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Наведён порядок в коде

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This commit is contained in:
Radzhab Bisultanov
2026-02-18 14:23:01 +03:00
parent eecf8f2cc2
commit f9b7277a33
20 changed files with 647 additions and 928 deletions
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85
Source/main.c
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@@ -1,7 +1,6 @@
#include "stm32g431xx.h"
#include "imu.h"
#include "imu_processing.h"
#include "timer.h"
#include "attitude.h"
#include "radio_receiver.h"
#include "motors.h"
@@ -16,57 +15,49 @@ control_channels_t ctrl_chs;
void delay_ms(uint32_t ms);
int main(void)
int main(void)
{
__enable_irq();
RCC->AHB2ENR |= RCC_AHB2ENR_GPIOCEN;
GPIOC->MODER &= ~(3 << (13 * 2));
GPIOC->MODER |= 1 << (13 * 2);
GPIOC->OTYPER &= ~(1 << 13);
GPIOC->PUPDR &= ~(3 << (13 * 2));
GPIOC->BSRR = 1 << (13 + 16);
delay_ms(200);
NVIC_SetPriority(TIM6_DAC_IRQn, 1);
NVIC_SetPriority(LPUART1_IRQn, 0);
i2c_gpio_init();
i2c1_init();
icm_init();
imu_processing_init();
tim6_init();
imu_calibrate();
receiver_init();
motors_init();
while (1)
{
attitude_update(&attitude, &imu);
receiver_update(&rx_chs_raw);
rx_chs_normalized = normalize_channels(rx_chs_raw);
attitude_pid_update(&ctrl_chs, &rx_chs_normalized, &attitude, &imu);
if (rx_chs_normalized.rc_armed)
{
motors_set_throttle_mix(rx_chs_normalized.rc_throttle, &ctrl_chs, rx_chs_normalized.rc_armed);
}
else
{
motors_turn_off();
}
}
__enable_irq();
NVIC_SetPriority(TIM6_DAC_IRQn, 1);
NVIC_SetPriority(LPUART1_IRQn, 0);
imu_pow_init();
i2c_gpio_init();
i2c1_init();
imu_init();
imu_tim6_init();
imu_processing_init();
imu_calibrate();
receiver_init();
motors_init();
while (1)
{
attitude_update(&attitude, &imu);
receiver_update(&rx_chs_raw);
rx_chs_normalized = normalize_channels(rx_chs_raw);
attitude_pid_update(&ctrl_chs, &rx_chs_normalized, &attitude, &imu);
if (rx_chs_normalized.rc_armed)
{
motors_set_throttle_mix(rx_chs_normalized.rc_throttle, &ctrl_chs, rx_chs_normalized.rc_armed);
}
else
{
motors_turn_off();
}
}
}
void delay_ms(uint32_t ms)
{
for (uint32_t i = 0; i < ms * 4000; i++);
for (uint32_t i = 0; i < ms * 4000; i++);
}