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[Edited]Coding standards✌️

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This commit is contained in:
but0n 2016-08-18 15:49:02 +08:00
parent b6b44fba3c
commit 30d42fb106
3 changed files with 64 additions and 60 deletions
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8
libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/inc/uart.h
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@ -2,9 +2,9 @@
#ifndef _UART_H
#define _UART_H
void initUART(unsigned int pclk2, unsigned int bound);
void sendData_uart(unsigned char data);
void showData(short k);
unsigned char Float2Char(float value);
void uart_init(unsigned int pclk2, unsigned int bound);
void uart_sendData(unsigned char data);
void uart_showData(short k);
unsigned char uart_Float2Char(float value);
#endif

28
libs/STM32_USB-FS-Device_Lib_V4.0.0/Libraries/STM32F10x_StdPeriph_Driver/src/uart.c
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@ -1,7 +1,7 @@
#include "uart.h"
#include "stm32f10x.h"
void initUART(unsigned int pclk2, unsigned int bound) {
void uart_init(unsigned int pclk2, unsigned int bound) {
float temp;
unsigned short mantissa;
unsigned short fraction;
@ -25,14 +25,16 @@ void initUART(unsigned int pclk2, unsigned int bound) {
USART1->CR1 |= 1<<8;
USART1->CR1 |= 1<<5;
}
void sendData_uart(unsigned char data) {
void uart_sendData(unsigned char data) {
USART1->DR = data;
while((USART1->SR & 0x40) == 0);
}
void showData(short k) {
void uart_showData(short k) {
unsigned char a, b, c, d, e;
sendData_uart(k<0?'-':'+');
uart_sendData(k<0?'-':'+');
if(k<0) k=-k;
e = (unsigned char)(k % 10);
d = (unsigned char)(k/10) % 10;
@ -40,15 +42,15 @@ void showData(short k) {
b = (unsigned char)(k/1000) % 10;
a = (unsigned char)(k/10000);
sendData_uart(a+0x30);
sendData_uart(b+0x30);
sendData_uart(c+0x30);
sendData_uart(d+0x30);
sendData_uart(e+0x30);
sendData_uart(' ');
uart_sendData(a+0x30);
uart_sendData(b+0x30);
uart_sendData(c+0x30);
uart_sendData(d+0x30);
uart_sendData(e+0x30);
uart_sendData(' ');
}
unsigned char Float2Char(float value) {
unsigned char uart_Float2Char(float value) {
unsigned char IntegerPart;
float DecimalPart;
unsigned char i = 0;
@ -59,7 +61,7 @@ unsigned char Float2Char(float value) {
if(value < 0 ) {
value = value * -1;
sendData_uart('-');
uart_sendData('-');
}
if(value >= 1) {
IntegerPart = (unsigned char)value;
@ -97,7 +99,7 @@ unsigned char Float2Char(float value) {
array[i++] = '\0';
for(j = 0; j < i; j ++) {
sendData_uart(array[j]);
uart_sendData(array[j]);
}
return i;

88
src/main.c
View File

@ -5,6 +5,7 @@
#include "motor.h"
#include "uart.h"
#include "wifi.h"
#define Kp 100.0f //比例增益支配率(常量)
#define Ki 0.002f //积分增益支配率
@ -101,42 +102,45 @@ void Comput(SixAxis cache) {
int main() {
initLED();
PWM_Init(7200,10);
initUART(72, 115200);
uart_init(72, 115200);
MPU_init();
SixAxis sourceData;
wifi_init();
MOTOR1 = 7190;
MOTOR2 = 7190;
delay(3000);
while(1) {
MPU6050_getStructData(&sourceData);
Comput(sourceData);
pid(0, sourceData.gX);
sendData_uart(' ');
sendData_uart('M');
sendData_uart(':');
uart_sendData(' ');
uart_sendData('M');
uart_sendData(':');
showData(MOTOR1);
uart_showData(MOTOR1);
sendData_uart(' ');
sendData_uart('r');
sendData_uart(':');
Float2Char(Roll);
uart_sendData(' ');
uart_sendData('r');
uart_sendData(':');
uart_Float2Char(Roll);
sendData_uart(' ');
sendData_uart('D');
sendData_uart(':');
Float2Char(sourceData.gX);
sendData_uart(0x0D);
sendData_uart(0x0A);
uart_sendData(' ');
uart_sendData('D');
uart_sendData(':');
uart_Float2Char(sourceData.gX);
uart_sendData(0x0D);
uart_sendData(0x0A);
}
while(1) {
@ -146,41 +150,39 @@ int main() {
Comput(sourceData);
sendData_uart('P');
sendData_uart('i');
sendData_uart('t');
sendData_uart('c');
sendData_uart('h');
sendData_uart(':');
sendData_uart(' ');
uart_sendData('P');
uart_sendData('i');
uart_sendData('t');
uart_sendData('c');
uart_sendData('h');
uart_sendData(':');
uart_sendData(' ');
Float2Char(Pitch);
sendData_uart(' ');
uart_Float2Char(Pitch);
uart_sendData(' ');
sendData_uart('R');
sendData_uart('o');
sendData_uart('l');
sendData_uart('l');
sendData_uart(':');
sendData_uart(' ');
uart_sendData('R');
uart_sendData('o');
uart_sendData('l');
uart_sendData('l');
uart_sendData(':');
uart_sendData(' ');
Float2Char(Roll);
sendData_uart(' ');
uart_Float2Char(Roll);
uart_sendData(' ');
sendData_uart('Y');
sendData_uart('a');
sendData_uart('w');
sendData_uart(':');
sendData_uart(' ');
uart_sendData('Y');
uart_sendData('a');
uart_sendData('w');
uart_sendData(':');
uart_sendData(' ');
Float2Char(Yaw);
uart_Float2Char(Yaw);
sendData_uart(0x0D);
sendData_uart(0x0A);
uart_sendData(0x0D);
uart_sendData(0x0A);
delay(100);
}
}