資源簡介
這是IAR工程,用于freescale k60 mcu。PID部分借鑒了apm開源飛控,姿態解算使用了dmp,遙控器部分是解碼pwm信號。工程中也有互補濾波的全套代碼,只是沒有使用。代碼寫得很亂,僅供參考。

代碼片段和文件信息
/********************?(C)?COPYRIGHT?2011?野火嵌入式開發工作室?********************
?*?文件名???????:isr.c
?*?描述?????????:中斷處理例程
?*
?*?實驗平臺?????:野火kinetis開發板
?*?庫版本???????:
?*?嵌入系統?????:
?*
?*?作者?????????:野火嵌入式開發工作室
?*?淘寶店???????:http://firestm32.taobao.com
?*?技術支持論壇?:http://www.ourdev.cn/bbs/bbs_list.jsp?bbs_id=1008
**********************************************************************************/
#include?“common.h“
#include?“include.h“
/*************************************************************************
*?????????????????????????????野火嵌入式開發工作室
*
*??函數名稱:USART1_IRQHandler
*??功能說明:串口1?中斷?接收?服務函數
*??參數說明:無
*??函數返回:無
*??修改時間:2012-2-14????已測試
*??備????注:
*************************************************************************/
void?USART1_IRQHandler(void)
{
????uint8?ch;
????DisableInterrupts; ????//關總中斷
????//接收一個字節數據并回發
????ch?=?uart_getchar?(UART1);??????//接收到一個數據
????uart_sendStr??(UART1?“\n你發送的數據為:“);
????uart_putchar?(UART1?ch);???????//就發送出去
????EnableInterrupts; ????//開總中斷
}
/*************************************************************************
*?????????????????????????????野火嵌入式開發工作室
*
*??函數名稱:PIT0_IRQHandler
*??功能說明:PIT0?定時中斷服務函數
*??參數說明:無
*??函數返回:無
*??修改時間:2012-2-18????已測試
*??備????注:
*************************************************************************/
#if?1
void?PIT0_IRQHandler(void)
{
????LED_turn(LED1);?????????????//LED1反轉
????PIT_Flag_Clear(PIT0);???????//清中斷標志位
}
#else
extern?u32?test_time;
void?PIT0_IRQHandler(void)
{
????test_time++;
????PIT_Flag_Clear(PIT0);???????//清中斷標志位
}
#endif
/*************************************************************************
*?????????????????????????????野火嵌入式開發工作室
*
*??函數名稱:SysTick_Handler
*??功能說明:系統滴答定時器中斷服務函數
*??參數說明:無
*??函數返回:無
*??修改時間:2012-2-18????已測試
*??備????注:ucos里用得到
*************************************************************************/
void?SysTick_Handler(void)
{
????//????OSIntEnter();
????//????OSTimeTick();
????//????OSIntExit();
}
/*************************************************************************
*?????????????????????????????野火嵌入式開發工作室
*
*??函數名稱:HardFault_Handler
*??功能說明:硬件上訪中斷服務函數
*??參數說明:無
*??函數返回:無
*??修改時間:2012-2-4????已測試
*??備????注:可以用LED閃爍來指示發生了硬件上訪
*************************************************************************/
void?HardFault_Handler(void)
{
????while?(1)
????{
????????printf(“\n****硬件上訪錯誤!!!*****\r\n\n“);
????}
}
/*************************************************************************
*?????????????????????????????野火嵌入式開發工作室
*
*??函數名稱:PendSV_Handler
*??功能說明:PendSV(可懸起系統調用)中斷服務函數
*??參數說明:無
*??函數返回:無
*??修改時間:2012-2-15????已測試
*??備????注:uC/OS用來切換任務
*************************************************************************/
void?PendSV_Handler(void)
{
}
/*************************************************************************
*?????????????????????????????野火嵌入式開發工作室
*
*??函數名稱:PORTA_IRQHandler
*??功能說明:PORTA端口中斷服務函
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件???????2030??2013-03-26?13:41??quadrotor?according?to?apm?dmp\build\config?files\128KB_Pflash.icf
?????文件???????2206??2013-03-26?13:41??quadrotor?according?to?apm?dmp\build\config?files\128KB_Pflash_128KB_Dflash.icf
?????文件???????2035??2013-03-26?13:41??quadrotor?according?to?apm?dmp\build\config?files\128KB_Ram.icf
?????文件???????2030??2013-03-26?13:41??quadrotor?according?to?apm?dmp\build\config?files\256KB_Pflash.icf
?????文件???????2214??2013-03-26?13:41??quadrotor?according?to?apm?dmp\build\config?files\256KB_Pflash_256KB_Dflash.icf
?????文件???????2024??2013-03-26?13:41??quadrotor?according?to?apm?dmp\build\config?files\32KB_Ram.icf
?????文件???????2041??2013-03-26?13:41??quadrotor?according?to?apm?dmp\build\config?files\512KB_Pflash.icf
?????文件???????2217??2013-03-26?13:41??quadrotor?according?to?apm?dmp\build\config?files\64KB_Pflash_64KB_Dflash.icf
?????文件???????2024??2013-03-26?13:41??quadrotor?according?to?apm?dmp\build\config?files\64KB_Ram.icf
?????文件???????3463??2013-03-26?13:41??quadrotor?according?to?apm?dmp\build\config?files\fire_RAM_K60N512.icf
?????文件???????3441??2013-03-26?13:41??quadrotor?according?to?apm?dmp\build\config?files\fire_ROM_K60N512.icf
?????文件????????669??2013-03-26?13:41??quadrotor?according?to?apm?dmp\build\iar.h
?????文件??????99280??2014-08-07?22:05??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Exe\fire_gpio_demo.hex
?????文件?????495580??2014-08-07?22:05??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Exe\fire_gpio_demo.out
?????文件??????35327??2014-08-07?22:05??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Exe\fire_gpio_demo.sim
?????文件??????51680??2014-08-07?22:05??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\List\fire_gpio_demo.map
?????文件??????12948??2014-08-03?23:50??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Obj\adc16.o
?????文件???????4104??2015-04-28?10:45??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Obj\adc16.pbi
?????文件??????12804??2014-08-03?23:50??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Obj\alloc.o
?????文件???????4094??2015-04-28?10:44??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Obj\alloc.pbi
?????文件??????24896??2014-10-31?11:48??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Obj\appli.o
?????文件???????4108??2015-04-28?10:45??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Obj\appli.pbi
?????文件??????18000??2014-08-03?23:50??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Obj\arm_cm4.o
?????文件???????4092??2015-04-28?10:44??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Obj\arm_cm4.pbi
?????文件???????9624??2014-08-03?23:50??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Obj\assert.o
?????文件???????4096??2015-04-28?10:44??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Obj\assert.pbi
?????文件??????13884??2014-08-03?23:50??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Obj\clock.o
?????文件???????4108??2015-04-28?10:45??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Obj\clock.pbi
?????文件??????43188??2014-10-31?11:48??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Obj\control.o
?????文件???????4116??2015-04-28?10:45??quadrotor?according?to?apm?dmp\build\uart_int_demo\Debug\Obj\control.pbi
............此處省略417個文件信息
- 上一篇:大漠插件顏色和字庫
- 下一篇:中科大軟院軟側實驗1
評論
共有 條評論