功能
记录飞行状态的数据。包括欧拉角,四元数,温度,气压等等数据,存入内存卡中。
耗材
stm32c8t6核心板1个
mpu9250 1个
bmp280+AHT20 1个
1.8寸 SPI_LCD屏幕 1个
SD卡模块
降压模块1个
开关1个
锂电池盒1个
锂电池2个
内存卡1个
模块的作用与代码
我们首先实现LCD屏幕亮起来显示我们需要的字符和汉字
LCD模块
SPI底层配置函数
#include "lcd_init.h"
/******************************************************************************
函数说明:LCD串行数据写入函数
入口数据:dat 要写入的串行数据
返回值: 无
******************************************************************************/
void LCD_Writ_Bus(u8 dat)
{
u8 i;
LCD_CS_Clr();
for(i=0;i<8;i++)
{
LCD_SCLK_Clr();
if(dat&0x80)
{
LCD_MOSI_Set();
}
else
{
LCD_MOSI_Clr();
}
LCD_SCLK_Set();
dat<<=1;
}
LCD_CS_Set();
}
/******************************************************************************
函数说明:LCD写入数据
入口数据:dat 写入的数据
返回值: 无
******************************************************************************/
void LCD_WR_DATA8(u8 dat)
{
LCD_Writ_Bus(dat);
}
/******************************************************************************
函数说明:LCD写入数据
入口数据:dat 写入的数据
返回值: 无
******************************************************************************/
void LCD_WR_DATA(u16 dat)
{
LCD_Writ_Bus(dat>>8);
LCD_Writ_Bus(dat);
}
/******************************************************************************
函数说明:LCD写入命令
入口数据:dat 写入的命令
返回值: 无
******************************************************************************/
void LCD_WR_REG(u8 dat)
{
LCD_DC_Clr();//写命令
LCD_Writ_Bus(dat);
LCD_DC_Set();//写数据
}
/******************************************************************************
函数说明:设置起始和结束地址
入口数据:x1,x2 设置列的起始和结束地址
y1,y2 设置行的起始和结束地址
返回值: 无
******************************************************************************/
void LCD_Address_Set(u16 x1,u16 y1,u16 x2,u16 y2)
{
if(USE_HORIZONTAL==0)
{
LCD_WR_REG(0x2a);//列地址设置
LCD_WR_DATA(x1+2);
LCD_WR_DATA(x2+2);
LCD_WR_REG(0x2b);//行地址设置
LCD_WR_DATA(y1+1);
LCD_WR_DATA(y2+1);
LCD_WR_REG(0x2c);//储存器写
}
else if(USE_HORIZONTAL==1)
{
LCD_WR_REG(0x2a);//列地址设置
LCD_WR_DATA(x1+2);
LCD_WR_DATA(x2+2);
LCD_WR_REG(0x2b);//行地址设置
LCD_WR_DATA(y1+1);
LCD_WR_DATA(y2+1);
LCD_WR_REG(0x2c);//储存器写
}
else if(USE_HORIZONTAL==2)
{
LCD_WR_REG(0x2a);//列地址设置
LCD_WR_DATA(x1+1);
LCD_WR_DATA(x2+1);
LCD_WR_REG(0x2b);//行地址设置
LCD_WR_DATA(y1+2);
LCD_WR_DATA(y2+2);
LCD_WR_REG(0x2c);//储存器写
}
else
{
LCD_WR_REG(0x2a);//列地址设置
LCD_WR_DATA(x1+1);
LCD_WR_DATA(x2+1);
LCD_WR_REG(0x2b);//行地址设置
LCD_WR_DATA(y1+2);
LCD_WR_DATA(y2+2);
LCD_WR_REG(0x2c);//储存器写
}
}
void LCD_Init(void)
{
LCD_RES_Clr();//复位
HAL_Delay(100);
LCD_RES_Set();
HAL_Delay(100);
LCD_BLK_Set();//打开背光
HAL_Delay(100);
//************* Start Initial Sequence **********//
LCD_WR_REG(0x11); //Sleep out
HAL_Delay(120); //Delay 120ms
//------------------------------------ST7735S Frame Rate-----------------------------------------//
LCD_WR_REG(0xB1);
LCD_WR_DATA8(0x05);
LCD_WR_DATA8(0x3C);
LCD_WR_DATA8(0x3C);
LCD_WR_REG(0xB2);
LCD_WR_DATA8(0x05);
LCD_WR_DATA8(0x3C);
LCD_WR_DATA8(0x3C);
LCD_WR_REG(0xB3);
LCD_WR_DATA8(0x05);
LCD_WR_DATA8(0x3C);
LCD_WR_DATA8(0x3C);
LCD_WR_DATA8(0x05);
LCD_WR_DATA8(0x3C);
LCD_WR_DATA8(0x3C);
//------------------------------------End ST7735S Frame Rate---------------------------------//
LCD_WR_REG(0xB4); //Dot inversion
LCD_WR_DATA8(0x03);
//------------------------------------ST7735S Power Sequence---------------------------------//
LCD_WR_REG(0xC0);
LCD_WR_DATA8(0x28);
LCD_WR_DATA8(0x08);
LCD_WR_DATA8(0x04);
LCD_WR_REG(0xC1);
LCD_WR_DATA8(0XC0);
LCD_WR_REG(0xC2);
LCD_WR_DATA8(0x0D);
LCD_WR_DATA8(0x00);
LCD_WR_REG(0xC3);
LCD_WR_DATA8(0x8D);
LCD_WR_DATA8(0x2A);
LCD_WR_REG(0xC4);
LCD_WR_DATA8(0x8D);
LCD_WR_DATA8(0xEE);
//---------------------------------End ST7735S Power Sequence-------------------------------------//
LCD_WR_REG(0xC5); //VCOM
LCD_WR_DATA8(0x1A);
LCD_WR_REG(0x36); //MX, MY, RGB mode
if(USE_HORIZONTAL==0)LCD_WR_DATA8(0x00);
else if(USE_HORIZONTAL==1)LCD_WR_DATA8(0xC0);
else if(USE_HORIZONTAL==2)LCD_WR_DATA8(0x70);
else LCD_WR_DATA8(0xA0);
//------------------------------------ST7735S Gamma Sequence---------------------------------//
LCD_WR_REG(0xE0);
LCD_WR_DATA8(0x04);
LCD_WR_DATA8(0x22);
LCD_WR_DATA8(0x07);
LCD_WR_DATA8(0x0A);
LCD_WR_DATA8(0x2E);
LCD_WR_DATA8(0x30);
LCD_WR_DATA8(0x25);
LCD_WR_DATA8(0x2A);
LCD_WR_DATA8(0x28);
LCD_WR_DATA8(0x26);
LCD_WR_DATA8(0x2E);
LCD_WR_DATA8(0x3A);
LCD_WR_DATA8(0x00);
LCD_WR_DATA8(0x01);
LCD_WR_DATA8(0x03);
LCD_WR_DATA8(0x13);
LCD_WR_REG(0xE1);
LCD_WR_DATA8(0x04);
LCD_WR_DATA8(0x16);
LCD_WR_DATA8(0x06);
LCD_WR_DATA8(0x0D);
LCD_WR_DATA8(0x2D);
LCD_WR_DATA8(0x26);
LCD_WR_DATA8(0x23);
LCD_WR_DATA8(0x27);
LCD_WR_DATA8(0x27);
LCD_WR_DATA8(0x25);
LCD_WR_DATA8(0x2D);
LCD_WR_DATA8(0x3B);
LCD_WR_DATA8(0x00);
LCD_WR_DATA8(0x01);
LCD_WR_DATA8(0x04);
LCD_WR_DATA8(0x13);
//------------------------------------End ST7735S Gamma Sequence-----------------------------//
LCD_WR_REG(0x3A); //65k mode
LCD_WR_DATA8(0x05);
LCD_WR_REG(0x29); //Display on
}
#ifndef __LCD_INIT_H
#define __LCD_INIT_H
#include "main.h"
#define USE_HORIZONTAL 1 //设置横屏或者竖屏显示 0或1为竖屏 2或3为横屏
#if USE_HORIZONTAL==0||USE_HORIZONTAL==1
#define LCD_W 128
#define LCD_H 160
#else
#define LCD_W 160
#define LCD_H 128
#endif
//-----------------LCD端口定义----------------
#define LCD_SCLK_Clr() HAL_GPIO_WritePin(GPIOA,GPIO_PIN_8,GPIO_PIN_RESET)//SCL=SCLK b8 sc
#define LCD_SCLK_Set() HAL_GPIO_WritePin(GPIOA,GPIO_PIN_8,GPIO_PIN_SET)
#define LCD_MOSI_Clr() HAL_GPIO_WritePin(GPIOA,GPIO_PIN_11,GPIO_PIN_RESET)//SDA=MOSI b9 di
#define LCD_MOSI_Set() HAL_GPIO_WritePin(GPIOA,GPIO_PIN_11,GPIO_PIN_SET)
#define LCD_RES_Clr() HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12,GPIO_PIN_RESET)//RES b6 rst
#define LCD_RES_Set() HAL_GPIO_WritePin(GPIOB,GPIO_PIN_12,GPIO_PIN_SET)
#define LCD_DC_Clr() HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,GPIO_PIN_RESET)//DC b5 rs
#define LCD_DC_Set() HAL_GPIO_WritePin(GPIOB,GPIO_PIN_13,GPIO_PIN_SET)
#define LCD_CS_Clr() HAL_GPIO_WritePin(GPIOB,GPIO_PIN_14,GPIO_PIN_RESET)//CS b7 cs
#define LCD_CS_Set() HAL_GPIO_WritePin(GPIOB,GPIO_PIN_14,GPIO_PIN_SET)
#define LCD_BLK_Clr() HAL_GPIO_WritePin(GPIOB,GPIO_PIN_15,GPIO_PIN_RESET)//BLK b4 blk
#define LCD_BLK_Set() HAL_GPIO_WritePin(GPIOB,GPIO_PIN_15,GPIO_PIN_SET)
void LCD_GPIO_Init(void);//初始化GPIO
void LCD_Writ_Bus(u8 dat);//模拟SPI时序
void LCD_WR_DATA8(u8 dat);//写入一个字节
void LCD_WR_DATA(u16 dat);//写入两个字节
void LCD_WR_REG(u8 dat);//写入一个指令
void LCD_Address_Set(u16 x1,u16 y1,u16 x2,u16 y2);//设置坐标函数
void LCD_Init(void);//LCD初始化
#endif
LCD显示屏幕的配置
#include "lcd.h"
#include "lcd_init.h"
#include "lcdfont.h"
#include "delay.h"
/******************************************************************************
函数说明:在指定区域填充颜色
入口数据:xsta,ysta 起始坐标
xend,yend 终止坐标
color 要填充的颜色
返回值: 无
******************************************************************************/
void LCD_Fill(u16 xsta,u16 ysta,u16 xend,u16 yend,u16 color)
{
u16 i,j;
LCD_Address_Set(xsta,ysta,xend-1,yend-1);//设置显示范围
for(i=ysta;i<yend;i++)
{
for(j=xsta;j<xend;j++)
{
LCD_WR_DATA(color);
}
}
}
/******************************************************************************
函数说明:在指定位置画点
入口数据:x,y 画点坐标
color 点的颜色
返回值: 无
******************************************************************************/
void LCD_DrawPoint(u16 x,u16 y,u16 color)
{
LCD_Address_Set(x,y,x,y);//设置光标位置
LCD_WR_DATA(color);
}
/******************************************************************************
函数说明:画线
入口数据:x1,y1 起始坐标
x2,y2 终止坐标
color 线的颜色
返回值: 无
******************************************************************************/
void LCD_DrawLine(u16 x1,u16 y1,u16 x2,u16 y2,u16 color)
{
u16 t;
int xerr=0,yerr=0,delta_x,delta_y,distance;
int incx,incy,uRow,uCol;
delta_x=x2-x1; //计算坐标增量
delta_y=y2-y1;
uRow=x1;//画线起点坐标
uCol=y1;
if(delta_x>0)incx=1; //设置单步方向
else if (delta_x==0)incx=0;//垂直线
else {incx=-1;delta_x=-delta_x;}
if(delta_y>0)incy=1;
else if (delta_y==0)incy=0;//水平线
else {incy=-1;delta_y=-delta_x;}
if(delta_x>delta_y)distance=delta_x; //选取基本增量坐标轴
else distance=delta_y;
for(t=0;t<distance+1;t++)
{
LCD_DrawPoint(uRow,uCol,color);//画点
xerr+=delta_x;
yerr+=delta_y;
if(xerr>distance)
{
xerr-=distance;
uRow+=incx;
}
if(yerr>distance)
{
yerr-=distance;
uCol+=incy;
}
}
}
/******************************************************************************
函数说明:画矩形
入口数据:x1,y1 起始坐标
x2,y2 终止坐标
color 矩形的颜色
返回值: 无
******************************************************************************/
void LCD_DrawRectangle(u16 x1, u16 y1, u16 x2, u16 y2,u16 color)
{
LCD_DrawLine(x1,y1,x2,y1,color);
LCD_DrawLine(x1,y1,x1,y2,color);
LCD_DrawLine(x1,y2,x2,y2,color);
LCD_DrawLine(x2,y1,x2,y2,color);
}
/******************************************************************************
函数说明:画圆
入口数据:x0,y0 圆心坐标
r 半径
color 圆的颜色
返回值: 无
******************************************************************************/
void Draw_Circle(u16 x0,u16 y0,u8 r,u16 color)
{
int a,b;
a=0;b=r;
while(a<=b)
{
LCD_DrawPoint(x0-b,y0-a,color); //3
LCD_DrawPoint(x0+b,y0-a,color); //0
LCD_DrawPoint(x0-a,y0+b,color); //1
LCD_DrawPoint(x0-a,y0-b,color); //2
LCD_DrawPoint(x0+b,y0+a,color); //4
LCD_DrawPoint(x0+a,y0-b,color); //5
LCD_DrawPoint(x0+a,y0+b,color); //6
LCD_DrawPoint(x0-b,y0+a,color); //7
a++;
if((a*a+b*b)>(r*r))//判断要画的点是否过远
{
b--;
}
}
}
/******************************************************************************
函数说明:显示汉字串
入口数据:x,y显示坐标
*s 要显示的汉字串
fc 字的颜色
bc 字的背景色
sizey 字号 可选 16 24 32
mode: 0非叠加模式 1叠加模式
返回值: 无
******************************************************************************/
void LCD_ShowChinese(u16 x,u16 y,u8 *s,u16 fc,u16 bc,u8 sizey,u8 mode)
{
while(*s!=0)
{
if(sizey==16) LCD_ShowChinese16x16(x,y,s,fc,bc,sizey,mode);
else if(sizey==24) LCD_ShowChinese24x24(x,y,s,fc,bc,sizey,mode);
else if(sizey==32) LCD_ShowChinese32x32(x,y,s,fc,bc,sizey,mode);
else return;
s+=2;
x+=sizey;
}
}
/******************************************************************************
函数说明:显示单个16x16汉字
入口数据:x,y显示坐标
*s 要显示的汉字
fc 字的颜色
bc 字的背景色
sizey 字号
mode: 0非叠加模式 1叠加模式
返回值: 无
******************************************************************************/
void LCD_ShowChinese16x16(u16 x,u16 y,u8 *s,u16 fc,u16 bc,u8 sizey,u8 mode)
{
u8 i,j;
u16 k;
u16 HZnum;//汉字数目
u16 TypefaceNum;//一个字符所占字节大小
u16 x0=x;
TypefaceNum=sizey/8*sizey;//此算法只适用于字宽等于字高,且字高是8的倍数的字,
//也建议用户使用这样大小的字,否则显示容易出问题!
HZnum=sizeof(tfont16)/sizeof(typFNT_GB16); //统计汉字数目
for(k=0;k<HZnum;k++)
{
if ((tfont16[k].Index[0]==*(s))&&(tfont16[k].Index[1]==*(s+1)))
{
LCD_Address_Set(x,y,x+sizey-1,y+sizey-1);
for(i=0;i<TypefaceNum;i++)
{
for(j=0;j<8;j++)
{
if(!mode)//非叠加方式
{
if(tfont16[k].Msk[i]&(0x01<<j))LCD_WR_DATA(fc);
else LCD_WR_DATA(bc);
}
else//叠加方式
{
if(tfont16[k].Msk[i]&(0x01<<j)) LCD_DrawPoint(x,y,fc);//画一个点
x++;
if((x-x0)==sizey)
{
x=x0;
y++;
break;
}
}
}
}
}
continue; //查找到对应点阵字库立即退出,防止多个汉字重复取模带来影响
}
}
/******************************************************************************
函数说明:显示单个24x24汉字
入口数据:x,y显示坐标
*s 要显示的汉字
fc 字的颜色
bc 字的背景色
sizey 字号
mode: 0非叠加模式 1叠加模式
返回值: 无
******************************************************************************/
void LCD_ShowChinese24x24(u16 x,u16 y,u8 *s,u16 fc,u16 bc,u8 sizey,u8 mode)
{
u8 i,j;
u16 k;
u16 HZnum;//汉字数目
u16 TypefaceNum;//一个字符所占字节大小
u16 x0=x;
TypefaceNum=sizey/8*sizey;//此算法只适用于字宽等于字高,且字高是8的倍数的字,
//也建议用户使用这样大小的字,否则显示容易出问题!
HZnum=sizeof(tfont24)/sizeof(typFNT_GB24); //统计汉字数目
for(k=0;k<HZnum;k++)
{
if ((tfont24[k].Index[0]==*(s))&&(tfont24[k].Index[1]==*(s+1)))
{
LCD_Address_Set(x,y,x+sizey-1,y+sizey-1);
for(i=0;i<TypefaceNum;i++)
{
for(j=0;j<8;j++)
{
if(!mode)//非叠加方式
{
if(tfont24[k].Msk[i]&(0x01<<j))LCD_WR_DATA(fc);
else LCD_WR_DATA(bc);
}
else//叠加方式
{
if(tfont24[k].Msk[i]&(0x01<<j)) LCD_DrawPoint(x,y,fc);//画一个点
x++;
if((x-x0)==sizey)
{
x=x0;
y++;
break;
}
}
}
}
}
continue; //查找到对应点阵字库立即退出,防止多个汉字重复取模带来影响
}
}
/******************************************************************************
函数说明:显示单个32x32汉字
入口数据:x,y显示坐标
*s 要显示的汉字
fc 字的颜色
bc 字的背景色
sizey 字号
mode: 0非叠加模式 1叠加模式
返回值: 无
******************************************************************************/
void LCD_ShowChinese32x32(u16 x,u16 y,u8 *s,u16 fc,u16 bc,u8 sizey,u8 mode)
{
u8 i,j;
u16 k;
u16 HZnum;//汉字数目
u16 TypefaceNum;//一个字符所占字节大小
u16 x0=x;
TypefaceNum=sizey/8*sizey;//此算法只适用于字宽等于字高,且字高是8的倍数的字,
//也建议用户使用这样大小的字,否则显示容易出问题!
HZnum=sizeof(tfont32)/sizeof(typFNT_GB32); //统计汉字数目
for(k=0;k<HZnum;k++)
{
if ((tfont32[k].Index[0]==*(s))&&(tfont32[k].Index[1]==*(s+1)))
{
LCD_Address_Set(x,y,x+sizey-1,y+sizey-1);
for(i=0;i<TypefaceNum;i++)
{
for(j=0;j<8;j++)
{
if(!mode)//非叠加方式
{
if(tfont32[k].Msk[i]&(0x01<<j))LCD_WR_DATA(fc);
else LCD_WR_DATA(bc);
}
else//叠加方式
{
if(tfont32[k].Msk[i]&(0x01<<j)) LCD_DrawPoint(x,y,fc);//画一个点
x++;
if((x-x0)==sizey)
{
x=x0;
y++;
break;
}
}
}
}
}
continue; //查找到对应点阵字库立即退出,防止多个汉字重复取模带来影响
}
}
/******************************************************************************
函数说明:显示单个字符
入口数据:x,y显示坐标
num 要显示的字符
fc 字的颜色
bc 字的背景色
sizey 字号
mode: 0非叠加模式 1叠加模式
返回值: 无
******************************************************************************/
void LCD_ShowChar(u16 x,u16 y,u8 num,u16 fc,u16 bc,u8 sizey,u8 mode)
{
u8 temp,sizex,t;
u16 i,TypefaceNum;//一个字符所占字节大小
u16 x0=x;
sizex=sizey/2;
TypefaceNum=sizex/8*sizey;
num=num-' '; //得到偏移后的值
LCD_Address_Set(x,y,x+sizex-1,y+sizey-1); //设置光标位置
for(i=0;i<TypefaceNum;i++)
{
if(sizey==16)temp=ascii_1608[num][i]; //调用8x16字体
else if(sizey==32)temp=ascii_3216[num][i]; //调用16x32字体
else return;
for(t=0;t<8;t++)
{
if(!mode)//非叠加模式
{
if(temp&(0x01<<t))LCD_WR_DATA(fc);
else LCD_WR_DATA(bc);
}
else//叠加模式
{
if(temp&(0x01<<t))LCD_DrawPoint(x,y,fc);//画一个点
x++;
if((x-x0)==sizex)
{
x=x0;
y++;
break;
}
}
}
}
}
/******************************************************************************
函数说明:显示字符串
入口数据:x,y显示坐标
*p 要显示的字符串
fc 字的颜色
bc 字的背景色
sizey 字号
mode: 0非叠加模式 1叠加模式
返回值: 无
******************************************************************************/
void LCD_ShowString(u16 x,u16 y,const u8 *p,u16 fc,u16 bc,u8 sizey,u8 mode)
{
while(*p!='\0')
{
LCD_ShowChar(x,y,*p,fc,bc,sizey,mode);
x+=sizey/2;
p++;
}
}
/******************************************************************************
函数说明:显示数字
入口数据:m底数,n指数
返回值: 无
******************************************************************************/
u32 mypow(u8 m,u8 n)
{
u32 result=1;
while(n--)result*=m;
return result;
}
/******************************************************************************
函数说明:显示整数变量
入口数据:x,y显示坐标
num 要显示整数变量
len 要显示的位数
fc 字的颜色
bc 字的背景色
sizey 字号
返回值: 无
******************************************************************************/
void LCD_ShowIntNum(u16 x,u16 y,u16 num,u8 len,u16 fc,u16 bc,u8 sizey)
{
u8 t,temp;
u8 enshow=0;
u8 sizex=sizey/2;
for(t=0;t<len;t++)
{
temp=(num/mypow(10,len-t-1))%10;
if(enshow==0&&t<(len-1))
{
if(temp==0)
{
LCD_ShowChar(x+t*sizex,y,' ',fc,bc,sizey,0);
continue;
}else enshow=1;
}
LCD_ShowChar(x+t*sizex,y,temp+48,fc,bc,sizey,0);
}
}
/**
函数说明:显示整数变量
入口数据:x,y显示坐标
num 要显示整数变量
len 要显示的位数
fc 字的颜色
bc 字的背景色
sizey 字号
返回值: 无
*/
void LCD_ShowSignedNum(uint8_t x, uint8_t y, int32_t num, uint8_t Length,u16 fc,u16 bc,u8 sizey)
{
uint32_t Number1;
u8 t,temp;
u8 sizex=sizey/2;
if (num >= 0)
{
LCD_ShowChar(x,y,'+',fc,bc,sizey,0);
Number1 =num;
}
else
{
LCD_ShowChar(x,y,'-',fc,bc,sizey,0);
Number1 = -num;
}
for (t = 0; t < Length; t++)
{
temp=(Number1/mypow(10,Length-t-1))%10;
LCD_ShowChar(x+(t+1)*sizex,y,temp+48,fc,bc,sizey,0);
}
}
/******************************************************************************
函数说明:显示两位小数变量
入口数据:x,y显示坐标
num 要显示小数变量
len 要显示的位数
fc 字的颜色
bc 字的背景色
sizey 字号
返回值: 无
******************************************************************************/
void LCD_ShowFloatNum1(u16 x,u16 y,float num,u8 len,u16 fc,u16 bc,u8 sizey)
{
u8 t,temp,sizex;
u16 num1;
sizex=sizey/2;
num1=num*100;
for(t=0;t<len;t++)
{
temp=(num1/mypow(10,len-t-1))%10;
if(t==(len-2))
{
LCD_ShowChar(x+(len-2)*sizex,y,'.',fc,bc,sizey,0);
t++;
len+=1;
}
LCD_ShowChar(x+t*sizex,y,temp+48,fc,bc,sizey,0);
}
}
/******************************************************************************
函数说明:显示两位小数变量
入口数据:x,y显示坐标
num 要显示小数变量
len 要显示的位数
fc 字的颜色
bc 字的背景色
sizey 字号
返回值: 无
******************************************************************************/
void LCD_ShowFloatNum(u16 x,u16 y,float num,u8 len,u16 fc,u16 bc,u8 sizey)
{
u8 t,temp,sizex;
uint16_t num1;
sizex=sizey/2;
if (num>0)
{
LCD_ShowChar(x,y,'+',fc,bc,sizey,0);
num1 = num*100;
}
else
{
LCD_ShowChar(x,y,'-',fc,bc,sizey,0);
num1 = -num*100;
}
for(t=0;t<len;t++)
{
temp=(num1/mypow(10,len-t-1))%10;
if(t==(len-2))
{
LCD_ShowChar(x+(len-1)*sizex,y,'.',fc,bc,sizey,0);
t++;
len+=1;
}
LCD_ShowChar(x+(t+1)*sizex,y,temp+48,fc,bc,sizey,0);
}
}
/******************************************************************************
函数说明:显示图片
入口数据:x,y起点坐标
length 图片长度
width 图片宽度
pic[] 图片数组
返回值: 无
******************************************************************************/
void LCD_ShowPicture(u16 x,u16 y,u16 length,u16 width,const u8 pic[])
{
u16 i,j,k=0;
LCD_Address_Set(x,y,x+length-1,y+width-1);
for(i=0;i<length;i++)
{
for(j=0;j<width;j++)
{
LCD_WR_DATA8(pic[k*2]);
LCD_WR_DATA8(pic[k*2+1]);
k++;
}
}
}
mpu9250模块
作用是实时读取温度,欧拉角,四元数等飞行中重要的数据
#include "mpu9250.h"
#include "myiic.h"
#include "main.h"
//
//All rights reserved
//********************************************************************************
//修改说明
//20160905 V1.1
//9250集成的6500的ID可能有2个,将MPU6500_ID改为MPU6500_ID1和MPU6500_ID2
//
//初始化MPU9250
//返回值:0,成功
// 其他,错误代码
short gyro_offsetx=0,gyro_offsety=0,gyro_offsetz=0;
float tmp1,tmp2,tmp3;
float magoffsetx=1.31454428611172,magoffsety=-1.21753632395713,magoffsetz=1.6567777185719;
float B[6]={0.980358187761106,-0.0105514731414606,0.00754899338354401,0.950648704823113,-0.0354995317649016,1.07449478456729};
float accoffsetx=-0.0118443148713821,accoffsety=-0.00939616830387326,accoffsetz=-0.0507891438815726;
float accsensx=1.00851297697413,accsensy=0.991366909333871,accsensz=1.00019364448499;
#define filter_high 0.8
#define filter_low 0.2
short accoldx,accoldy,accoldz;
short magoldx,magoldy,magoldz;
short gyrooldx,gyrooldy,gyrooldz;
u8 MPU_Init(void)
{
u8 res=0;
IIC_Init(); //初始化IIC总线
MPU_Write_Byte(MPU9250_ADDR,MPU_PWR_MGMT1_REG,0X80);//复位MPU9250
HAL_Delay(100); //延时100ms
MPU_Write_Byte(MPU9250_ADDR,MPU_PWR_MGMT1_REG,0X00);//唤醒MPU9250
MPU_Set_Gyro_Fsr(3); //陀螺仪传感器,±2000dps
MPU_Set_Accel_Fsr(0); //加速度传感器,±2g
MPU_Set_Rate(200); //设置采样率200Hz
MPU_Write_Byte(MPU9250_ADDR,MPU_INT_EN_REG,0X00); //关闭所有中断
MPU_Write_Byte(MPU9250_ADDR,MPU_USER_CTRL_REG,0X00);//I2C主模式关闭
MPU_Write_Byte(MPU9250_ADDR,MPU_FIFO_EN_REG,0X00); //关闭FIFO
MPU_Write_Byte(MPU9250_ADDR,MPU_INTBP_CFG_REG,0X82);//INT引脚低电平有效,开启bypass模式,可以直接读取磁力计
res=MPU_Read_Byte(MPU9250_ADDR,MPU_DEVICE_ID_REG); //读取MPU6500的ID
if(res==MPU6500_ID1||res==MPU6500_ID2) //器件ID正确
{
MPU_Write_Byte(MPU9250_ADDR,MPU_PWR_MGMT1_REG,0X01); //设置CLKSEL,PLL X轴为参考
MPU_Write_Byte(MPU9250_ADDR,MPU_PWR_MGMT2_REG,0X00); //加速度与陀螺仪都工作
MPU_Set_Rate(200); //设置采样率为200Hz
}else return 33;
res=MPU_Read_Byte(AK8963_ADDR,MAG_WIA); //读取AK8963 ID
if(res==AK8963_ID)
{
MPU_Write_Byte(AK8963_ADDR,MAG_CNTL2,0X01); //复位AK8963
HAL_Delay(50);
MPU_Write_Byte(AK8963_ADDR,MAG_CNTL1,0X11); //设置AK8963为单次测量
}else return 44;
calibrate();
return 0;
}
//设置MPU9250陀螺仪传感器满量程范围
//fsr:0,±250dps;1,±500dps;2,±1000dps;3,±2000dps
//返回值:0,设置成功
// 其他,设置失败
u8 MPU_Set_Gyro_Fsr(u8 fsr)
{
return MPU_Write_Byte(MPU9250_ADDR,MPU_GYRO_CFG_REG,(fsr<<3)|3);//设置陀螺仪满量程范围
}
//设置MPU9250加速度传感器满量程范围
//fsr:0,±2g;1,±4g;2,±8g;3,±16g
//返回值:0,设置成功
// 其他,设置失败
u8 MPU_Set_Accel_Fsr(u8 fsr)
{
return MPU_Write_Byte(MPU9250_ADDR,MPU_ACCEL_CFG_REG,fsr<<3);//设置加速度传感器满量程范围
}
//设置MPU9250的数字低通滤波器
//lpf:数字低通滤波频率(Hz)
//返回值:0,设置成功
// 其他,设置失败
u8 MPU_Set_LPF(u16 lpf)
{
u8 data=0;
if(lpf>=188)data=1;
else if(lpf>=98)data=2;
else if(lpf>=42)data=3;
else if(lpf>=20)data=4;
else if(lpf>=10)data=5;
else data=6;
return MPU_Write_Byte(MPU9250_ADDR,MPU_CFG_REG,data);//设置数字低通滤波器
}
//设置MPU9250的采样率(假定Fs=1KHz)
//rate:4~1000(Hz)
//返回值:0,设置成功
// 其他,设置失败
u8 MPU_Set_Rate(u16 rate)
{
u8 data;
if(rate>1000)rate=1000;
if(rate<4)rate=4;
data=1000/rate-1;
data=MPU_Write_Byte(MPU9250_ADDR,MPU_SAMPLE_RATE_REG,data); //设置数字低通滤波器
return MPU_Set_LPF(rate/2); //自动设置LPF为采样率的一半
}
/*
/
*@功能:补偿陀螺仪漂移
*
*
/
*/
void calibrate(void)
{
u8 t;
short gx,gy,gz,sumx=0,sumy=0,sumz=0;
for (t=0;t<10;t++)
{
MPU_Get_Gyroscope(&gx,&gy,&gz);
sumx=sumx+gx;
sumy=sumy+gy;
sumz=sumz+gz;
}
gyro_offsetx=-sumx/10;
gyro_offsety=-sumy/10;
gyro_offsetz=-sumz/10;
}
//得到温度值
//返回值:温度值(扩大了100倍)
short MPU_Get_Temperature(void)
{
u8 buf[2];
short raw;
float temp;
MPU_Read_Len(MPU9250_ADDR,MPU_TEMP_OUTH_REG,2,buf);
raw=((u16)buf[0]<<8)|buf[1];
temp=21+((double)raw)/333.87;
return temp*100;;
}
/
//得到陀螺仪值(原始值),对源数据平均值滤波,并调整陀螺仪方位
//gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
//返回值:0,成功
// 其他,错误代码
u8 MPU_Get_Gyroscope(short *gy,short *gx,short *gz)
{
u8 buf[6],res;
res=MPU_Read_Len(MPU9250_ADDR,MPU_GYRO_XOUTH_REG,6,buf);
if(res==0)
{
*gy=(((u16)buf[0]<<8)|buf[1])+gyro_offsety;
*gx=(((u16)buf[2]<<8)|buf[3])+gyro_offsetx;
*gz=(((u16)buf[4]<<8)|buf[5])+gyro_offsetz;
*gx=-*gx;
*gx=(short)(gyrooldx*0.5+*gx*0.5);
*gy=(short)(gyrooldy*0.5+*gy*0.5);
*gz=(short)(gyrooldz*0.5+*gz*0.5);
gyrooldx=*gx;
gyrooldy=*gy;
gyrooldz=*gz;
}
return res;
}
/*
//
*@功能:获得陀螺仪数据,角速度单位弧度每秒
*
*
///
*/
u8 MPU_Get_Gyro(short *igx,short *igy,short *igz,float *gx,float *gy,float *gz)
{
u8 res;
res=MPU_Get_Gyroscope(igx,igy,igz);
if (res==0)
{
*gx=(float)(*igx)*gryo_scale;
*gy=(float)(*igy)*gryo_scale;
*gz=(float)(*igz)*gryo_scale;
}
return res;
}
//得到加速度值(原始值),低通滤波并调整加速度计方位
//gx,gy,gz:陀螺仪x,y,z轴的原始读数(带符号)
//返回值:0,成功
// 其他,错误代码
u8 MPU_Get_Accelerometer(short *ay,short *ax,short *az)
{
u8 buf[6],res;
res=MPU_Read_Len(MPU9250_ADDR,MPU_ACCEL_XOUTH_REG,6,buf);
if(res==0)
{
*ay=(((u16)buf[0]<<8)|buf[1]);
*ax=(((u16)buf[2]<<8)|buf[3]);
*az=(((u16)buf[4]<<8)|buf[5]);
*ax=-*ax;
*ax=(short)(accoldx*filter_high+*ax*filter_low);
*ay=(short)(accoldy*filter_high+*ay*filter_low);
*az=(short)(accoldz*filter_high+*az*filter_low);
accoldx=*ax;
accoldy=*ay;
accoldz=*az;
}
return res;
}
/*
//
*@功能:获得加速度计数据,单位g,并对加速度计进行补偿
*
*
///
*/
u8 MPU_Get_Accel(short *iax,short *iay,short *iaz,float *ax,float *ay,float *az)
{
u8 res;
res=MPU_Get_Accelerometer(iax,iay,iaz);
if (res==0)
{
tmp1=(float)(*iax)*accel_scale-accoffsetx;
tmp2=(float)(*iay)*accel_scale-accoffsety;
tmp3=(float)(*iaz)*accel_scale-accoffsetz;
*ax=tmp1*accsensx;
*ay=tmp2*accsensy;
*az=tmp3*accsensz;
}
return res;
}
//得到磁力计值(原始值),平均滤波并调整方位
//mx,my,mz:磁力计x,y,z轴的原始读数(带符号)
//返回值:0,成功
// 其他,错误代码
u8 MPU_Get_Magnetometer(short *mx,short *my,short *mz)
{
u8 buf[6],res;
res=MPU_Read_Len(AK8963_ADDR,MAG_XOUT_L,6,buf);
if(res==0)
{
*mx=((u16)buf[1]<<8)|buf[0];
*my=((u16)buf[3]<<8)|buf[2];
*mz=((u16)buf[5]<<8)|buf[4];
*my=-*my;
*mz=-*mz;
*mx=(short)(magoldx*0.5+*mx*0.5);
*my=(short)(magoldy*0.5+*my*0.5);
*mz=(short)(magoldz*0.5+*mz*0.5);
magoldx=*mx;
magoldy=*my;
magoldz=*mz;
}
MPU_Write_Byte(AK8963_ADDR,MAG_CNTL1,0X11); //AK8963每次读完以后都需要重新设置为单次测量模式
return res;
}
/*
//
*@功能:获得磁力计数据,单位高斯,并对磁力计进行补偿
*
*
///
*/
u8 MPU_Get_Mag(short *imx,short *imy,short *imz,float *mx,float *my,float *mz)
{
u8 res;
res=MPU_Get_Magnetometer(imx,imy,imz);
if (res==0)
{
tmp1=(float)(*imx)*mag_scale-magoffsetx;
tmp2=(float)(*imy)*mag_scale-magoffsety;
tmp3=(float)(*imz)*mag_scale-magoffsetz;
*mx=B[0]*tmp1+B[1]*tmp2+B[2]*tmp3;
*my=B[1]*tmp1+B[3]*tmp2+B[4]*tmp3;
*mz=B[2]*tmp1+B[4]*tmp2+B[5]*tmp3;
}
return res;
}
//IIC连续写
//addr:器件地址
//reg:寄存器地址
//len:写入长度
//buf:数据区
//返回值:0,正常
// 其他,错误代码
u8 MPU_Write_Len(u8 addr,u8 reg,u8 len,u8 *buf)
{
u8 i;
IIC_Start();
IIC_Send_Byte((addr<<1)|0); //发送器件地址+写命令
if(IIC_Wait_Ack()) //等待应答
{
IIC_Stop();
return 1;
}
IIC_Send_Byte(reg); //写寄存器地址
IIC_Wait_Ack(); //等待应答
for(i=0;i<len;i++)
{
IIC_Send_Byte(buf[i]); //发送数据
if(IIC_Wait_Ack()) //等待ACK
{
IIC_Stop();
return 1;
}
}
IIC_Stop();
return 0;
}
//IIC连续读
//addr:器件地址
//reg:要读取的寄存器地址
//len:要读取的长度
//buf:读取到的数据存储区
//返回值:0,正常
// 其他,错误代码
u8 MPU_Read_Len(u8 addr,u8 reg,u8 len,u8 *buf)
{
IIC_Start();
IIC_Send_Byte((addr<<1)|0); //发送器件地址+写命令
if(IIC_Wait_Ack()) //等待应答
{
IIC_Stop();
return 1;
}
IIC_Send_Byte(reg); //写寄存器地址
IIC_Wait_Ack(); //等待应答
IIC_Start();
IIC_Send_Byte((addr<<1)|1); //发送器件地址+读命令
IIC_Wait_Ack(); //等待应答
while(len)
{
if(len==1)*buf=IIC_Read_Byte(0);//读数据,发送nACK
else *buf=IIC_Read_Byte(1); //读数据,发送ACK
len--;
buf++;
}
IIC_Stop(); //产生一个停止条件
return 0;
}
//IIC写一个字节
//devaddr:器件IIC地址
//reg:寄存器地址
//data:数据
//返回值:0,正常
// 其他,错误代码
u8 MPU_Write_Byte(u8 addr,u8 reg,u8 data)
{
IIC_Start();
IIC_Send_Byte((addr<<1)|0); //发送器件地址+写命令
if(IIC_Wait_Ack()) //等待应答
{
IIC_Stop();
return 1;
}
IIC_Send_Byte(reg); //写寄存器地址
IIC_Wait_Ack(); //等待应答
IIC_Send_Byte(data); //发送数据
if(IIC_Wait_Ack()) //等待ACK
{
IIC_Stop();
return 1;
}
IIC_Stop();
return 0;
}
//IIC读一个字节
//reg:寄存器地址
//返回值:读到的数据
u8 MPU_Read_Byte(u8 addr,u8 reg)
{
u8 res;
IIC_Start();
IIC_Send_Byte((addr<<1)|0); //发送器件地址+写命令
IIC_Wait_Ack(); //等待应答
IIC_Send_Byte(reg); //写寄存器地址
IIC_Wait_Ack(); //等待应答
IIC_Start();
IIC_Send_Byte((addr<<1)|1); //发送器件地址+读命令
IIC_Wait_Ack(); //等待应答
res=IIC_Read_Byte(0); //读数据,发送nACK
IIC_Stop(); //产生一个停止条件
return res;
}
bmp280+AHT20模块
作用是读取当时压强和海拔
#include "BMP280.h"
#include "bsp_i2c.h"
#include "stdio.h"
#include <math.h>
static s32 bmp280RawPressure = 0;
static s32 bmp280RawTemperature = 0;
#define BMP280_PRESSURE_OSR (BMP280_OVERSAMP_8X)
#define BMP280_TEMPERATURE_OSR (BMP280_OVERSAMP_16X)
#define BMP280_MODE (BMP280_PRESSURE_OSR << 2 | BMP280_TEMPERATURE_OSR << 5 | BMP280_NORMAL_MODE)
bmp280Calib bmp280Cal;
uint8_t BMP280_Init(void)
{
uint8_t bmp280_id;
uint8_t tmp[10];
Sensors_I2C_ReadRegister(BMP280_SLAVE_ADDRESS, BMP280_CHIPID_REG, 1, &bmp280_id);
/* 读取校准数据 */
Sensors_I2C_ReadRegister(BMP280_SLAVE_ADDRESS, BMP280_DIG_T1_LSB_REG,24,(u8 *)&bmp280Cal);
tmp[0] = BMP280_MODE;
Sensors_I2C_WriteRegister(BMP280_SLAVE_ADDRESS, BMP280_CTRLMEAS_REG, 1, tmp);
tmp[0] = (5<<2);
Sensors_I2C_WriteRegister(BMP280_SLAVE_ADDRESS, BMP280_CONFIG_REG, 1, tmp); /*配置IIR滤波*/
return bmp280_id;
}
static void BMP280GetPressure(void)
{
u8 data[BMP280_DATA_FRAME_SIZE];
// read data from sensor
Sensors_I2C_ReadRegister(BMP280_SLAVE_ADDRESS, BMP280_PRESSURE_MSB_REG, BMP280_DATA_FRAME_SIZE, (u8 *)&data);
bmp280RawPressure = (s32)((((uint32_t)(data[0])) << 12) | (((uint32_t)(data[1])) << 4) | ((uint32_t)data[2] >> 4));
bmp280RawTemperature = (s32)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | ((uint32_t)data[5] >> 4));
}
// Returns temperature in DegC, resolution is 0.01 DegC. Output value of "5123" equals 51.23 DegC
// t_fine carries fine temperature as global value
static s32 BMP280CompensateT(s32 adcT)
{
s32 var1, var2, T;
var1 = ((((adcT >> 3) - ((s32)bmp280Cal.dig_T1 << 1))) * ((s32)bmp280Cal.dig_T2)) >> 11;
var2 = (((((adcT >> 4) - ((s32)bmp280Cal.dig_T1)) * ((adcT >> 4) - ((s32)bmp280Cal.dig_T1))) >> 12) * ((s32)bmp280Cal.dig_T3)) >> 14;
bmp280Cal.t_fine = var1 + var2;
T = (bmp280Cal.t_fine * 5 + 128) >> 8;
return T;
}
// Returns pressure in Pa as unsigned 32 bit integer in Q24.8 format (24 integer bits and 8 fractional bits).
// Output value of "24674867" represents 24674867/256 = 96386.2 Pa = 963.862 hPa
static uint32_t BMP280CompensateP(s32 adcP)
{
int64_t var1, var2, p;
var1 = ((int64_t)bmp280Cal.t_fine) - 128000;
var2 = var1 * var1 * (int64_t)bmp280Cal.dig_P6;
var2 = var2 + ((var1*(int64_t)bmp280Cal.dig_P5) << 17);
var2 = var2 + (((int64_t)bmp280Cal.dig_P4) << 35);
var1 = ((var1 * var1 * (int64_t)bmp280Cal.dig_P3) >> 8) + ((var1 * (int64_t)bmp280Cal.dig_P2) << 12);
var1 = (((((int64_t)1) << 47) + var1)) * ((int64_t)bmp280Cal.dig_P1) >> 33;
if (var1 == 0)
return 0;
p = 1048576 - adcP;
p = (((p << 31) - var2) * 3125) / var1;
var1 = (((int64_t)bmp280Cal.dig_P9) * (p >> 13) * (p >> 13)) >> 25;
var2 = (((int64_t)bmp280Cal.dig_P8) * p) >> 19;
p = ((p + var1 + var2) >> 8) + (((int64_t)bmp280Cal.dig_P7) << 4);
return (uint32_t)p;
}
#define CONST_PF 0.1902630958 //(1/5.25588f) Pressure factor
#define FIX_TEMP 25 // Fixed Temperature. ASL is a function of pressure and temperature, but as the temperature changes so much (blow a little towards the flie and watch it drop 5 degrees) it corrupts the ASL estimates.
// TLDR: Adjusting for temp changes does more harm than good.
/**
* Converts pressure to altitude above sea level (ASL) in meters
*/
static float BMP280PressureToAltitude(float* pressure/*, float* groundPressure, float* groundTemp*/)
{
if (*pressure > 0)
{
return ((pow((1015.7f / *pressure), CONST_PF) - 1.0f) * (FIX_TEMP + 273.15f)) / 0.0065f;
}
else
{
return 0;
}
}
#define FILTER_NUM 5
#define FILTER_A 0.1f
/*限幅平均滤波法*/
static void presssureFilter(float* in, float* out)
{
static u8 i = 0;
static float filter_buf[FILTER_NUM] = {0.0};
double filter_sum = 0.0;
u8 cnt = 0;
float deta;
if(filter_buf[i] == 0.0f)
{
filter_buf[i] = *in;
*out = *in;
if(++i >= FILTER_NUM)
i=0;
}
else
{
if(i)
deta = *in-filter_buf[i - 1];
else
deta = *in-filter_buf[FILTER_NUM - 1];
if(fabs(deta) < FILTER_A)
{
filter_buf[i] = *in;
if(++i >= FILTER_NUM)
i = 0;
}
for(cnt = 0; cnt < FILTER_NUM; cnt++)
{
filter_sum += filter_buf[cnt];
}
*out = filter_sum / FILTER_NUM;
}
}
void BMP280GetData(float* pressure, float* temperature, float* asl)
{
static float t;
static float p;
BMP280GetPressure();
t = BMP280CompensateT(bmp280RawTemperature) / 100.0;
p = BMP280CompensateP(bmp280RawPressure) / 25600.0;
presssureFilter(&p, pressure);
*temperature = (float)t;/*单位度*/
*asl = BMP280PressureToAltitude(pressure); /*转换成海拔*/
}
SD模块
作用是存取数据到文件中
#include "SDdriver.h"
#include "ff.h"
uint8_t DFF=0xFF;
uint8_t test;
uint8_t SD_TYPE=0x00;
MSD_CARDINFO SD0_CardInfo;
//
//片选
//
void SD_CS(uint8_t p){
if(p==0){
HAL_GPIO_WritePin(SD_CS_GPIO_Port,SD_CS_Pin,GPIO_PIN_SET);
}else{
HAL_GPIO_WritePin(SD_CS_GPIO_Port,SD_CS_Pin,GPIO_PIN_RESET);
}
}
///
//发送命令,发完释放
//
int SD_sendcmd(uint8_t cmd,uint32_t arg,uint8_t crc){
uint8_t r1;
uint8_t retry;
SD_CS(0);
HAL_Delay(20);
SD_CS(1);
do{
retry=spi_readwrite(DFF);
}while(retry!=0xFF);
spi_readwrite(cmd | 0x40);
spi_readwrite(arg >> 24);
spi_readwrite(arg >> 16);
spi_readwrite(arg >> 8);
spi_readwrite(arg);
spi_readwrite(crc);
if(cmd==CMD12)spi_readwrite(DFF);
do
{
r1=spi_readwrite(0xFF);
}while(r1&0X80);
return r1;
}
/
//SD卡初始化
uint8_t SD_init(void)
{
uint8_t r1;
uint8_t buff[6] = {0};
uint16_t retry;
uint8_t i;
// MX_SPI3_Init();
SPI_setspeed(SPI_BAUDRATEPRESCALER_256);
SD_CS(0);
for(retry=0;retry<10;retry++){
spi_readwrite(DFF);
}
//SD卡进入IDLE状态
do{
r1 = SD_sendcmd(CMD0 ,0, 0x95);
}while(r1!=0x01);
//查看SD卡的类型
SD_TYPE=0;
r1 = SD_sendcmd(CMD8, 0x1AA, 0x87);
if(r1==0x01){
for(i=0;i<4;i++)buff[i]=spi_readwrite(DFF); //Get trailing return value of R7 resp
if(buff[2]==0X01&&buff[3]==0XAA)//卡是否支持2.7~3.6V
{
retry=0XFFFE;
do
{
SD_sendcmd(CMD55,0,0X01); //发送CMD55
r1=SD_sendcmd(CMD41,0x40000000,0X01);//发送CMD41
}while(r1&&retry--);
if(retry&&SD_sendcmd(CMD58,0,0X01)==0)//鉴别SD2.0卡版本开始
{
for(i=0;i<4;i++)buff[i]=spi_readwrite(0XFF);//得到OCR值
if(buff[0]&0x40){
SD_TYPE=V2HC;
}else {
SD_TYPE=V2;
}
}
}else{
SD_sendcmd(CMD55,0,0X01); //发送CMD55
r1=SD_sendcmd(CMD41,0,0X01); //发送CMD41
if(r1<=1)
{
SD_TYPE=V1;
retry=0XFFFE;
do //等待退出IDLE模式
{
SD_sendcmd(CMD55,0,0X01); //发送CMD55
r1=SD_sendcmd(CMD41,0,0X01);//发送CMD41
}while(r1&&retry--);
}else//MMC卡不支持CMD55+CMD41识别
{
SD_TYPE=MMC;//MMC V3
retry=0XFFFE;
do //等待退出IDLE模式
{
r1=SD_sendcmd(CMD1,0,0X01);//发送CMD1
}while(r1&&retry--);
}
if(retry==0||SD_sendcmd(CMD16,512,0X01)!=0)SD_TYPE=ERR;//错误的卡
}
}
SD_CS(0);
SPI_setspeed(SPI_BAUDRATEPRESCALER_2);
if(SD_TYPE)return 0;
else return 1;
}
//读取指定长度数据
uint8_t SD_ReceiveData(uint8_t *data, uint16_t len)
{
uint8_t r1;
SD_CS(1);
do
{
r1 = spi_readwrite(0xFF);
HAL_Delay(100);
}while(r1 != 0xFE);
while(len--)
{
*data = spi_readwrite(0xFF);
data++;
}
spi_readwrite(0xFF);
spi_readwrite(0xFF);
return 0;
}
//向sd卡写入一个数据包的内容 512字节
uint8_t SD_SendBlock(uint8_t*buf,uint8_t cmd)
{
uint16_t t;
uint8_t r1;
do{
r1=spi_readwrite(0xFF);
}while(r1!=0xFF);
spi_readwrite(cmd);
if(cmd!=0XFD)//不是结束指令
{
for(t=0;t<512;t++)spi_readwrite(buf[t]);//提高速度,减少函数传参时间
spi_readwrite(0xFF);//忽略crc
spi_readwrite(0xFF);
t=spi_readwrite(0xFF);//接收响应
if((t&0x1F)!=0x05)return 2;//响应错误
}
return 0;//写入成功
}
//获取CID信息
uint8_t SD_GETCID (uint8_t *cid_data)
{
uint8_t r1;
r1=SD_sendcmd(CMD10,0,0x01); //读取CID寄存器
if(r1==0x00){
r1=SD_ReceiveData(cid_data,16);
}
SD_CS(0);
if(r1)return 1;
else return 0;
}
//获取CSD信息
uint8_t SD_GETCSD(uint8_t *csd_data){
uint8_t r1;
r1=SD_sendcmd(CMD9,0,0x01);//发CMD9命令,读CSD寄存器
if(r1==0)
{
r1=SD_ReceiveData(csd_data, 16);//接收16个字节的数据
}
SD_CS(0);//取消片选
if(r1)return 1;
else return 0;
}
//获取SD卡的总扇区数
uint32_t SD_GetSectorCount(void)
{
uint8_t csd[16];
uint32_t Capacity;
uint8_t n;
uint16_t csize;
//取CSD信息,如果期间出错,返回0
if(SD_GETCSD(csd)!=0) return 0;
//如果为SDHC卡,按照下面方式计算
if((csd[0]&0xC0)==0x40) //V2.00的卡
{
csize = csd[9] + ((uint16_t)csd[8] << 8) + 1;
Capacity = (uint32_t)csize << 10;//得到扇区数
}else//V1.XX的卡
{
n = (csd[5] & 15) + ((csd[10] & 128) >> 7) + ((csd[9] & 3) << 1) + 2;
csize = (csd[8] >> 6) + ((uint16_t)csd[7] << 2) + ((uint16_t)(csd[6] & 3) << 10) + 1;
Capacity= (uint32_t)csize << (n - 9);//得到扇区数
}
return Capacity;
}
int MSD0_GetCardInfo(PMSD_CARDINFO SD0_CardInfo)
{
uint8_t r1;
uint8_t CSD_Tab[16];
uint8_t CID_Tab[16];
/* Send CMD9, Read CSD */
r1 = SD_sendcmd(CMD9, 0, 0xFF);
if(r1 != 0x00)
{
return r1;
}
if(SD_ReceiveData(CSD_Tab, 16))
{
return 1;
}
/* Send CMD10, Read CID */
r1 = SD_sendcmd(CMD10, 0, 0xFF);
if(r1 != 0x00)
{
return r1;
}
if(SD_ReceiveData(CID_Tab, 16))
{
return 2;
}
/* Byte 0 */
SD0_CardInfo->CSD.CSDStruct = (CSD_Tab[0] & 0xC0) >> 6;
SD0_CardInfo->CSD.SysSpecVersion = (CSD_Tab[0] & 0x3C) >> 2;
SD0_CardInfo->CSD.Reserved1 = CSD_Tab[0] & 0x03;
/* Byte 1 */
SD0_CardInfo->CSD.TAAC = CSD_Tab[1] ;
/* Byte 2 */
SD0_CardInfo->CSD.NSAC = CSD_Tab[2];
/* Byte 3 */
SD0_CardInfo->CSD.MaxBusClkFrec = CSD_Tab[3];
/* Byte 4 */
SD0_CardInfo->CSD.CardComdClasses = CSD_Tab[4] << 4;
/* Byte 5 */
SD0_CardInfo->CSD.CardComdClasses |= (CSD_Tab[5] & 0xF0) >> 4;
SD0_CardInfo->CSD.RdBlockLen = CSD_Tab[5] & 0x0F;
/* Byte 6 */
SD0_CardInfo->CSD.PartBlockRead = (CSD_Tab[6] & 0x80) >> 7;
SD0_CardInfo->CSD.WrBlockMisalign = (CSD_Tab[6] & 0x40) >> 6;
SD0_CardInfo->CSD.RdBlockMisalign = (CSD_Tab[6] & 0x20) >> 5;
SD0_CardInfo->CSD.DSRImpl = (CSD_Tab[6] & 0x10) >> 4;
SD0_CardInfo->CSD.Reserved2 = 0; /* Reserved */
SD0_CardInfo->CSD.DeviceSize = (CSD_Tab[6] & 0x03) << 10;
/* Byte 7 */
SD0_CardInfo->CSD.DeviceSize |= (CSD_Tab[7]) << 2;
/* Byte 8 */
SD0_CardInfo->CSD.DeviceSize |= (CSD_Tab[8] & 0xC0) >> 6;
SD0_CardInfo->CSD.MaxRdCurrentVDDMin = (CSD_Tab[8] & 0x38) >> 3;
SD0_CardInfo->CSD.MaxRdCurrentVDDMax = (CSD_Tab[8] & 0x07);
/* Byte 9 */
SD0_CardInfo->CSD.MaxWrCurrentVDDMin = (CSD_Tab[9] & 0xE0) >> 5;
SD0_CardInfo->CSD.MaxWrCurrentVDDMax = (CSD_Tab[9] & 0x1C) >> 2;
SD0_CardInfo->CSD.DeviceSizeMul = (CSD_Tab[9] & 0x03) << 1;
/* Byte 10 */
SD0_CardInfo->CSD.DeviceSizeMul |= (CSD_Tab[10] & 0x80) >> 7;
SD0_CardInfo->CSD.EraseGrSize = (CSD_Tab[10] & 0x7C) >> 2;
SD0_CardInfo->CSD.EraseGrMul = (CSD_Tab[10] & 0x03) << 3;
/* Byte 11 */
SD0_CardInfo->CSD.EraseGrMul |= (CSD_Tab[11] & 0xE0) >> 5;
SD0_CardInfo->CSD.WrProtectGrSize = (CSD_Tab[11] & 0x1F);
/* Byte 12 */
SD0_CardInfo->CSD.WrProtectGrEnable = (CSD_Tab[12] & 0x80) >> 7;
SD0_CardInfo->CSD.ManDeflECC = (CSD_Tab[12] & 0x60) >> 5;
SD0_CardInfo->CSD.WrSpeedFact = (CSD_Tab[12] & 0x1C) >> 2;
SD0_CardInfo->CSD.MaxWrBlockLen = (CSD_Tab[12] & 0x03) << 2;
/* Byte 13 */
SD0_CardInfo->CSD.MaxWrBlockLen |= (CSD_Tab[13] & 0xc0) >> 6;
SD0_CardInfo->CSD.WriteBlockPaPartial = (CSD_Tab[13] & 0x20) >> 5;
SD0_CardInfo->CSD.Reserved3 = 0;
SD0_CardInfo->CSD.ContentProtectAppli = (CSD_Tab[13] & 0x01);
/* Byte 14 */
SD0_CardInfo->CSD.FileFormatGrouop = (CSD_Tab[14] & 0x80) >> 7;
SD0_CardInfo->CSD.CopyFlag = (CSD_Tab[14] & 0x40) >> 6;
SD0_CardInfo->CSD.PermWrProtect = (CSD_Tab[14] & 0x20) >> 5;
SD0_CardInfo->CSD.TempWrProtect = (CSD_Tab[14] & 0x10) >> 4;
SD0_CardInfo->CSD.FileFormat = (CSD_Tab[14] & 0x0C) >> 2;
SD0_CardInfo->CSD.ECC = (CSD_Tab[14] & 0x03);
/* Byte 15 */
SD0_CardInfo->CSD.CSD_CRC = (CSD_Tab[15] & 0xFE) >> 1;
SD0_CardInfo->CSD.Reserved4 = 1;
if(SD0_CardInfo->CardType == V2HC)
{
/* Byte 7 */
SD0_CardInfo->CSD.DeviceSize = (uint16_t)(CSD_Tab[8]) *256;
/* Byte 8 */
SD0_CardInfo->CSD.DeviceSize += CSD_Tab[9] ;
}
SD0_CardInfo->Capacity = SD0_CardInfo->CSD.DeviceSize * MSD_BLOCKSIZE * 1024;
SD0_CardInfo->BlockSize = MSD_BLOCKSIZE;
/* Byte 0 */
SD0_CardInfo->CID.ManufacturerID = CID_Tab[0];
/* Byte 1 */
SD0_CardInfo->CID.OEM_AppliID = CID_Tab[1] << 8;
/* Byte 2 */
SD0_CardInfo->CID.OEM_AppliID |= CID_Tab[2];
/* Byte 3 */
SD0_CardInfo->CID.ProdName1 = CID_Tab[3] << 24;
/* Byte 4 */
SD0_CardInfo->CID.ProdName1 |= CID_Tab[4] << 16;
/* Byte 5 */
SD0_CardInfo->CID.ProdName1 |= CID_Tab[5] << 8;
/* Byte 6 */
SD0_CardInfo->CID.ProdName1 |= CID_Tab[6];
/* Byte 7 */
SD0_CardInfo->CID.ProdName2 = CID_Tab[7];
/* Byte 8 */
SD0_CardInfo->CID.ProdRev = CID_Tab[8];
/* Byte 9 */
SD0_CardInfo->CID.ProdSN = CID_Tab[9] << 24;
/* Byte 10 */
SD0_CardInfo->CID.ProdSN |= CID_Tab[10] << 16;
/* Byte 11 */
SD0_CardInfo->CID.ProdSN |= CID_Tab[11] << 8;
/* Byte 12 */
SD0_CardInfo->CID.ProdSN |= CID_Tab[12];
/* Byte 13 */
SD0_CardInfo->CID.Reserved1 |= (CID_Tab[13] & 0xF0) >> 4;
/* Byte 14 */
SD0_CardInfo->CID.ManufactDate = (CID_Tab[13] & 0x0F) << 8;
/* Byte 15 */
SD0_CardInfo->CID.ManufactDate |= CID_Tab[14];
/* Byte 16 */
SD0_CardInfo->CID.CID_CRC = (CID_Tab[15] & 0xFE) >> 1;
SD0_CardInfo->CID.Reserved2 = 1;
return 0;
}
//写SD卡
//buf:数据缓存区
//sector:起始扇区
//cnt:扇区数
//返回值:0,ok;其他,失败.
uint8_t SD_WriteDisk(uint8_t*buf,uint32_t sector,uint8_t cnt)
{
uint8_t r1;
if(SD_TYPE!=V2HC)sector *= 512;//转换为字节地址
if(cnt==1)
{
r1=SD_sendcmd(CMD24,sector,0X01);//读命令
if(r1==0)//指令发送成功
{
r1=SD_SendBlock(buf,0xFE);//写512个字节
}
}else
{
if(SD_TYPE!=MMC)
{
SD_sendcmd(CMD55,0,0X01);
SD_sendcmd(CMD23,cnt,0X01);//发送指令
}
r1=SD_sendcmd(CMD25,sector,0X01);//连续读命令
if(r1==0)
{
do
{
r1=SD_SendBlock(buf,0xFC);//接收512个字节
buf+=512;
}while(--cnt && r1==0);
r1=SD_SendBlock(0,0xFD);//接收512个字节
}
}
SD_CS(0);//取消片选
return r1;//
}
//读SD卡
//buf:数据缓存区
//sector:扇区
//cnt:扇区数
//返回值:0,ok;其他,失败.
uint8_t SD_ReadDisk(uint8_t*buf,uint32_t sector,uint8_t cnt)
{
uint8_t r1;
if(SD_TYPE!=V2HC)sector <<= 9;//转换为字节地址
if(cnt==1)
{
r1=SD_sendcmd(CMD17,sector,0X01);//读命令
if(r1==0)//指令发送成功
{
r1=SD_ReceiveData(buf,512);//接收512个字节
}
}else
{
r1=SD_sendcmd(CMD18,sector,0X01);//连续读命令
do
{
r1=SD_ReceiveData(buf,512);//接收512个字节
buf+=512;
}while(--cnt && r1==0);
SD_sendcmd(CMD12,0,0X01); //发送停止命令
}
SD_CS(0);//取消片选
return r1;//
}
uint8_t spi_readwrite(uint8_t Txdata){
uint8_t Rxdata;
HAL_SPI_TransmitReceive(&hspi1,&Txdata,&Rxdata,1,100);
return Rxdata;
}
//SPI1波特率设置
void SPI_setspeed(uint8_t speed){
hspi1.Init.BaudRatePrescaler = speed;
}
///END//
#include "main.h"
extern uint8_t SD_TYPE;
//SD卡类型
#define ERR 0x00
#define MMC 0x01
#define V1 0x02
#define V2 0x04
#define V2HC 0x06
#define DUMMY_BYTE 0xFF
#define MSD_BLOCKSIZE 512
//CMD定义
#define CMD0 0 //卡复位
#define CMD1 1
#define CMD8 8 //命令8 ,SEND_IF_COND
#define CMD9 9 //命令9 ,读CSD数据
#define CMD10 10 //命令10,读CID数据
#define CMD12 12 //命令12,停止数据传输
#define CMD16 16 //命令16,设置SectorSize 应返回0x00
#define CMD17 17 //命令17,读sector
#define CMD18 18 //命令18,读Multi sector
#define CMD23 23 //命令23,设置多sector写入前预先擦除N个block
#define CMD24 24 //命令24,写sector
#define CMD25 25 //命令25,写Multi sector
#define CMD41 41 //命令41,应返回0x00
#define CMD55 55 //命令55,应返回0x01
#define CMD58 58 //命令58,读OCR信息
#define CMD59 59 //命令59,使能/禁止CRC,应返回0x00
//数据写入回应字意义
#define MSD_DATA_OK 0x05
#define MSD_DATA_CRC_ERROR 0x0B
#define MSD_DATA_WRITE_ERROR 0x0D
#define MSD_DATA_OTHER_ERROR 0xFF
//SD卡回应标记字
#define MSD_RESPONSE_NO_ERROR 0x00
#define MSD_IN_IDLE_STATE 0x01
#define MSD_ERASE_RESET 0x02
#define MSD_ILLEGAL_COMMAND 0x04
#define MSD_COM_CRC_ERROR 0x08
#define MSD_ERASE_SEQUENCE_ERROR 0x10
#define MSD_ADDRESS_ERROR 0x20
#define MSD_PARAMETER_ERROR 0x40
#define MSD_RESPONSE_FAILURE 0xFF
enum _CD_HOLD
{
HOLD = 0,
RELEASE = 1,
};
typedef struct /* Card Specific Data */
{
uint8_t CSDStruct; /* CSD structure */
uint8_t SysSpecVersion; /* System specification version */
uint8_t Reserved1; /* Reserved */
uint8_t TAAC; /* Data read access-time 1 */
uint8_t NSAC; /* Data read access-time 2 in CLK cycles */
uint8_t MaxBusClkFrec; /* Max. bus clock frequency */
uint16_t CardComdClasses; /* Card command classes */
uint8_t RdBlockLen; /* Max. read data block length */
uint8_t PartBlockRead; /* Partial blocks for read allowed */
uint8_t WrBlockMisalign; /* Write block misalignment */
uint8_t RdBlockMisalign; /* Read block misalignment */
uint8_t DSRImpl; /* DSR implemented */
uint8_t Reserved2; /* Reserved */
uint32_t DeviceSize; /* Device Size */
uint8_t MaxRdCurrentVDDMin; /* Max. read current @ VDD min */
uint8_t MaxRdCurrentVDDMax; /* Max. read current @ VDD max */
uint8_t MaxWrCurrentVDDMin; /* Max. write current @ VDD min */
uint8_t MaxWrCurrentVDDMax; /* Max. write current @ VDD max */
uint8_t DeviceSizeMul; /* Device size multiplier */
uint8_t EraseGrSize; /* Erase group size */
uint8_t EraseGrMul; /* Erase group size multiplier */
uint8_t WrProtectGrSize; /* Write protect group size */
uint8_t WrProtectGrEnable; /* Write protect group enable */
uint8_t ManDeflECC; /* Manufacturer default ECC */
uint8_t WrSpeedFact; /* Write speed factor */
uint8_t MaxWrBlockLen; /* Max. write data block length */
uint8_t WriteBlockPaPartial; /* Partial blocks for write allowed */
uint8_t Reserved3; /* Reserded */
uint8_t ContentProtectAppli; /* Content protection application */
uint8_t FileFormatGrouop; /* File format group */
uint8_t CopyFlag; /* Copy flag (OTP) */
uint8_t PermWrProtect; /* Permanent write protection */
uint8_t TempWrProtect; /* Temporary write protection */
uint8_t FileFormat; /* File Format */
uint8_t ECC; /* ECC code */
uint8_t CSD_CRC; /* CSD CRC */
uint8_t Reserved4; /* always 1*/
}
MSD_CSD;
typedef struct /*Card Identification Data*/
{
uint8_t ManufacturerID; /* ManufacturerID */
uint16_t OEM_AppliID; /* OEM/Application ID */
uint32_t ProdName1; /* Product Name part1 */
uint8_t ProdName2; /* Product Name part2*/
uint8_t ProdRev; /* Product Revision */
uint32_t ProdSN; /* Product Serial Number */
uint8_t Reserved1; /* Reserved1 */
uint16_t ManufactDate; /* Manufacturing Date */
uint8_t CID_CRC; /* CID CRC */
uint8_t Reserved2; /* always 1 */
}
MSD_CID;
typedef struct
{
MSD_CSD CSD;
MSD_CID CID;
uint32_t Capacity; /* Card Capacity */
uint32_t BlockSize; /* Card Block Size */
uint16_t RCA;
uint8_t CardType;
uint32_t SpaceTotal; /* Total space size in file system */
uint32_t SpaceFree; /* Free space size in file system */
}
MSD_CARDINFO, *PMSD_CARDINFO;
extern MSD_CARDINFO SD0_CardInfo;
uint8_t SD_init(void);
void SD_CS(uint8_t p);
uint32_t SD_GetSeactorCount(void);
uint8_t SD_GETCID (uint8_t *cid_data);
uint8_t SD_GETCSD(uint8_t *csd_data);
int MSD0_GetCardInfo(PMSD_CARDINFO SD0_CardInfo);
uint8_t SD_ReceiveData(uint8_t *data, uint16_t len);
uint8_t SD_SendBlock(uint8_t*buf,uint8_t cmd);
uint8_t SD_ReadDisk(uint8_t*buf,uint32_t sector,uint8_t cnt);
uint8_t SD_WriteDisk(uint8_t*buf,uint32_t sector,uint8_t cnt);
void SPI_setspeed(uint8_t speed);
uint8_t spi_readwrite(uint8_t Txdata);
主函数main
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_SPI1_Init();
MX_FATFS_Init();
MX_USART1_UART_Init();
/* USER CODE BEGIN 2 */
HAL_UART_Receive_IT(&huart1,&aRxBuffer1,1); //enable uart
printf(" mian \r\n");
//Get_SDCard_Capacity(); //得到使用内存并选择格式化
I2C_Bus_Init();//初始化BMP的iic
ret = BMP280_Init();//初始化BMP和AHT20
if(ret != 0x58)
{
printf("BMP280传感器初始化错误\n");
}
MPU_Init();//初始化9250
LCD_Init();//LCD初始化
LCD_Fill(0,0,128,160,WHITE);//指定区域填充颜色
CalibrateToZero();//补偿
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
BMP280GetData(&P, &T, &ALT);//测量压强,温度,海拔
MPU_Get_Gyro(&igx,&igy,&igz,&gx,&gy,&gz);//角速度
MPU_Get_Accel(&iax,&iay,&iaz,&ax,&ay,&az);//加速度
MPU_Get_Mag(&imx,&imy,&imz,&mx,&my,&mz);//磁力计
AHRSupdate(gx,gy,gz,ax,ay,az,mx,my,mz,&roll,&pitch,&yaw);//计算欧拉角和四元数
olddata=newdata;
newdata=yaw;
CountTurns(&newdata,&olddata,&turns);//水平方向旋转圈数
CalYaw(&yaw,&turns);//补偿yaw
pitch+=pitchoffset;
roll+=rolloffset;
yaw+=yawoffset;
P=P/10+0.4;
printf("%0.1f %0.1f %0.1f\n",roll,pitch,yaw);
printf("%d %d %d\r\n",igx,igy,igz);
printf("%d %d %d\r\n",iax,iay,iaz);
printf("%d %d %d\r\n",imx,imy,imz);
printf("%0.1f %0.1f %0.1f %0.1f ",q0,q1,q2,q3);
LCD_ShowChinese(0,0," 飞行记录仪",BLUE,WHITE,16,0);
//显示欧拉角
LCD_ShowString(0,16,"rol:",DARKBLUE ,WHITE,16,0); LCD_ShowSignedNum(32,16,roll,3, DARKBLUE ,WHITE,16);
LCD_ShowString(0,32,"yaw:",DARKBLUE,WHITE,16,0); LCD_ShowSignedNum(32,32,yaw,3,DARKBLUE,WHITE,16);
LCD_ShowString(0,48,"pit:",DARKBLUE,WHITE,16,0); LCD_ShowSignedNum(32,48,pitch,3,DARKBLUE,WHITE,16);
//显示四元数
LCD_ShowString(0,64,"q0:",DARKBLUE,WHITE,16,0); LCD_ShowFloatNum(24,64,q0,3,DARKBLUE,WHITE,16);
LCD_ShowString(0,80,"q1:",DARKBLUE,WHITE,16,0); LCD_ShowFloatNum(24,80,q1,3,DARKBLUE,WHITE,16);
LCD_ShowString(0,96,"q2:",DARKBLUE,WHITE,16,0); LCD_ShowFloatNum(24,96,q2,3,DARKBLUE,WHITE,16);
LCD_ShowString(0,112,"q3:",DARKBLUE,WHITE,16,0); LCD_ShowFloatNum(24,112,q3,3,DARKBLUE,WHITE,16);
//显示磁力距
LCD_ShowString(64,64, "mx:",DARKBLUE,WHITE,16,0); LCD_ShowSignedNum(88,64,imx,3,DARKBLUE,WHITE,16);
LCD_ShowString(64,80, "my:",DARKBLUE,WHITE,16,0); LCD_ShowSignedNum(88,80,imy,3,DARKBLUE,WHITE,16);
LCD_ShowString(64,96, "mz:",DARKBLUE,WHITE,16,0); LCD_ShowSignedNum(88,96,imz,3,DARKBLUE,WHITE,16);
//角速度
LCD_ShowString(64,16,"gx:",DARKBLUE,WHITE,16,0); LCD_ShowSignedNum(88,16,igx,3,DARKBLUE,WHITE,16);
LCD_ShowString(64,32,"gy:",DARKBLUE,WHITE,16,0); LCD_ShowSignedNum(88,32,igy,3,DARKBLUE,WHITE,16);
LCD_ShowString(64,48,"gz:",DARKBLUE,WHITE,16,0); LCD_ShowSignedNum(88,48,igz,3,DARKBLUE,WHITE,16);
//压强和温度
LCD_ShowString(0,128,"P:",DARKBLUE,WHITE,16,0); LCD_ShowFloatNum1(16,128,P,5,DARKBLUE,WHITE,16);
LCD_ShowString(0,144,"T:",DARKBLUE,WHITE,16,0); LCD_ShowFloatNum(16,144,T,4,DARKBLUE,WHITE,16);
//角速度
LCD_ShowString(64,128,"ax:",DARKBLUE,WHITE,16,0);LCD_ShowSignedNum(88,128,iax,3,DARKBLUE,WHITE,16);
LCD_ShowString(64,144,"ay:",DARKBLUE,WHITE,16,0);LCD_ShowSignedNum(88,144,iay,3,DARKBLUE,WHITE,16);
LCD_ShowString(64,112,"az:",DARKBLUE,WHITE,16,0);LCD_ShowSignedNum(88,112,iaz,3,DARKBLUE,WHITE,16);
if(SD_number>=50) //判断文件大小,重新创建 1M 约= 18000 根据自己每次写入的数据大小进行修改
{
SD_FileName_creat();
SD_number=0;
}
if(excle_head==0)
{
excle_head=1;
WritetoSD("\n空气温度℃,大气压Kpa,海拔m,pitch,roll,yaw,igx,igy,igz,iax,iay,iaz,imx,imy,imz,q0,q1,q2,q3\r\n",
sizeof("空气温度℃,大气压Kpa,海拔m,pitch,roll,yaw,igx,igy,igz,iax,iay,iaz,imx,imy,imz,q0,q1,q2,q3\r\n")); //Excel表头
}else
{
WritetoSD_data(); //具体数据
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}