71 lines
1.7 KiB
C
71 lines
1.7 KiB
C
#include "stm32f4xx.h" // Device header
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#include "stm32f4xx_conf.h"
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#include <stdio.h>
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#include "RM_C.h"
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#include "AttitudeAlgorithms.h"
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#include "Gimbal.h"
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#include "visual.h"
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#include "UART.h"
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#define DELAY_TIME 5 //D1定时的计数值
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unsigned int Delay_Count; //D1的延时初始值
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unsigned char Delay_Flag; //D1延时时间到标志位
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int main(void)
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{
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Warming_Init();//报警初始化
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LED_BON();//蓝灯点亮表示代码在运行
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Delay_s(1);//等待车身稳定以便于陀螺仪消除零偏
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AttitudeAlgorithms_Init();//姿态解算初始化
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ZeroOffset_Calibration();//零偏校准
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Delay_s(1);//延时,等待校准和模块启动
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LinkCheck_Init();//连接检测初始化
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RefereeSystem_Init();//图传链路初始化
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Visual_Init();//视觉初始化
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CloseLoopControl_Init();//闭环控制初始化
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Remote_Init();//遥控器初始化
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//UART2_Init();
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//UART2_SendInit();
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//UART2_ReceiveInit();
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Delay_Count = DELAY_TIME; //给延时计数赋值
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UART2_Printf("ok\n");
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while(1)
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{
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IWDG_ReloadCounter();//喂狗
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//Visual_Trans();//视觉数据传输
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CToC_MasterSendControl();//CToC发送遥控器控制数据
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CToC_MasterSendData();//CToC发送遥控器摇杆数据
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Visual_SendData();
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if(Delay_Count) //每次大循环只执行一次
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{
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Delay_Count --; //只对计数值减一次1，就跳出if
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if(!Delay_Count) Delay_Flag = 1; //定时时间到
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}
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if(Delay_Flag) //定时时间到就执行一定的操作
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{
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Delay_Flag = 0; //定时到标志位清零
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//Debug();
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Visual_SendData();
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Visual_Trans();//视觉数据传输
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Delay_Count = DELAY_TIME; //计数值重装，为下一次非阻塞延时做准备
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}
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Delay_us(1500);//CToC周期1.5ms
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}
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}
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