十三屆恩智浦智能車雙車程序

ID:329533 · 發(fā)表于 2020-1-10 14:16

單片機源程序如下:

// ************************Declaration***************************************//
// File name: Main
// Author: Sat_Madman //
// Date: 2015/3/31 0:14:22 //
// Version Number: 1.0 //
// Abstract:
// Freescale source
// Modification history:[including time, version, author and abstract] //
// 2015/3/31 0:14:22 version 1.0 xxx //
// Abstract: Main() //
// SystemClock = 180Mhz (修改路徑 Chip -> system_MK60DZ10.c -> pllinit(); //
// *********************************end************************************** //
#include "common.h"
#include "include.h"
#include "math.h"
#include "stdlib.h"
// ***************define*****************//
#define INT_COUNT 0xFFFF //LPT 產(chǎn)生中斷的計數(shù)次數(shù)
#define DMASTATE 1 //0 關閉 1 打開
CommunicationDeal PrintBuf;
// ***************declare*****************//
extern char flag;
extern int RecNum[2];
extern float Angle_P ; //舵機P參數(shù) Debu8ig
extern float Angle_D ; //舵機D參數(shù) Debug
extern int AD[6]; //AD采集處理后的值
extern char position;
uint32 LutraDistance;
extern char LutraConFlag;
void SystemInit(void);
void Delay(void);
// ***************code*******************//
void main()
{
SystemInit();
PrintBuf.start = 's';
PrintBuf.position = '1';
memcpy(PrintBuf.SpeedData, "123", 3);
memcpy(PrintBuf.distance, "2341", 4);
memcpy(PrintBuf.end,"d\n" ,2);
EnableInterrupts;
OLED_Print(20,0,"By Madman");
OLED_Print(5,2,"L1:");
OLED_Print(60,2,"L2:");
OLED_Print(5,4,"R1:");
OLED_Print(60,4,"R2:");
OLED_Print(5,6,"F1:");
OLED_Print(60,6,"F2:");
// MotoGoLeft(3000)
// MotoGoRight(3000)
while(1)
{
if(flag == 1)
{
printf(" %d %d " ,RecNum[0] , RecNum[1]);
Angle_P = (float)RecNum[0] / 1000.0;
Angle_D = (float)RecNum[1] / 1000.0;
OLED_DisNum(5 , 6 , RecNum[0] , 4);
OLED_DisNum(30 , 6 , RecNum[1] , 4);
RecNum[0] = 0;
RecNum[1] = 0;
flag = 0;
}
Delay();
#if 1
if(position == 0) OLED_Print(20,0,"ZHI");
else if(position == 1) OLED_Print(20,0,"ZUO");
else if(position == 3) OLED_Print(20,0,"RAM");
else OLED_Print(20,0,"YOU");
OLED_DisNum(30 , 2 , AD[0] , 3);
OLED_DisNum(85 , 2 , AD[1] , 3);
OLED_DisNum(30 , 4 , AD[2] , 3);
OLED_DisNum(85 , 4 , AD[3] , 3);
OLED_DisNum(30 , 6 , AD[4] , 3);
OLED_DisNum(85 , 6 , AD[5] , 3);
#endif
if( LutraConFlag == 1)
{
LutrasonicRang();
LutraConFlag = 0;
}
// if(key_get(KEY_1) == KEY_DOWN)
// {
// Delay();
// if(key_get(KEY_1) == KEY_DOWN)
// {
// while(key_get(KEY_1) == KEY_DOWN);
// led_turn(LED0);
// }
// }
// LutraDistance = LutrasonicRang();
// printf("\r\n LutraDis : %d\r\n", LutraDistance);
}
}
void SystemInit(void)
{
DisableInterrupts; // 關閉總中斷
key_init(KEY_MAX); //按鍵初始化
led_init(LED0); //設置GPIO口
pit_init_ms ( PIT0 , 5 ); //設置定時周期 5ms進一次中斷
set_vector_handler(PIT0_VECTORn ,
PIT0_IRQHandler); //設置中斷服務函數(shù)
MotoPwmInit(); //電機驅(qū)動初始化 FTM0_PRECISON = 10000(精度為0.01%）
SteerInit() ; //舵機驅(qū)動初始化 FTM1_PRECISON = 1000
ftm_quad_init(FTM2); //正交解碼
AdcInit(); //Adc初始化
OLED_Init(); //OLED初始化
gpio_init(STOPBUT,GPI,1);
port_init_NoALT (STOPBUT,PULLUP );
led (LED0,LED_ON); //開指示燈關蜂鳴器
GetMaxValue(); //讀取賽道最大值
OLED_Fill(0x00); //初始清屏
// set_vector_handler(UART3_RX_TX_VECTORn,uart0_handler);
#if DMASTATE
uart_init(UART3,115200);
dma0_uart_init((char*)&PrintBuf, 13); //串口3 DMA發(fā)送
set_vector_handler(DMA0_VECTORn, dma0_print_isr); //DMA0中斷服務函數(shù)
UART3_BASE_PTR->C5 = (1 << 7); //開觸發(fā)源
enable_irq(DMA0_IRQn); //使能DMA傳輸
DMA_ERQ |= (1 << 0);
// dma1_uart_init((char *)&GetBuff , 11); //串口3 DMA接收
// set_vector_handler(DMA1_VECTORn,dma1_get_isr); //DMA1中斷服務函數(shù)
// UART3_BASE_PTR->C5 = (1 << 5); //開觸發(fā)源
// enable_irq(DMA1_IRQn); //使能DMA傳輸
#endif
MotoGo(1500)
Delay();
LutrasonicInit();
NVIC_SetPriorityGrouping(0);
NVIC_SetPriority(PIT0_IRQn,1);
NVIC_SetPriority(PORTD_IRQn,4);
enable_irq(PIT0_IRQn); //定時器中斷使能
enable_irq(PORTD_IRQn);
// uart_rx_irq_en(UART3);
}
void Delay(void)
{
uint32 i , j;
for(i = 1000; i > 0; i--)
for(j = 1000; j > 0 ; j--);
}
char* mitoa(int value, char* str)
{
int i = 0;
do{
*str++ = value % 10 + '0';
value = value / 10;
i++;
} while (value != 0);
return str;
}
void SendPrintBuf(CommunicationDeal* PrintBuff,char position,int speed,int distance)
{
PrintBuff->position = position + 48;
memset(PrintBuff->SpeedData,0,3);
memset(PrintBuff->distance,0,6);
mitoa(speed,PrintBuff->SpeedData);
mitoa(distance,PrintBuff->distance);
}
/**********************GPIO LIST***************************/
// ********************FTM********************************
// PC1、PA11 ------正交解碼
// PC2 ------FTM0_CH1_PIN (m1)
// PC3 ------FTM0_CH1_PIN (m1)
// PC4 ------FTM0_CH3_PIN (m2)
// PA7 ------FTM0_CH4_PIN (m2)
// PA8 -------Steer
// *******************UART********************************
// PC16 、PC17 -------Rx Tx
// *******************ADC*********************************
// PTB6 -------LEFT1
// PTB7 -------LEFT2
// PTB0 -------RIGHT1
// PTB1 -------RIGHT1

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十三屆恩智浦智能車雙車程序

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