自动巡航小船制作北斗导航+SI4432通讯+stm32主控 -

#include "led.h"
#include "delay.h"
#include "sys.h"
#include "pwm.h"
#include "usart.h"
#include "GY273.h"
#include "huo.h"
#include "nokia_5110.h"
#include "rf4432.h"
extern struct _pid pid;
extern struct autoturn hello;
int main(void)
{
int iii;
delay_init(); //延时函数初始化
LED_Init(); //初始化与LED连接的硬件接口
LCD_init();
delay_ms(500);
Init_HMC5883();
uart_init(9600);
uart_init2(9600);
TIM2_PWM_Init(10000,0);
PID_init();
RF4432_Init();
RF4432_SetRxMode();
order();/*向北斗发送AT指令*/
LCD_write_english_string(0,3,"wait");
hello.juli=3.5;
hello.num=3;
while(1)
{
if(iii==hello.Actual_du){iii=hello.Actual_du-1;}//无用语句
get_lc(&hello);//无线处理
TIM_SetCompare1(TIM2,(uint)(10000-(hello.su1)*10.0)); //A1左轮
TIM_SetCompare2(TIM2,(uint)(10000-(hello.su2)*10.0)); //A0右轮
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#include <STC12C5A60S2.H>
#include <intrins.h>
#include <string.h>
#include "uart.h"
#include "spi.h"
#include "rf4432.h"
#include "tm1638.h"
#define uchar unsigned char
#define uint unsigned int
#define RF4432_TxBuf_Len 4
#define RF4432_RxBuf_Len 4 //定义RF4432数据包长度
#define IAP_ADDRESS 0x0000
typedef unsigned char BYTE;
typedef unsigned int WORD;
extern void Delay(unsigned int n);
extern void IapWriteByte(WORD addr, BYTE dat);
extern void IapEraseSector(WORD addr);
extern BYTE IapReadByte(WORD addr);
sbit deng=P1^4;
//sbit set1=P4^0;
//sbit set2=P0^1;
//sbit set3=P0^3;
//sbit set4=P0^5;
//sbit set5=P0^7;
//sbit set6=P2^1;
//sbit go=P4^2;
//sbit left=P2^3;
//sbit right=P2^7;
//sbit stop=P2^5;
//sbit ji1=P1^0;
void main(void)
{
unsigned char i; unsigned int h;
deng=0;
SPI_Init();
UART_Init();
RF4432_Init();
RF4432_SetRxMode(); //设置成接收模式
init_TM1638();
P1 = 0xfe;
Delay(10);
IapEraseSector(IAP_ADDRESS);
P1 = 0xfc;
Delay(10);
for (h=0; h<512; h++)
{
IapWriteByte(IAP_ADDRESS+h, 10);
}
P1 = 0xf8;
Delay(10);
/*for (h=0; h<512; h++)
{
if (IapReadByte(IAP_ADDRESS+h) != (BYTE)h)
goto Error;
} */
while(1)
{
/* i=Read_key(); //读按键值
if(i<8)//如果有数字被按下
{
//Write_DATA(i<<1,tab[i]);
Write_allLED(1<<i);
while(Read_key()==i); //等待按键释放
switch (i)
{
case 0 :RF4432_TxBuf[0]='P';RF4432_TxBuf[1]='F';break;
case 1 :RF4432_TxBuf[0]='P';RF4432_TxBuf[1]='L';break;
case 2 :RF4432_TxBuf[0]='P';RF4432_TxBuf[1]='R';break;
case 3 :RF4432_TxBuf[0]='P';RF4432_TxBuf[1]='P';break;
case 4 :RF4432_TxBuf[0]='S';RF4432_TxBuf[1]=0;break;
case 5 :RF4432_TxBuf[0]='S';RF4432_TxBuf[1]=1;break;
case 6 :RF4432_TxBuf[0]='S';RF4432_TxBuf[1]=2;break;
case 7 :RF4432_TxBuf[0]='R';RF4432_TxBuf[1]='R';break;
}
}
// if(RF4432_RxPacket())
// {
//
// RF4432_ReadBurestReg(FIFO_ACCESS,RF4432_RxBuf,RF4432_RxBuf_Len);
// RF4432_SetRxMode();
// send_str_len(RF4432_RxBuf,32);
// deng = ~deng;
// }
RF4432_TxPacket();
deng = ~deng; */
}
}
/* void main()
{
WORD h;
P1 = 0xfe;
Delay(10);
IapEraseSector(IAP_ADDRESS);
for (h=0; h<512; h++)
{
if (IapReadByte(IAP_ADDRESS+h) != 0xff)
goto Error;
}
P1 = 0xfc;
Delay(10);
for (h=0; h<512; h++)
{
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…………限于本文篇幅余下代码请从51黑下载附件…………

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