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#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "led.h"
#include "key.h"
#include "lcd.h"
#include "usmart.h"
#include "usart2.h"
#include "timer.h"
#include "ov2640.h"
#include "dcmi.h"
#include "easytrace.h"
#include "24l01.h"
u8 *buf_tmp;
short data[2]={0};
u8 Receive_buf[6];
u8 Start_Get_Origin_Flag = 1;
int main(void)
{
u16 i,j;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//設置系統中斷優先級分組2
delay_init(168); //初始化延時函數
uart_init(115200); //初始化串口波特率為115200
usart2_init(42,115200); //初始化串口2波特率為115200
LED_Init(); //初始化LED
LCD_Init(); //LCD初始化
KEY_Init(); //按鍵初始化
TIM3_Int_Init(200-1,8400-1);//10Khz計數,1秒鐘中斷一次
usmart_dev.init(84); //初始化USMART
POINT_COLOR=RED;//設置字體為紅色
while(OV2640_Init())//初始化OV2640
{
LCD_ShowString(30,130,240,16,16,"OV2640 ERR");
delay_ms(200);
LCD_Fill(30,130,239,170,WHITE);
delay_ms(200);
}
LCD_ShowString(30,130,200,16,16,"OV2640 OK");
OV2640_OutSize_Set(176,144);
OV2640_RGB565_Mode(); //RGB565模式
My_DCMI_Init(); //DCMI配置
DCMI_DMA_Init((u32)rgb_buf,sizeof(rgb_buf)/4,DMA_MemoryDataSize_HalfWord,DMA_MemoryInc_Enable);//DCMI DMA配置
DCMI_Start(); //啟動傳輸
//************初始化NRF24L01****************//
NRF24L01_Init();
while(NRF24L01_Check())
{
LED1=0;
LED0=0;
}
NRF24L01_TX_Mode();
//*****************************************//
LCD_Clear(BLACK);
while(1)
{
if(Start_Get_Origin_Flag==1){
Start_Get_Origin_Flag=0;
delay_ms(3000);
}
OV2640_binarization();
data[0] = Relative_X;
data[1] = Relative_Y;
if(NRF24L01_TxPacket(Receive_buf)==TX_OK)
{
LED0=0;
printf("RX %d,RY %d\n",Relative_X,Relative_Y);
buf_tmp = DataPacket(data);
for(i=0;i<6;i++)
{
Receive_buf[i] = buf_tmp[i];
//printf("%d %d\n",Receive_buf[0],Receive_buf[1]);
}
}
}
}
void TIM3_IRQHandler(void)
{
if(TIM_GetITStatus(TIM3,TIM_IT_Update)==SET) //溢出中斷
{
}
TIM_ClearITPendingBit(TIM3,TIM_IT_Update); //清除中斷標志位
}

復制代碼