + size); 74 | 75 | *sum -= (_s32)filter[pos]; 76 | *sum += (_s32)new_data; 77 | filter[pos] = new_data; 78 | 79 | return (_s16)((*sum)/((_s32)size)); 80 | } 81 | 82 | /* 83 | * 平均滤波函数 84 | * 将新数据放入滤波器再求平均 85 | * 数据类型：unsigned int 86 | */ 87 | _u32 add_to_avg_filter_u32(_u32 new_data, _u32 * filter, size_t pos, size_t size) 88 | { 89 | _s64 * sum = (_s64 *)(filter + size); 90 | 91 | *sum -= (_s64)filter[pos]; 92 | *sum += (_s64)new_data; 93 | filter[pos] = new_data; 94 | 95 | return (_u32)((*sum)/size); 96 | } 97 | -------------------------------------------------------------------------------- /src/utils/hwconf.c: -------------------------------------------------------------------------------- 1 | #include "common.h" 2 | 3 | static void RCC_Configuration(void); 4 | static void NVIC_Configuration(void); 5 | static void ADC_Configuration(void); 6 | 7 | /* 8 | * 系统时钟设定函数，时间：1ms 9 | */ 10 | static void set_board_systick() 11 | { 12 | SysTick->LOAD = SYSTICK_1MS_TICKS - 1; 13 | NVIC_SetPriority(SysTick_IRQn, 0); 14 | SysTick->VAL = 0; 15 | SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | SysTick_CTRL_TICKINT_Msk | SysTick_CTRL_ENABLE_Msk; 16 | softdelay_calibrate(); 17 | } 18 | /* 19 | * RCC clock配置函数 20 | */ 21 | static void RCC_Configuration(void) 22 | { 23 | RCC_ADCCLKConfig(RCC_PCLK2_Div6); 24 | RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); 25 | RCC_APB2PeriphClockCmd(APB2PERIPH_INIT_LIST, ENABLE); 26 | RCC_APB1PeriphClockCmd(APB1PERIPH_INIT_LIST, ENABLE); 27 | } 28 | /* 29 | * 中断控制器配置函数 30 | */ 31 | static void NVIC_Configuration(void) 32 | { 33 | NVIC_InitTypeDef NVIC_InitStructure; 34 | NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); 35 | NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 36 | set_board_systick(); 37 | 38 | /* Enable line5 ~ line9 external interrupt. */ 39 | // NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn; 40 | // NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1; 41 | // NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; 42 | // NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 43 | NVIC_Init(&NVIC_InitStructure); 44 | } 45 | /* 46 | * ADC配置函数 47 | */ 48 | #define ADC1_DR_Address ADC1_BASE + 0x4c 49 | _u32 voltage; 50 | 51 | static void ADC_Configuration(void) 52 | { 53 | DMA_InitTypeDef DMA_InitStructure; 54 | ADC_InitTypeDef ADC_InitStructure; 55 | DMA_DeInit(DMA1_Channel1); 56 | DMA_InitStructure.DMA_PeripheralBaseAddr = ADC1_DR_Address; 57 | DMA_InitStructure.DMA_MemoryBaseAddr = (u32)&voltage; 58 | DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC; 59 | DMA_InitStructure.DMA_BufferSize = 1; 60 | DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; 61 | DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Disable; 62 | DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord; 63 | DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord; 64 | DMA_InitStructure.DMA_Mode = DMA_Mode_Circular; 65 | DMA_InitStructure.DMA_Priority = DMA_Priority_High; 66 | DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; 67 | DMA_Init(DMA1_Channel1, &DMA_InitStructure); 68 | 69 | DMA_Cmd(DMA1_Channel1, ENABLE); 70 | 71 | ADC_InitStructure.ADC_Mode = ADC_Mode_Independent; 72 | ADC_InitStructure.ADC_ScanConvMode = ENABLE; 73 | ADC_InitStructure.ADC_ContinuousConvMode = ENABLE; 74 | ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None; 75 | ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right; 76 | ADC_InitStructure.ADC_NbrOfChannel = 1; 77 | ADC_Init(ADC1, &ADC_InitStructure); 78 | 79 | ADC_RegularChannelConfig(ADC1, 10, 1, ADC_SampleTime_239Cycles5); 80 | 81 | ADC_DMACmd(ADC1, ENABLE); 82 | ADC_Cmd(ADC1, ENABLE); 83 | // ADC_TempSensorVrefintCmd(ENABLE); 84 | ADC_ResetCalibration(ADC1); 85 | 86 | while (ADC_GetResetCalibrationStatus(ADC1)){}; 87 | 88 | ADC_StartCalibration(ADC1); 89 | while (ADC_GetCalibrationStatus(ADC1)){}; 90 | 91 | ADC_SoftwareStartConvCmd(ADC1, ENABLE); 92 | } 93 | /* 94 | * MCU低级初始化 95 | */ 96 | _s32 init_board() 97 | { 98 | RCC_Configuration(); 99 | PERFORM_IO_REMAP(); 100 | NVIC_Configuration(); 101 | ADC_Configuration(); 102 | return 1; 103 | } 104 | -------------------------------------------------------------------------------- /src/utils/stm32f10x_it.c: -------------------------------------------------------------------------------- 1 | #include "stm32f10x_it.h" 2 | 3 | /** 4 | * @brief This function handles NMI exception. 5 | * @param None 6 | * @retval : None 7 | */ 8 | void NMI_Handler(void) 9 | { 10 | } 11 | 12 | /** 13 | * @brief This function handles Hard Fault exception. 14 | * @param None 15 | * @retval : None 16 | */ 17 | void HardFault_Handler(void) 18 | { 19 | /* Go to infinite loop when Hard Fault exception occurs */ 20 | while (1) { 21 | } 22 | } 23 | 24 | /** 25 | * @brief This function handles Memory Manage exception. 26 | * @param None 27 | * @retval : None 28 | */ 29 | void MemManage_Handler(void) 30 | { 31 | /* Go to infinite loop when Memory Manage exception occurs */ 32 | while (1) { 33 | } 34 | } 35 | 36 | /** 37 | * @brief This function handles Bus Fault exception. 38 | * @param None 39 | * @retval : None 40 | */ 41 | void BusFault_Handler(void) 42 | { 43 | /* Go to infinite loop when Bus Fault exception occurs */ 44 | while (1) { 45 | } 46 | } 47 | 48 | /** 49 | * @brief This function handles Usage Fault exception. 50 | * @param None 51 | * @retval : None 52 | */ 53 | void UsageFault_Handler(void) 54 | { 55 | /* Go to infinite loop when Usage Fault exception occurs */ 56 | while (1) { 57 | } 58 | } 59 | 60 | /** 61 | * @brief This function handles Debug Monitor exception. 62 | * @param None 63 | * @retval : None 64 | */ 65 | void DebugMon_Handler(void) 66 | { 67 | } 68 | 69 | /** 70 | * @brief This function handles SVCall exception. 71 | * @param None 72 | * @retval : None 73 | */ 74 | void SVC_Handler(void) 75 | { 76 | } 77 | 78 | /** 79 | * @brief This function handles PendSV_Handler exception. 80 | * @param None 81 | * @retval : None 82 | */ 83 | void PendSV_Handler(void) 84 | { 85 | } 86 | --------------------------------------------------------------------------------