46 lines
1.5 KiB
C
46 lines
1.5 KiB
C
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/***********************************************
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<EFBFBD><EFBFBD>˾<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȥ<EFBFBD>Ƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˾
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Ʒ<EFBFBD>ƣ<EFBFBD>WHEELTEC
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<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>wheeltec.net
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<EFBFBD>Ա<EFBFBD><EFBFBD><EFBFBD><EFBFBD>̣<EFBFBD>shop114407458.taobao.com
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<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ: https://minibalance.aliexpress.com/store/4455017
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<EFBFBD>汾<EFBFBD><EFBFBD>5.7
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<EFBFBD><EFBFBD>ʱ<EFBFBD>䣺2021-04-29
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Brand: WHEELTEC
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Website: wheeltec.net
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Taobao shop: shop114407458.taobao.com
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Aliexpress: https://minibalance.aliexpress.com/store/4455017
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Version:5.7
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Update<EFBFBD><EFBFBD>2021-04-29
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All rights reserved
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***********************************************/
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#include "stm32f10x.h"
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#include "sys.h"
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u8 Flag_Stop=1; //<2F><><EFBFBD><EFBFBD>ֹͣ<CDA3><D6B9>־λ<D6BE><CEBB>Ĭ<EFBFBD>Ϲر<CFB9>
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int Encoder_Left,Encoder_Right; //<2F><><EFBFBD>ұ<EFBFBD><D2B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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float Angle_Balance,Gyro_Balance; //ƽ<><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> ƽ<><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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int main(void)
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{
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MY_NVIC_PriorityGroupConfig(2); //<2F><><EFBFBD><EFBFBD><EFBFBD>жϷ<D0B6><CFB7><EFBFBD>
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delay_init(); //<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
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JTAG_Set(JTAG_SWD_DISABLE); //<2F>ر<EFBFBD>JTAG<41>ӿ<EFBFBD>
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JTAG_Set(SWD_ENABLE); //<2F><><EFBFBD><EFBFBD>SWD<57>ӿ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>SWD<57>ӿڵ<D3BF><DAB5><EFBFBD>
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KEY_Init(); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
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MiniBalance_PWM_Init(7199,0); //<2F><>ʼ<EFBFBD><CABC>PWM 10KHZ<48><5A><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD> <20><>ΪMiniBalance_PWM_Init(9999,35) 200HZ
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Encoder_Init_TIM2(); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
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Encoder_Init_TIM4(); //<2F><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>2
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IIC_Init(); //IIC<49><43>ʼ<EFBFBD><CABC>
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OLED_Init(); //OLED<45><44>ʼ<EFBFBD><CABC>
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MPU6050_initialize(); //MPU6050<35><30>ʼ<EFBFBD><CABC>
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DMP_Init(); //<2F><>ʼ<EFBFBD><CABC>DMP
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MiniBalance_EXTI_Init(); //MPU6050 5ms<6D><73>ʱ<EFBFBD>жϳ<D0B6>ʼ<EFBFBD><CABC>
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while(1)
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{
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oled_show(); //<2F><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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}
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}
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