139 lines
4.4 KiB
C
139 lines
4.4 KiB
C
/***********************************************
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公司：轮趣科技（东莞）有限公司
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品牌：WHEELTEC
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官网：wheeltec.net
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淘宝店铺：shop114407458.taobao.com
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速卖通: https://minibalance.aliexpress.com/store/4455017
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版本：5.7
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修改时间：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：2021-04-29
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All rights reserved
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***********************************************/
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#ifndef __SYS_H
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#define __SYS_H
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#include <stm32f10x.h>
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//0,不支持ucos
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//1,支持ucos
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#define SYSTEM_SUPPORT_UCOS 0 //定义系统文件夹是否支持UCOS
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//位带操作,实现51类似的GPIO控制功能
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//具体实现思想,参考<<CM3权威指南>>第五章(87页~92页).
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//IO口操作宏定义
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#define BITBAND(addr, bitnum) ((addr & 0xF0000000)+0x2000000+((addr &0xFFFFF)<<5)+(bitnum<<2))
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#define MEM_ADDR(addr) *((volatile unsigned long *)(addr))
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#define BIT_ADDR(addr, bitnum) MEM_ADDR(BITBAND(addr, bitnum))
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//IO口地址映射
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#define GPIOA_ODR_Addr (GPIOA_BASE+12) //0x4001080C
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#define GPIOB_ODR_Addr (GPIOB_BASE+12) //0x40010C0C
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#define GPIOC_ODR_Addr (GPIOC_BASE+12) //0x4001100C
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#define GPIOD_ODR_Addr (GPIOD_BASE+12) //0x4001140C
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#define GPIOE_ODR_Addr (GPIOE_BASE+12) //0x4001180C
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#define GPIOF_ODR_Addr (GPIOF_BASE+12) //0x40011A0C
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#define GPIOG_ODR_Addr (GPIOG_BASE+12) //0x40011E0C
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#define GPIOA_IDR_Addr (GPIOA_BASE+8) //0x40010808
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#define GPIOB_IDR_Addr (GPIOB_BASE+8) //0x40010C08
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#define GPIOC_IDR_Addr (GPIOC_BASE+8) //0x40011008
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#define GPIOD_IDR_Addr (GPIOD_BASE+8) //0x40011408
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#define GPIOE_IDR_Addr (GPIOE_BASE+8) //0x40011808
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#define GPIOF_IDR_Addr (GPIOF_BASE+8) //0x40011A08
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#define GPIOG_IDR_Addr (GPIOG_BASE+8) //0x40011E08
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//IO口操作,只对单一的IO口!
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//确保n的值小于16!
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#define PAout(n) BIT_ADDR(GPIOA_ODR_Addr,n) //输出
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#define PAin(n) BIT_ADDR(GPIOA_IDR_Addr,n) //输入
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#define PBout(n) BIT_ADDR(GPIOB_ODR_Addr,n) //输出
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#define PBin(n) BIT_ADDR(GPIOB_IDR_Addr,n) //输入
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#define PCout(n) BIT_ADDR(GPIOC_ODR_Addr,n) //输出
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#define PCin(n) BIT_ADDR(GPIOC_IDR_Addr,n) //输入
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#define PDout(n) BIT_ADDR(GPIOD_ODR_Addr,n) //输出
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#define PDin(n) BIT_ADDR(GPIOD_IDR_Addr,n) //输入
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#define PEout(n) BIT_ADDR(GPIOE_ODR_Addr,n) //输出
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#define PEin(n) BIT_ADDR(GPIOE_IDR_Addr,n) //输入
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#define PFout(n) BIT_ADDR(GPIOF_ODR_Addr,n) //输出
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#define PFin(n) BIT_ADDR(GPIOF_IDR_Addr,n) //输入
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#define PGout(n) BIT_ADDR(GPIOG_ODR_Addr,n) //输出
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#define PGin(n) BIT_ADDR(GPIOG_IDR_Addr,n) //输入
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/////////////////////////////////////////////////////////////////
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//Ex_NVIC_Config专用定义
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#define GPIO_A 0
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#define GPIO_B 1
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#define GPIO_C 2
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#define GPIO_D 3
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#define GPIO_E 4
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#define GPIO_F 5
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#define GPIO_G 6
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#define FTIR 1 //下降沿触发
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#define RTIR 2 //上升沿触发
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#include "delay.h"
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#include "oled.h"
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#include "motor.h"
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#include "ioi2c.h"
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#include "mpu6050.h"
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#include "show.h"
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//JTAG模式设置定义
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#define JTAG_SWD_DISABLE 0X02
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#define SWD_ENABLE 0X01
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#define JTAG_SWD_ENABLE 0X00
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extern int Encoder_Left,Encoder_Right; // 左右编码器的脉冲计数
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extern u8 Flag_Stop; // 停止标志位和 显示标志位 默认停止 显示打开
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extern float Angle_Balance,Gyro_Balance; // 平衡倾角 平衡陀螺仪 转向陀螺仪
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/*---------------------- 以下为系统功能函数 -------------------------*/
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void Stm32_Clock_Init(u8 PLL); //时钟初始化
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void Sys_Soft_Reset(void); //系统软复位
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void Sys_Standby(void); //待机模式
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void MY_NVIC_SetVectorTable(u32 NVIC_VectTab, u32 Offset);//设置偏移地址
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void MY_NVIC_PriorityGroupConfig(u8 NVIC_Group);//设置NVIC分组
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void MY_NVIC_Init(u8 NVIC_PreemptionPriority,u8 NVIC_SubPriority,u8 NVIC_Channel,u8 NVIC_Group);//设置中断
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void Ex_NVIC_Config(u8 GPIOx,u8 BITx,u8 TRIM);//外部中断配置函数(只对GPIOA~G)
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void JTAG_Set(u8 mode);
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/*------------------------ 以下为汇编函数 ---------------------------*/
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void WFI_SET(void); // 执行WFI指令
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void INTX_DISABLE(void); // 关闭所有中断
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void INTX_ENABLE(void); // 开启所有中断
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void MSR_MSP(u32 addr); // 设置堆栈地址
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#include "inv_mpu.h"
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#include "inv_mpu_dmp_motion_driver.h"
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#include "dmpKey.h"
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#include "dmpmap.h"
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#include <string.h>
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#include <stdio.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#endif
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