78 lines
1.7 KiB
C
78 lines
1.7 KiB
C
/******************** (C) COPYRIGHT 2023 GeekRebot *****************************
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* File Name : main.c
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* Current Version : V1.0 & ST 3.5.0
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* Author : zhanli 719901725@qq.com
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* Date of Issued : 2023.04.06 zhanli: Create
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* Comments : GeekRebot STM32
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********************************************************************************/
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#include "bsp_sys.h"
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#include "stdio.h"
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#include "bluetooth.h"
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#include "MPU6050.h"
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unsigned char BLE_RX[64];
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/**----------------------------------------------------------------------
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* Function : main
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* Description : GeekRebot主函数
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* Author : zhanli&719901725@qq.com
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* Date : 2023/04/22 zhanli
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*---------------------------------------------------------------------**/
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int main(void)
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{
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System_Init();
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Bluetooth_Init(9600);
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PB_USART_printf(USART2, (u8*)"Init Blue tooth..\r\n");
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Car_Stop();
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IIC_Init();
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PB_USART_printf(USART2, (u8*)"MPU6050_initialize..\r\n");
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MPU6050_initialize();
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DMP_Init();
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while (1)
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{
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Delay_ms(10);
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USART2_Receive(BLE_RX, 6);
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if((BLE_RX[3] == 0xB1)&&(BLE_RX[4]==0xB5))
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{
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// SetPoint = SetPoint + 10;
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BLE_RX[3] = 0x00;
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}
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if((BLE_RX[3] == 0xB3)&&(BLE_RX[4]==0xB7))
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{
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// SetPoint = SetPoint - 10;
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BLE_RX[3] = 0x00;
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}
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if((BLE_RX[3] == 0xB2)&&(BLE_RX[4]==0xB6))
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{
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Car_Go();
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}
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if((BLE_RX[3] == 0xB4)&&(BLE_RX[4]==0xB8))
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{
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Car_TurnLeft();
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Delay_ms(500);
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Car_Go();
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BLE_RX[3] = 0x00;
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}
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if((BLE_RX[3] == 0xB5)&&(BLE_RX[4]==0xB9))
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{
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Car_Stop();
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}
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if((BLE_RX[3] == 0xB6)&&(BLE_RX[4]==0xBA))
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{
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Car_TurnRight();
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Delay_ms(500);
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Car_Go();
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BLE_RX[3] = 0x00;
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}
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if((BLE_RX[3] == 0xB8)&&(BLE_RX[4]==0xBC))
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{
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Car_Back();
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}
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}
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}
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