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