#include "headfile.h"
#define ACC_UPDATE 0x01
#define GYRO_UPDATE 0x02
#define ANGLE_UPDATE 0x04
#define MAG_UPDATE 0x08
#define READ_UPDATE 0x80
static volatile char s_cDataUpdate = 0, s_cCmd = 0xff;
const uint32_t c_uiBaud[10] = {0, 4800, 9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600};
float fAcc[3], fGyro[3], fAngle[3];
float jy60_Yaw;
static void CmdProcess(void);
static void AutoScanSensor(void);
static void SensorUartSend(uint8_t *p_data, uint32_t uiSize);
static void SensorDataUpdata(uint32_t uiReg, uint32_t uiRegNum);
static void Delayms(uint16_t ucMs);
uint8_t RxBuffer;
static void SensorUartSend(uint8_t *p_data, uint32_t uiSize)
{
HAL_UART_Transmit(&huart2, p_data,uiSize, 999);
}
static void Delayms(uint16_t ucMs)
{
HAL_Delay(ucMs);
}
static void SensorDataUpdata(uint32_t uiReg, uint32_t uiRegNum)//ټт˽ߝ
{
int i;
for(i = 0; i < uiRegNum; i++)
{
switch(uiReg)
{
// case AX:
// case AY:
case AZ://ܘAZ
s_cDataUpdate |= ACC_UPDATE;
break;
// case GX:
// case GY:
case GZ:
s_cDataUpdate |= GYRO_UPDATE;
break;
// case HX:
// case HY:
case HZ:
s_cDataUpdate |= MAG_UPDATE;
break;
// case Roll:
// case Pitch:
case Yaw:
s_cDataUpdate |= ANGLE_UPDATE;
break;
default:
s_cDataUpdate |= READ_UPDATE;
break;
}
uiReg++;
}
}
//jy60Եʼۯ
void jy60_init()
{
WitInit(WIT_PROTOCOL_NORMAL, 0x50);
WitSerialWriteRegister(SensorUartSend);
WitRegisterCallBack(SensorDataUpdata);
WitDelayMsRegister(Delayms);
HAL_UART_Receive_IT(&huart2, &RxBuffer, 1); //ߪǴԮࠚאޓ˜1ؖޚ
HAL_Delay(100);
}
//Ԯࠚ˕ע˽ߝא
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if(huart->Instance == USART2)
{
WitSerialDataIn(RxBuffer);
HAL_UART_Receive_IT(&huart2, &RxBuffer, 1); //ՙߪǴޓ˕א
}
}
void jy60_read()
{
if(s_cDataUpdate)
{
// for(uint8_t i = 0; i < 3; i++)
// {
// fAcc[i] = sReg[AX+i] / 32768.0f * 16.0f;
// fGyro[i] = sReg[GX+i] / 32768.0f * 2000.0f;
fAngle[2] = sReg[Yaw] / 32768.0f * 180.0f;
// }
// uint8_t strff[21];
//sprintf(strff,"%.2f",fAngle[2]);
//OLED_ShowStr(0,3,strff,1);
// if(s_cDataUpdate & ACC_UPDATE)
// {
//// printf("acc:%.3f %.3f %.3f\r\n", fAcc[0], fAcc[1], fAcc[2]);
// s_cDataUpdate &= ~ACC_UPDATE;
// }
// if(s_cDataUpdate & GYRO_UPDATE)
// {
//// printf("gyro:%.3f %.3f %.3f\r\n", fGyro[0], fGyro[1], fGyro[2]);
// s_cDataUpdate &= ~GYRO_UPDATE;
// }
if(s_cDataUpdate & ANGLE_UPDATE)
{
//printf("%.3f ,%.3f, %.3f\n", fAngle[0], fAngle[1], fAngle[2]);
printf("%.3f\n", fAngle[2]);
s_cDataUpdate &= ~ANGLE_UPDATE;
}
// if(s_cDataUpdate & MAG_UPDATE)
// {
// //printf("mag:%d %d %d\r\n", sReg[HX], sReg[HY], sReg[HZ]);
// s_cDataUpdate &= ~MAG_UPDATE;
// }
}
}
//ׁȡyaw
void jy60_read_Yaw()
{
if(s_cDataUpdate & ANGLE_UPDATE)
{jy60_Yaw=sReg[Yaw] / 32768.0f * 180.0f;
s_cDataUpdate &= ~ANGLE_UPDATE;}
}
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "headfile.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
int distanceA;
int distanceB;
int Encoder_cntB;
int Encoder_cntA;
key_str key[2];
uint8_t i;
uint8_t Tcount,mode=1,state=0;
_Bool stopsend=0;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
// void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
// {
//
// if (htim->Instance == TIM3)
// {
// count++;
// if(count>=10)
// {
//// jy60_read_Yaw();
//// angle.now=jy60_Yaw;
//
// count=0;
// Read_A();
// Read_B();
// distanceA+=Encoder_cntA;
// distanceB+=Encoder_cntB;
// angle.target=30;
// pid_cal(&angle);
//
// Carstart();
// }
// }
// }
// void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
// {
// if(huart==&huart1)
// {
// HAL_UART_Transmit_DMA(&huart1,receiveData,Size);
//
// HAL_UARTEx_ReceiveToIdle_DMA(&huart1,receiveData,sizeof(receiveData));
// }
// }
//
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* 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_DMA_Init();
MX_I2C1_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_USART1_UART_Init();
MX_USART2_UART_Init();
/* USER CODE BEGIN 2 */
OLED_Init();
/*jy60陿螺仪*/
jy60_init();
/*PID初始匿*/
pid_init(&motorA,DELTA_PID,20,12,5);
HAL_Delay(10);
pid_init(&motorB,DELTA_PID,20,12,5);
HAL_Delay(10);
pid_init(&angle,DELTA_PID,0.51,0.0023,0.28);
HAL_Delay(10);
motor_target_set4(20,20);
/*编码器初始化*/
Encoder_init();
// MPU6050_Init();
/*弿启PWM*/
Motor_init();
/*串口结合DMA收发不定长数捿*/
HAL_UARTEx_ReceiveToIdle_DMA(&huart1,receiveData,sizeof(receiveData));
HAL_TIM_Base_Start_IT(&htim3);
// printf("%.2f,%.3f,%.2f\n",angle.p,angle.i,angle.d);
motor_target_set4(0,0);
//防止按键上电触发
HAL_Delay(20);
key[0].key_flag=0;
key[1].key_flag=0;
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
uint8_t dataRc;
/*读取角度*/
//OLED_ShowSignedNum(3,1, Encoder_cntA, 2);
// OLED_ShowSignedNum(2,1,Encoder_cntB,2);
HAL_UART_Transmit(&huart1,(uint8_t*)&Encoder_cntA,1,HAL_MAX_DELAY);
jy60_read_Yaw();
angle.now=jy60_Yaw;
// motor_target_set4(20,20);
/*陿螺仪零飘*/
if(cycle==2)
{
angle.now=jy60_Yaw+3.5;}
else if(cycle==3)
{
angle.now=jy60_Yaw+4.5;}
else if(cycle==4)
{
angle.now=jy60_Yaw+5.6;}
/*按键切换mode*/
if( key[0].key_flag==1)
{
key[0].key_flag=0;
OLED_Clear();
mode++;
can_init();
if(mode>4)
{
mode=1;
}
}
/*按键启动停止*/
if( key[1].key_flag==1)
{
key[1].key_flag=0;
OLED_Clear();
can_init();
if(state==0)
{
state=1;
}
else{state=0;}
}
/*mode切换*/
if(mode==1||mode==2||mode==3)
{
/*Mode*/
OLED_ShowString(1, 1, "Mode:");
OLED_ShowNum(1, 6, mode,1);
/*State*/
OLED_ShowString(2, 1, "State:");
OLED_ShowString(2, 1, "State:");
/*显示里程*/
// OLED_ShowString(3, 1, "DA:");
// OLED_ShowNum(3, 4, distanceA,5);
// OLED_ShowString(4, 1, "DB:");
// OLED_ShowNum(4, 4, distanceB,5);
OLED_ShowSignedNum(3, 4, jy60_Yaw,3);
if(state==0)
{
OLED_ShowString(2, 7, "OFF");
}
else{OLED_ShowString(2, 7, "ON");}
}
else if(mode==4)
{
/*Mode*/
OLED_ShowString(1, 1, "Mode:");
OLED_ShowNum(1, 6, mode,1);
/*State*/
OLED_ShowString(2, 1, "State:");
if(state==0)
{
OLED_ShowString(2, 7, "OFF");
}
else{OLED_ShowString(2, 7, "ON");}
/*Cycleʾ*/
OLED_ShowString(3, 1, "Cycle:");
OLED_ShowNum(3, 7, cycle,1);
/*Flag*/
OLED_ShowString(4, 1, "Flag:");
OLED_ShowNum(4, 6, state_flag,1);
}
// if(state)
// {
// if(mode==1)
// {Carstart_M1();}
// else if(mode==2)
// {Carstart_M2();}
// else if(mode==3)
// {Carstart_M3();}
// else if(mode==4)
// {Carstart_M4();}
// }
// else{stop2();}
/*vofa打印*/
// printf("%.2f,%.2f\n",angle.now,angle.target);
/*oled显示参数*/
// OLED_ShowNum(3, 1, angle.p*100,3);
// OLED_ShowNum(3, 5, angle.i*100000,6);
// OLED_ShowNum(3, 14, angle.d*100,3);
// OLED_ShowSignedNum(4, 10, angle.now,3);
// OLED_ShowSignedNum(4, 10, angle.target,3);
// OLED_ShowNum(4, 1, state_flag,1);
// OLED_ShowSignedNum(4, 3, Encoder_cntB,3);
// OLED_ShowSignedNum(4, 7, Encoder_cntA,3);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
为什么读取不到jy60-Yaw的值
本文详细解析了CNVD-2020-10487漏洞，攻击者可借此读取Tomcat webapp目录下任意文件。影响Tomcat 9.x<9.0.31、8.x<8.5.51、7.x<7.0.100及6.x版本。提供升级和配置修改两种修复方案。
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