‹xûÿ å—京东å—大学出版社有é™å…¬å¸ B题-报告5-程åºæ¸…å•
 
     
     
     
B题-报告5-程åºæ¸…å•
电å­ä¿¡æ¯2016-04-21æµè§ˆï¼ˆ3229）

B题-报告5-程åºæ¸…å•

主程åºæ¸…å•

#include "include.h"

#include "calculation.h"

 

/*************************

设置系统的全局å˜é‡

*************************/

/*定时标志*/

extern u8 TIME0flag_5ms   ;

extern u8 TIME0flag_10ms  ;

extern u8 TIME0flag_15ms  ;

extern u8 TIME0flag_20ms  ;

extern u8 TIME0flag_80ms  ;

 

/*角度传感器*/

extern u8 AngBuff[8];

extern u8 Angflag;

s16 Hangel=0,Pangel=0,Rangel=0;

 

u8 j=0;//æ–¹å‘控制

u8 i=0;//摆动控制器

u8 rate=62;//摆摆幅控制器

u8 Mod=0;//模å¼æŽ§åˆ¶å™¨ï¼Œåœ†å‘¨-摆动

 

/*sin cos函数表*/

const float  Sin[64]={0.0000,0.0996,0.1981,0.2948,0.3884,0.4783,0.5633,0.6428,

                      0.7159,0.7818,0.8400,0.8899,0.9309,0.9626,0.9848,0.9972,

                      0.9997,0.9922,0.9749,0.9479,0.9115,0.8660,0.8119,0.7498,

                      0.6802,0.6038,0.5214,0.4339,0.3420,0.2468,0.1490,0.0498,

                      -0.0498,-0.1490,-0.2468,-0.3420,-0.4339,-0.5214,-0.6038,-0.6802,

                      -0.7498,-0.8119,-0.8660,-0.9115,-0.9479,-0.9749,-0.9922,-0.9997,

                      -0.9972,-0.9848,-0.9626,-0.9309,-0.8899,-0.8400,-0.7818,-0.7159,

                      -0.6428,-0.5633,-0.4783,-0.3884,-0.2948,-0.1981,-0.0996,-0.0000};

 

const float  Cos[64]={1.0000,0.9950,0.9802,0.9556,0.9215,0.8782,0.8262,0.7660,

                      0.6982,0.6235,0.5425,0.4562,0.3653,0.2708,0.1736,0.0747,

                      -0.0249,-0.1243,-0.2225,-0.3185,-0.4113,-0.5000,-0.5837,-0.6617,

                      -0.7331,-0.7971,-0.8533,-0.9010,-0.9397,-0.9691,-0.9888,-0.9988,

                      -0.9988,-0.9888,-0.9691,-0.9397,-0.9010,-0.8533,-0.7971,-0.7331,

                      -0.6617,-0.5837,-0.5000,-0.4113,-0.3185,-0.2225,-0.1243,-0.0249,

                      0.0747,0.1736,0.2708,0.3653,0.4562,0.5425,0.6235,0.6982,

                      0.7660,0.8262,0.8782,0.9215,0.9556,0.9802,0.9950,1.0000};

 

/*摆动过程é‡è¡¨*/

const s32 TPangeltable[16]={0,700,1300,1700,2000,1700,1300,700,0,-700,-1300,-1700,-2000,-1700,-1300,-700};

const s32 TRangeltable[16]={0,700,1300,1700,2000,1700,1300,700,0,-700,-1300,-1700,-2000,-1700,-1300,-700};

//{0,500,1000,1500,2000,1500,1000,500,0,-500,-1000,-1500,-2000,-1500,-1000,-500};

 

/*定点控制å˜é‡è¡¨*/

s32 APangel=0,EPangel_old=0,EPangel_new=0,DPangel=0;

s32 ARangel=0,ERangel_old=0,ERangel_new=0,DRangel=0;

s32 PWM1=0,PWM2=0,PWM3=0,PWM4=0;

/*定点PD控制 Pã€Då‚æ•°*/

s16 Kp1=15,Kp2=14;//    

s16 Kd1=140,Kd2=150;// 

 

void DisPlay0()//OLED显示函数

{

  //LCD_Print(0,0,"BL");显示字符串åæ ‡X,Y，显示字符串

  //Dis_float(0,0,1.61);显示å°æ•°åæ ‡X,Y，显示浮点å˜é‡(è¿žå°æ•°ç‚¹åœ¨å†…åªèƒ½æ˜¾ç¤ºäº”个字符)

  //LCD_WrNum(0,0,DJCSX,4);显示整数åæ ‡X,Y，显示整型å˜é‡ï¼Œä½å®½<=5

  LCD_Print(0,0,"P1:");LCD_Print(65,0,"D1:");

  LCD_Print(0,1,"P2:");LCD_Print(65,1,"D2:");

  LCD_Print(0,2,"Ra:");LCD_Print(65,2,"J :");

  LCD_Print(0,3,"Mo:");//LCD_Print(65,3,"C1:");

  //LCD_Print(0,4,"B4:");LCD_Print(65,4,"C2:");

  LCD_Print(0,5,"HA:");LCD_Print(65,5,"EP:");

  LCD_Print(0,6,"PA:");LCD_Print(65,6,"DP:");

  LCD_Print(0,7,"RA:");//LCD_Print(65,7,"C5:");

}

void DisPlay1()//OLED显示函数

{

  LCD_WrNum(25,0,Kp1,5);LCD_WrNum(87,0,Kd1,5);

  LCD_WrNum(25,1,Kp2,5);LCD_WrNum(87,1,Kd2,5);

  LCD_WrNum(25,2,rate,5);LCD_WrNum(87,2,j,5);

  LCD_WrNum(25,3,Mod,5);//Dis_float(87,3,cosa);

 //LCD_WrNum(25,4,adc4,5);Dis_float(87,4,sina);

  LCD_WrNum(25,5,Hangel,5);LCD_WrNum(87,5,EPangel_new,5);

  LCD_WrNum(25,6,Pangel,5); LCD_WrNum(87,6,DPangel,5);

  LCD_WrNum(25,7,Rangel,5);//Dis_float(87,7,122.5);

}

 

 

void Key()

{

  if(PTA24_IN==0){

     delayms(5);

     if(PTA24_IN==0){

       rate++;

       if(rate>=200){rate=200;}

       if(rate<=0){rate=0;}

     }

     while(PTA24_IN==0);

  }

  if(PTA26_IN==0){

     delayms(5);

     if(PTA26_IN==0){

       rate--;

       if(rate>=200){rate=200;}

       if(rate<=0){rate=0;}

     }

     while(PTA26_IN==0);

  }

  if(PTA28_IN==0){

     delayms(5);

     if(PTA28_IN==0){

     j++;

     if(j>=64){j=0;}

     }

     while(PTA28_IN==0);

  }

  if(PTB8_IN==0){

     delayms(5);

     if(PTB8_IN==0){Mod++;

     if(Mod==2){Mod=0;}

     }

     while(PTB8_IN==0);

  }

}

 

void ALL_init()

{   

    /*程åºæŒ‡ç¤ºç¯ä½¿èƒ½(在定时中断PIT3中进行，周期1S)*/

    gpio_init (PORTB , 7, GPO,HIGH);

 

    /*按键åˆå§‹åŒ–*/

    gpio_init (PORTA ,24, GPI_UP,HIGH);//按键1（é è¿‘开关的）

    gpio_init (PORTA ,26, GPI_UP,HIGH);//按键2

    gpio_init (PORTA ,28, GPI_UP,HIGH);//按键3

    gpio_init (PORTB , 8, GPI_UP,HIGH);//按键4

 

    /*拨ç å¼€å…³åˆå§‹åŒ–*/

    //gpio_init (PORTA ,13, GPI_UP,HIGH);//拨ç 1

    //gpio_init (PORTA ,15, GPI_UP,HIGH);//拨ç 2

    //gpio_init (PORTA ,17, GPI_UP,HIGH);//拨ç 3

    //gpio_init (PORTA ,18, GPI_UP,HIGH);//拨ç 4

 

    /*  PWMåˆå§‹åŒ–模å—，通é“，频率，å ç©ºæ¯”N/10000%（åŒä¸€ä¸ªæ¨¡å—的频率需è¦ä¸€è‡´ï¼‰*/

    FTM_PWM_init(FTM1,CH0,500,0);//PTA8

    FTM_PWM_init(FTM0,CH1,500,0);//PTC2

    FTM_PWM_init(FTM1,CH1,500,0);//PTA9（300HZ数字舵机PWM频率）

    FTM_PWM_init(FTM0,CH5,500,0);//PTD5（50HZ普通舵机PWM频率）

 

    /*定时器åˆå§‹åŒ–模å—，时间长度ms*/

     pit_init_ms(PIT0, 5);//åˆå§‹åŒ–PIT0，定时分频（5ms，10ms，15ms，20ms，80ms）用于查询方å¼

     pit_init_ms(PIT1, 135);//åˆå§‹åŒ–PIT1，快定时器（中断æœåŠ¡å‡½æ•°ç©ºï¼‰

     pit_init_ms(PIT2, 76);//åˆå§‹åŒ–PIT2，中定时器

     pit_init_ms(PIT3, 500);//åˆå§‹åŒ–PIT3，慢定时器（中断æœåŠ¡å‡½æ•°ä¸­å·²æœ‰ç¨‹åºè¿è¡Œç¯ï¼Œæ‰“开该定时器åŽç¨‹åºæŒ‡ç¤ºç¯é—ªçƒï¼‰

 

    /*OLED显示å±åˆå§‹åŒ–*/

    LCD_Init();

    DisPlay0();//固定字符显示

 

    /*ADCåˆå§‹åŒ–*/

    //adc_init(ADC0, AD15); //PTC1（与OLEDçš„AD按键相连）

    //adc_init(ADC0, AD8);  //PTB0

    //adc_init(ADC0, AD12); //PTB2

    //adc_init(ADC1, AD4a); //PTE0

    //adc_init(ADC1, AD5a); //PTE1

 

    /*DACåˆå§‹åŒ–*/

    //dac_once_init(DAC0, VDDA);//DAC0   VDDA3.3               

 

    /*串å£åˆå§‹åŒ–*/

    //uart_init (UART0, 19200); //åˆå§‹åŒ–UART0，TXD-PTD7，RXD-PTD6

 

    UART_IRQ_DIS(UART1);                          //串å£0   关接收中断

    uart_init (UART1, 115200); //åˆå§‹åŒ–UART0，TXD-PTC4，RXD-PTC3

    UART_IRQ_EN(UART1);                           //串å£0   开接收中断

 

}

 

void main()

{

 

   DisableInterrupts; //ç¦æ­¢æ€»ä¸­æ–­

   ALL_init();

   EnableInterrupts;                                             //开总中断

 

   /******************************************

执行程åº

    ******************************************/

    for(;;)

    {

      if(Angflag==1)

      {

         Angflag=0;

         if(AngBuff[0]==0xAA&&AngBuff[7]==0x55){

          Hangel=(AngBuff[1]<<8|AngBuff[2]);

          Pangel=(AngBuff[3]<<8|AngBuff[4]);

          Rangel=(AngBuff[5]<<8|AngBuff[6]);

         }   

      }

      /*定时器查询方å¼æœåŠ¡å‡½æ•°ï¼Œå¼€PIT0有效*/

      if(TIME0flag_5ms==1){

         TIME0flag_5ms=0;  

         uart_putchar (UART1,0xA5);

         uart_putchar (UART1,0x51);

      }

      if(TIME0flag_10ms==1){

         TIME0flag_10ms=0;

         Key();

      }

      if(TIME0flag_15ms==1){

         TIME0flag_15ms=0; 

      }

      if(TIME0flag_20ms==1){

         TIME0flag_20ms=0;

 

         PWM1=0,PWM2=0,PWM3=0,PWM4=0;

 

         EPangel_old=EPangel_new;

         ERangel_old=ERangel_new;

 

         APangel=Pangel;

         ARangel=Rangel;

 

         EPangel_new=(s32)(APangel-Cos[j]*TPangeltable[i]*rate/100);

         ERangel_new=(s32)(ARangel-Sin[j]*TRangeltable[i]*rate/100);

 

         DPangel=EPangel_new-EPangel_old;

         DRangel=ERangel_new-ERangel_old;

 

         if(EPangel_new>0){PWM1+=Kp1*EPangel_new;}

         else if(EPangel_new<=0){PWM2+=Kp1*(0-EPangel_new);}

 

         if(ERangel_new>0){PWM3+=Kp2*ERangel_new;}

         else if(ERangel_new<=0){PWM4+=Kp2*(0-ERangel_new);}

 

         if(DPangel>0){PWM1+=Kd1*DPangel;}

         else if(DPangel<=0){PWM2+=Kd1*(0-DPangel);}

 

         if(DRangel>0){PWM3+=Kd2*DPangel;}

         else if(DRangel<=0){PWM4+=Kd2*(0-DRangel);}

 

         if(PWM1>=9000){PWM1=9000;}

         if(PWM1<=0){PWM1=0;}

         if(PWM2>=9000){PWM2=9000;}

         if(PWM2<=0){PWM2=0;}

 

         if(PWM3>=9000){PWM3=9000;}

         if(PWM3<=0){PWM3=0;}

         if(PWM4>=9000){PWM4=9000;}

         if(PWM4<=0){PWM4=0;}

 

      }

      if(TIME0flag_80ms==1){

         TIME0flag_80ms=0;

         DisPlay1();

      }

      FTM_PWM_Duty(FTM0,CH5,PWM1);//1

      FTM_PWM_Duty(FTM0,CH1,PWM2);//3

      FTM_PWM_Duty(FTM1,CH0,PWM3);//4

      FTM_PWM_Duty(FTM1,CH1,PWM4);//2

    }        

}

 

 

 

中断程åºæ¸…å•

#include "common.h"

#include "include.h"

 

u8 count=0;

u8 AngBuff[8];

u8 Angflag=0;

void USART1_IRQHandler(void)

{

    char test;

    UART_IRQ_DIS(UART1);                      //关总中断

    uart_pendchar (UART1,&test);

    //AngBuff[count]=uart_getchar (UART1);

    AngBuff[count]=test;

    count++;

    if(count>=8)

    {

      count=0;

      Angflag=1;

    }

    UART_IRQ_EN(UART1);               //开总中断

}

 

u8 TIME0flag_5ms  = 0 ;

u8 TIME0flag_10ms = 0 ;

u8 TIME0flag_15ms = 0 ;

u8 TIME0flag_20ms = 0 ;

u8 TIME0flag_80ms = 0 ;

u8  TimeCount = 0 ;

void PIT0_IRQHandler(void)

{

  PIT_Flag_Clear(PIT0);       //清中断标志ä½

  TimeCount ++ ;

  if(TimeCount%1 == 0 ){TIME0flag_5ms = 1;}

  if(TimeCount%2 == 0 ){TIME0flag_10ms = 1;}

  if(TimeCount%3 == 0 ){TIME0flag_15ms = 1;}

  if(TimeCount%4 == 0 ){TIME0flag_20ms = 1;}

  if(TimeCount%64 == 0 ){TIME0flag_80ms = 1;}

  if(TimeCount == 192){TimeCount = 0;}

}

 

extern u8 i;

extern u8 j;

extern u8 Mod;

void PIT1_IRQHandler(void)

{

   PIT_Flag_Clear(PIT1);//清中断标志ä½

   if(Mod==1)

    {

    i=4;

    j++;

    if(j>=64)j=0;

    }

}

 

void PIT2_IRQHandler(void)

{

    PIT_Flag_Clear(PIT2);       //清中断标志ä½

    if(Mod==0)

    {

    i++;

    if(i>=16)i=0;

    }

}

 

void PIT3_IRQHandler(void)

{

   PIT_Flag_Clear(PIT3);//清中断标志

   PTB7_OUT = ~PTB7_OUT;//程åºè¿è¡ŒæŒ‡ç¤ºç¯

}

 

 

 

 

 

 
 
è¿›å…¥ç¼–è¾‘çŠ¶æ€ Òì|Ɖ8