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[MOD]: Enhancement

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This commit is contained in:
but0n 2016-09-22 20:59:22 +08:00
parent 8be9556960
commit 0716b65a3e
2 changed files with 8 additions and 4 deletions
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3
libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/i2c.c
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@ -8,7 +8,8 @@ void delay_us(volatile unsigned int nus) {
} }
void IIC_init() { void IIC_init() {
RCC->APB2ENR |= 1<<3; //GPIOB enable // RCC->APB2ENR |= 1<<3; //GPIOB enable
RCC->APB2ENR |= RCC_APB2RSTR_IOPBRST;
GPIOB->CRH &= 0x0F0FFFFF; //reset B13 & B15 GPIOB->CRH &= 0x0F0FFFFF; //reset B13 & B15
GPIOB->CRH |= 0x70700000; //Set B13 & B15 b0111 GPIOB->CRH |= 0x70700000; //Set B13 & B15 b0111
GPIOB->ODR |= 5<<5; GPIOB->ODR |= 5<<5;

9
src/main.c
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@ -98,17 +98,21 @@ void Comput(SixAxis cache) {
g_Yaw = atan2(2 * (g_q1 * g_q2 + g_q0 * g_q3), g_q0*g_q0 + g_q1*g_q1 - g_q2*g_q2 - g_q3*g_q3) * 57.3; g_Yaw = atan2(2 * (g_q1 * g_q2 + g_q0 * g_q3), g_q0*g_q0 + g_q1*g_q1 - g_q2*g_q2 - g_q3*g_q3) * 57.3;
} }
#define DEBUG_WIFI //#define DEBUG_WIFI
#define DEBUG_MPU6050_EULER //Do not comment this, even not work
int main() { int main() {
SixAxis sourceData;
wifi_Config(); wifi_Config();
while(0) { #ifdef DEBUG_WIFI
while(1) {
wifi_sendCmd("AT+CIPSEND=0,20"); wifi_sendCmd("AT+CIPSEND=0,20");
delay(50); delay(50);
wifi_sendCmd("<html>aki<br></html>"); wifi_sendCmd("<html>aki<br></html>");
delay(1000); delay(1000);
} }
#endif
initLED(); initLED();
@ -119,7 +123,6 @@ int main() {
MPU_init(); MPU_init();
SixAxis sourceData;
while(1) { while(1) {