单片机串口通信控制云台姿态的程序问题

ID:475371 · 发表于 2019-4-14 13:20

本设计采用串口通信方式控制云台的姿态和内部温度值，通过串口发送控制命令+MPULCD ON控制读取MPU6050姿态参数，发送控制命令+TEMLCD ON读取内部温度参数，并且通过TFTLCD 实时显示各参数值。

//串口通信显示函数错误,但是TFTLCD能正常显示MPU6050 参数值和温度值

#include "led.h"
#include "delay.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "lcd.h"
#include "tsensor.h"
#include "malloc.h"
#include "sdio_sdcard.h"
#include "w25qxx.h"
#include "ff.h"
#include "exfuns.h"
#include "text.h"

#include "mpu6050.h"
#include "usmart.h"
#include "inv_mpu.h"
#include "inv_mpu_dmp_motion_driver.h"
#include "mpulcd.h"
#include "temlcd.h"
#include "string.h"

int main(void)
{
u8 key;
      u16 rlen=0;

      delay_init();                   //延时函数初始化
      NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
      uart_init(115200);          //串口初始化为115200
      LED_Init();                            //LED端口初始化
      KEY_Init();       //初始化与按键连接的硬件接口
      usmart_dev.init(72);       //初始化USMART
      LCD_Init();
T_Adc_Init();                               //ADC初始化
MPU_Init();                                     //初始化MPU6050
      W25QXX_Init();                               //初始化W25Q128
      my_mem_init(SRAMIN);             //初始化内部内存池
      exfuns_init();                               //为fatfs相关变量申请内存
mpu_lcd();
tem_lcd();
      f_mount(fs[0],"0:",1);                //挂载SD卡
      f_mount(fs[1],"1:",1);                //挂载FLASH.
      while(font_init())                      //检查字库
      {

            LCD_Clear(WHITE);                         //清屏
               POINT_COLOR=RED;                      //设置字体为红色
            LCD_ShowString(30,50,200,16,16,"ELITE STM32F103 ^_^");
            while(SD_Init())                      //检测SD卡
            {
                     LCD_ShowString(30,70,200,16,16,"SD Card Failed!");
                     delay_ms(200);
                     LCD_Fill(30,70,200+30,70+16,WHITE);
                     delay_ms(200);
            }
            LCD_ShowString(30,70,200,16,16,"SD Card OK");
            LCD_ShowString(30,90,200,16,16,"Font Updating...");
            key=update_font(20,110,16,"0:");//更新字库
            while(key)//更新失败
            {
                     LCD_ShowString(30,110,200,16,16,"Font Update Failed!");
                     delay_ms(200);
                     LCD_Fill(20,110,200+20,110+16,WHITE);
                     delay_ms(200);
            }
            LCD_ShowString(30,110,200,16,16,"Font Update Success! ");
            delay_ms(1500);
            LCD_Clear(WHITE);//清屏
      }
      POINT_COLOR=DARKBLUE;
      Show_Str(30,50,280,16,"基于STM32单片机无线监控系统的设计",16,0);
      Show_Str(30,70,200,16,"WIFI-通信测试程序",16,0);
POINT_COLOR=RED;
      Show_Str(30,90,200,16,"作者：LuX",16,0);
      Show_Str(30,110,200,16,"日期：2019年4月10日",16,0);
      Show_Str(30,130,200,16,"按KEY0,更新字库",16,0);
      LCD_ShowString(30,150,200,16,16,"TEMPERATE: 00.00C");
while(mpu_dmp_init())
      {
            LCD_ShowString(30,170,200,16,16,"MPU6050 Error");
            delay_ms(200);
            LCD_Fill(30,170,239,130+16,WHITE);
               delay_ms(200);
      }
      LCD_ShowString(30,170,200,16,16,"MPU6050 IS OK!");
      POINT_COLOR=BLUE;//设置字体为蓝色

      LCD_ShowString(30,190,200,16,16," Temp: . C");
      LCD_ShowString(30,210,200,16,16,"Pitch: . C");
      LCD_ShowString(30,230,200,16,16," Roll: . C");
      LCD_ShowString(30,250,200,16,16," Yaw : . C");
//       LCD_ShowString(30,270,200,16,16,"Send:");
      LCD_ShowString(30,270,200,16,16,"Receive:");
      USART_RX_STA=0;


      while(1)
      {

            if(USART_RX_STA&0X8000)                      //接收到一次数据了
            {
                     LCD_Fill(30,290,240,320,WHITE);       //清除显示
                     rlen=USART_RX_STA&0X7FFF;       //得到数据长度
                        USART_RX_BUF[rlen]=0;                //加入结束符

//红色部分可以这样吗？串口里面会报错?有没有大神有好的解决方法//
                        if(strcmp((const char*)USART_RX_BUF,"+TEMLCD ON")==0)//关闭LED1
                              {
                                 tem_lcd();
                              }
                              if(strcmp((const char*)USART_RX_BUF,"+MPULCD ON")==0)//关闭LED1
                              {
                                 mpu_lcd();
                              }

                     LCD_ShowString(30,290,209,119,16,USART_RX_BUF);//显示接收到的数据
                     USART_RX_STA=0;
            }

      }

}

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