void MemManage_Handler(void)//??????
{
FTM_PWM_ChangeDuty(FTM0_CH3_PA6,0);
FTM_PWM_ChangeDuty(FTM0_CH4_PA7,0);
// FTM_PWM_ChangeDuty(FTM1_CH0_PA8,0);
// FTM_PWM_ChangeDuty(FTM1_CH1_PA9,0);
#if(CHIP_DEBUG==ON)
wait();
#endif
}
int main(void)
{
DelayInit();
UART_QuickInit(UART0_RX_PD06_TX_PD07, 115200);
GPIO_QuickInit(HW_GPIOE, 6, kGPIO_Mode_OPP); /* LED */
printf("calc the PWM duty, pwm will be generated on PA08 and input pin: PC01 and PC02\r\n");
FTM_PWM_QuickInit(FTM1_CH0_PA08, kPWM_EdgeAligned, 200);
FTM_PWM_ChangeDuty(HW_FTM1, HW_FTM_CH0, 2500);/* 25% */
/* 配置IC 功能 设置中断 */
FTM_IC_QuickInit(FTM0_CH0_PC01, kFTM_ClockDiv128);
FTM_IC_SetTriggerMode(HW_FTM0, HW_FTM_CH0, kFTM_IC_RisingEdge);
FTM_CallbackInstall(HW_FTM0, FTM0_ISR);
FTM_ITDMAConfig(HW_FTM0, kFTM_IT_CH0, true);
FTM_IC_QuickInit(FTM0_CH1_PC02, kFTM_ClockDiv128);
FTM_IC_SetTriggerMode(HW_FTM0, HW_FTM_CH1, kFTM_IC_FallingEdge);
/* FTM_CallbackInstall(HW_FTM1, FTM1_ISR); */
FTM_ITDMAConfig(HW_FTM0, kFTM_IT_CH1, true);
while(1)
{
/*
printf("Frequency:%6dHz", InputCaptureValue);
printf(" Frequency1:%6dHz\r\n", InputCaptureValue1);
*/
printf("Duty = %3f%% \n",((double)InputCaptureValue)/((double)InputCaptureValue1)*100.0);
GPIO_ToggleBit(HW_GPIOE, 6); //控制小灯闪烁
DelayMs(500);
}
}
void HardFault_Handler(void)//?????????
{
OLED_Clear();
FTM_PWM_ChangeDuty(FTM0_CH3_PA6,0);
FTM_PWM_ChangeDuty(FTM0_CH4_PA7,0);
// FTM_PWM_ChangeDuty(FTM1_CH0_PA8,0);
// FTM_PWM_ChangeDuty(FTM1_CH1_PA9,0);
OLED_Write_String(0,0,(uint8_t *)"The memory");
OLED_Write_String(0,2,(uint8_t *)"or Stacks");
OLED_Write_String(0,4,(uint8_t *)"overflows");
#if(CHIP_DEBUG==ON)
wait();
#endif
while(1);
}
void NMI_Handler(void)//??????
{
OLED_Clear();
FTM_PWM_ChangeDuty(FTM0_CH3_PA6,0);
FTM_PWM_ChangeDuty(FTM0_CH4_PA7,0);
// FTM_PWM_ChangeDuty(FTM1_CH0_PA8,0);
// FTM_PWM_ChangeDuty(FTM1_CH1_PA9,0);
OLED_Write_String(0,0,(uint8_t *)"The Chip");
OLED_Write_String(0,2,(uint8_t *)"have big");
OLED_Write_String(0,4,(uint8_t *)"error");
#if(CHIP_DEBUG==ON)
wait();
#endif
while(1);
}
/*****************************
*
* 函数名称CCD_HeiXian
* 功能说明：采集黑线位置进行黑线点数计算
* 参数说明：
* 函数返回：无
* 修改时间：
* 备 注：
*************************************************************************/
void CCD_HeiXian(void)
{
uint8_t i;
for(i = Center;i < 128;i++)
{
if(Pixel[i] == 0)
{
Right = i;
break;
}
}
for(i = Center;i > 0;i--)
{
if(Pixel[i] == 0)
{
Left = i;
break;
}
}
Center = (Left + Right) / 2;
if(Center <= 63)
{
if(63 - Center <= 7) FTMDuty = 4700 + (63 - Center) * a1;
if(63 - Center <= 15 && 63 - Center > 7) FTMDuty = 4700 + (63 - Center) * a2;
if(63 - Center <= 25 && 63 - Center > 15) FTMDuty = 4700 + (63 - Center) * a3;
if(63 - Center <= 40 && 63 - Center > 25) FTMDuty = 4700 + (63 - Center) * a4;
if(63 - Center >40) FTMDuty = 4700 + (63 - Center) * a5;
FTM_PWM_ChangeDuty(FTM0_CH4_PA7,FTMDuty);
if(FTMDuty >= 5900) FTMDuty = 5900;
}
if(Center >= 64)
{
if (Center - 64 <= 7) FTMDuty = 4700 - (Center - 64) * a1;
if (Center - 64 <= 15 && Center - 64 > 7) FTMDuty = 4700 - (Center - 64) * a2;
if (Center - 64 <= 25 && Center - 64 > 15) FTMDuty = 4700 - (Center - 64) * a3;
if (Center - 64 <= 40 && Center - 64 > 25) FTMDuty = 4700 - (Center - 64) * a4;
if (Center - 64 >40) FTMDuty = 4700 - (Center - 64) * a5;
FTM_PWM_ChangeDuty(FTM0_CH4_PA7,FTMDuty);
if(FTMDuty <= 3700) FTMDuty = 3700;
}
}
static rt_err_t rt_beep_control(rt_device_t dev, rt_uint8_t cmd, void *args)
{
RT_ASSERT(dev != RT_NULL);
static int freq = 10000;
switch (cmd)
{
case RT_DEVICE_CTRL_BEEP_START:
FTM_PWM_ChangeDuty(ftm_instance, HW_FTM_CH3, 3000);
break;
case RT_DEVICE_CTRL_BEEP_STOP:
FTM_PWM_ChangeDuty(ftm_instance, HW_FTM_CH3, 0);
break;
case RT_DEVICE_CTRL_SET_BEEP_FRQ:
freq = *(int*)args;
FTM_PWM_QuickInit(FTM0_CH3_PA06, kPWM_EdgeAligned, freq);
break;
}
return RT_EOK;
}
static rt_err_t rt_beep_open(rt_device_t dev, rt_uint16_t oflag)
{
if (dev->rx_indicate != RT_NULL)
{
/* Open Interrupt */
}
ftm_instance = FTM_PWM_QuickInit(FTM0_CH3_PA06, kPWM_EdgeAligned, 10000);
FTM_PWM_ChangeDuty(ftm_instance, HW_FTM_CH3, 0);
return RT_EOK;
}
void FTM_Configuration (void)
{
FTM_InitTypeDef FTM_InitStruct;
FTM_PWM_MapTypeDef* pFTM_Map = (FTM_PWM_MapTypeDef*) FTM1;
FTM_InitStruct.Frequency = (uint32_t)(4096*5); //
FTM_InitStruct.FTMxMAP = FTM1_CH1_PB1; //
FTM_InitStruct.FTM_Mode = FTM_Mode_EdgeAligned; //
FTM_InitStruct.InitalDuty = FTM_DUTY; //0~10000
FTM_Init(&FTM_InitStruct);
AD7687_CNV_PORT->PCR[AD7687_CNV_Pin]|= PORT_PCR_ODE_MASK;
FTM_PWM_ChangeDuty(FTM1_CH1_PB1,0);
}
//退出
void Menu_Quit(void)
{
if(Key_2 == 0)
{
DelayMs(100);
if(Key_2 == 0)
{
OLED_Clear();
CCD_Flag = 0;
PIT_Stop(PIT1);
FTM_PWM_ChangeDuty(FTM0_CH3_PA6,0);
}
}
}
void SCU_TASK(void *p_arg)
{
uint32_t* speed;
uint8_t err;
int PWM_Duty = 0;
int B;
(void)p_arg;
LCD_Print(1,2,"speed = 1.0m/s");
while(1)
{
PID_Init();
speed = OSMboxPend(Str_Box_1,0,&err); //请求消息；获得当前速度
// printf("process_point = %d\n",*speed);
PWM_Duty += PID_Calc(0, *speed, 0);
B = PWM_Duty;
printf("PWM = %d\n",B);
if(PWM_Duty >= 1000)
{
FTM_PWM_ChangeDuty(HW_FTM0,HW_FTM_CH0,1000); /* 0-10000 对应 0-100%占空比 */
// LCD_Print(1,5,"FULL_SPEED");
printf("PWM_Duty = 100 \n");
}
if(PWM_Duty > 0 && PWM_Duty < 1000)
{
FTM_PWM_ChangeDuty(HW_FTM0,HW_FTM_CH0,PWM_Duty); /* 0-10000 对应 0-100%占空比 */
// LCD_Print(1,7,"Part_SPEED");
printf("PWM_Duty = %d\n",PWM_Duty/100);
}
if (PWM_Duty <= 0)
{
FTM_PWM_ChangeDuty(HW_FTM0,HW_FTM_CH0,0); /* 0-10000 对应 0-100%占空比 */
printf("PWM_Duty = 0\n");
}
OSTimeDlyHMSM(0,0,0,50);
}
}
void DIR_TASK(void *p_arg)
{
uint8_t err;
double servo_corner,Location_corner,B,D;
float Servo_pwm_duty,A;
uint8_t* Track_Midline_value;
(void)p_arg;
while(1)
{
Track_Midline_value = OSMboxPend(Str_Box_2,0,&err);
B = *Track_Midline_value;
printf("Track_value = %f\n",B);
Location_corner = PID_Calc(1, 0, *Track_Midline_value);
D = servo_corner;
printf("servo_corner = %f\n",D);
Servo_pwm_duty = Servo_pwm(Location_corner);
A = Servo_pwm_duty;
printf("Servo_pwm_duty = %f\n",A);
FTM_PWM_ChangeDuty(HW_FTM1,HW_FTM_CH0,Servo_pwm_duty);
OSTimeDlyHMSM(0,0,0,50);
}
}
int main(void)
{
DelayInit();
GPIO_QuickInit(HW_GPIOE, 6, kGPIO_Mode_OPP); /* LED */
UART_QuickInit(UART0_RX_PD06_TX_PD07, 115200);
printf("kPWM_Complementary test, pwm will be generated on PC01 and PC02\r\n");
/* 初始化互补PWM 必须调用2次FTM_PWM_Init 硬件会自动连接相邻的2个通道*/
FTM_PWM_QuickInit(FTM0_CH0_PC01, kPWM_Complementary, 3000);
FTM_PWM_QuickInit(FTM0_CH1_PC02, kPWM_Complementary, 3000);
/* 设置FTM 的占空比 */
FTM_PWM_ChangeDuty(HW_FTM0, HW_FTM_CH0, 8000); // 50%占空比 0-10000 对应 0-100% 设置任意一个通道则会一起改变
while(1)
{
GPIO_ToggleBit(HW_GPIOE, 6);
DelayMs(500);
}
}
int main(void)
{
SystemClockSetup(ClockSource_EX50M,CoreClock_100M);
DelayInit();
OLED_Init();
Sd_Init();
chuinit_Init();
DataInit();
Data_Uart_Init();
while(1)
{
Menu_Init();
//ccd
while(Flag == 1)
{
if(TIME1flag_20ms == 1)
{
TIME1flag_20ms = 0;
ImageCapture(Pixel);
// Sd_X();
// Sd_D();
// UART_Send_Con();
erzhi();
LB();
oled_collect();
oled_show();
}
CCD_HeiXian();
OLED_ZhongXian();
OLED_Write_Num3(4,0,Center);
OLED_Write_Num3(0,0,Left);
OLED_Write_Num3(9,0,Right);
if(Key_1 == 0) //??
{
DelayMs(100);
if(Key_1 == 0)
{
OLED_Clear();
Flag = 2;
SD_X = 0;
PIT_Start(PIT1);
}
}
if(Key_down == 0) //发车
{
DelayMs(100);
if(Key_down == 0)
{
OLED_Clear();
Flag = 0;
PIT_Stop(PIT1);
FTM_PWM_ChangeDuty(FTM1_CH0_PB0,0);
}
}
if(Key_right == 0) //上位机
{
DelayMs(100);
if(Key_right == 0)
{
while(1)
{
OLED_Clear();
Sd_D();
UART_Send_Con();
FTM_PWM_ChangeDuty(FTM1_CH0_PB0,0);
}
}
}
}
//发车
while(Flag == 2)
{
if(TIME1flag_20ms==1)
{
TIME1flag_20ms=0;
ImageCapture(Pixel);
erzhi();
LB();
Sd_X();
}
CCD_HeiXian();
if(leixin == 0)
{
if(jiasuflag <= a4) FTM_PWM_ChangeDuty(FTM1_CH0_PB0,5000);
if(jiasuflag > a4) FTM_PWM_ChangeDuty(FTM1_CH0_PB0,FTMDuty_1);
}
if(leixin == 1)
{
if(jiansuflag <= a3) FTM_PWM_ChangeDuty(FTM1_CH0_PB0,0);
if(jiansuflag > a3) FTM_PWM_ChangeDuty(FTM1_CH0_PB0,FTMDuty_2);
}
if(Key_down == 0)//菜单
{
DelayMs(100);
if(Key_down == 0)
{
OLED_Clear();
Flag = 0;
PIT_Stop(PIT1);
FTM_PWM_ChangeDuty(FTM1_CH0_PB0,0);
}
}
}
}
}
/*****************************
*
* 函数名称CCD_HeiXian
* 功能说明：采集黑线位置进行黑线点数计算
* 参数说明：
* 函数返回：无
* 修改时间：
* 备 注：
*************************************************************************/
void CCD_HeiXian(void)
{
uint8_t i,value_max,value_min,maxvalue;
value_max = Pixel[0];
for (i = 2;i < 126;i++)
{
if (value_max <= Pixel[i]) value_max = Pixel[i];
}
value_min = Pixel[0];
for (i = 2;i < 126;i++)
{
if (value_min >= Pixel[i]) value_min = Pixel[i];
}
AverageValue = (value_max + value_min) / 2 + 10;
// for(i = 2;i <= 126;i++)
// {
// if(value_max <= Pixel[i])
// {
// value_max = Pixel[i];
// maxvalue = i;
// }
// if(value_min >= Pixel[i]) value_min = Pixel[i];
// }
// value_max = (Pixel[maxvalue] + Pixel[maxvalue + 1] + Pixel[maxvalue + 2] + Pixel[maxvalue - 1] + Pixel[maxvalue - 2]) / 5;
//
// if(value_min < 40) value_min = 40;
//
// AverageValue = (0.3 * value_max + 0.7 * value_min);
for (i = saoxian;i <= 122;i++)
{
Right = i;
if (Pixel[i - 2] - Pixel[i] >= 8 && Pixel[i - 3] - Pixel[i - 1] >= 8 && Pixel[i] <= AverageValue) break;
}
for (i = saoxian;i >= 6;i--)
{
Left = i;
if (Pixel[i + 2] - Pixel[i] >= 8 && Pixel[i + 3] - Pixel[i + 1] >= 8 && Pixel[i] <= AverageValue) break;
}
if (Left != 6 && Right != 122 && leixin == 0) Budao = (Right - Left) / 2;
/***********************buxianchuli*************************************/
if (Left != 6 && Right == 122)
{
for (i = saoxian; i <= 122; i++)
{
Right = i;
if (Pixel[i - 4] - Pixel[i] >= 8 && Pixel[i - 5] - Pixel[i - 1] >= 8 && Pixel[i] <= AverageValue) break;
}
if (Right != 122) Center = (Right + Left) / 2;
else
{
Center = Left + Budao;
if (Center > 128) Center = 128;
if (Center < (Right + Left) / 2) Center = (Right + Left) / 2;
}
}
if (Left == 6 && Right != 122)
{
for (i = saoxian; i >= 6; i--)
{
Left = i;
if (Pixel[i + 4] - Pixel[i] >= 8 && Pixel[i + 5] - Pixel[i + 1] >= 8 && Pixel[i] <= AverageValue) break;
}
if (Left != 6) Center = (Right + Left ) / 2;
else
{
if (Right >= Budao) Center = Right - Budao;
else Center = 0;
if (Center > (Right + Left) / 2) Center = (Right + Left) / 2;
}
}
if (Left != 6 && Right != 122) Center = (Right + Left) / 2;
if (Left == Right)
{
if (flag_black == 0) flag_miss = 1;
}
if (flag_miss == 1)
{
for (i = saoxian;i <= 122;i++)
{
Right = i;
if (Pixel[i - 8] - Pixel[i] >= 10 && Pixel[i - 9] - Pixel[i - 1] >= 10 && Pixel[i] <= AverageValue)
{
flag_miss = 0;
break;
}
}
for (i = saoxian;i >= 6;i--)
{
Left = i;
if (Pixel[i + 8] - Pixel[i] >= 10 && Pixel[i + 9] - Pixel[i + 1] >= 10 && Pixel[i] <= AverageValue)
{
flag_miss = 0;
break;
}
}
if (Left != 6 && Right == 122)
{
Center = Left + Budao;
if (Center > 128) Center = 128;
if (Center < (Right + Left) / 2) Center = (Right + Left) / 2;
}
if (Left == 6 && Right != 122)
{
if (Right >= Budao) Center = Right - Budao;
else Center = 0;
if (Center > (Right + Left) / 2) Center = (Right + Left) / 2;
}
if (Left != 6 && Right != 122) Center = (Right + Left) / 2;
if (Left == Right)
{
flag_black = 1;
flag_miss = 0;
if (CenterLast[0] <= 63) FTMDuty = 4910 - (63 - CenterLast[0])*(63 - CenterLast[0]) * a1 / 10;
if (CenterLast[0] >= 64) FTMDuty = 4910 + (CenterLast[0] - 64)*(CenterLast[0] - 64) * a2 / 10;
}
}
if (Right == Left)
{
Left = LeftLast;
Right = RightLast;
Center = (Left + Right) / 2;
}
if (Center > 44 && Center <88 && CenterLast[0] > 44 && CenterLast[0] < 88 )
{
leixin = 0;//zhidao
}
if ((Center <= 44 && Left <= 13) || (Center >=84 && Right >= 115))
{
leixin = 1;//wandao
}
/*********************************************************************/
LeftLast = Left;
RightLast = Right;
CenterLast[1] = CenterLast[0];
CenterLast[0] = Center;
saoxian = Center;
if (saoxian >= 122) saoxian = 122;
if (saoxian <= 6) saoxian = 6;
if (Center >= 122) Center = 122;
if (Center <= 6) Center = 6;
if (Center <= 63) FTMDuty = 4910 - (63 - Center)*(63 - Center) * a1 / 10;
if (Center >= 64) FTMDuty = 4910 + (Center - 64)*(Center - 64) * a2 / 10;
if (FTMDuty <= 4000) FTMDuty = 4000;
if (FTMDuty >= 5800) FTMDuty = 5800;
FTM_PWM_ChangeDuty(FTM0_CH4_PA7,FTMDuty);
}
/*****************************
*
* 函数名称CCD_HeiXian
* 功能说明：采集黑线位置进行黑线点数计算
* 参数说明：
* 函数返回：无
* 修改时间：
* 备 注：
*************************************************************************/
void CCD_HeiXian(void)
{
uint8_t i,value_max,value_min,x1,x2;
value_max = Pixel[0];
for (i = 2;i < 126;i++)
{
if (value_max <= Pixel[i]) value_max = Pixel[i];
}
value_min = Pixel[0];
for (i = 2;i < 126;i++)
{
if (value_min >= Pixel[i]) value_min = Pixel[i];
}
AverageValue = (value_max + value_min * 2) / 3;
for (i = saoxian;i <= 122;i++)
{
Right = i;
if (Pixel[i - 2] - Pixel[i] >= 8 && Pixel[i - 3] - Pixel[i - 1] >= 8 && Pixel[i] <= AverageValue) break;
}
for (i = saoxian;i >= 6;i--)
{
Left = i;
if (Pixel[i + 2] - Pixel[i] >= 8 && Pixel[i + 3] - Pixel[i + 1] >= 8 && Pixel[i] <= AverageValue) break;
}
if (Left != 6 && Right != 122 && leixin == 0) Budao = (Right - Left) / 2;
/***********************buxianchuli*************************************/
if (Left != 6 && Right == 122)
{
for (i = saoxian; i <= 122; i++)
{
Right = i;
if (Pixel[i - 4] - Pixel[i] >= 8 && Pixel[i - 5] - Pixel[i - 1] >= 8 && Pixel[i] <= AverageValue) break;
}
if (Right != 122) Center = (Right + Left) / 2;
else
{
Center = Left + Budao;
if (Center > 128) Center = 128;
if (Center < (Right + Left) / 2) Center = (Right + Left) / 2;
}
}
if (Left == 6 && Right != 122)
{
for (i = saoxian; i >= 6; i--)
{
Left = i;
if (Pixel[i + 4] - Pixel[i] >= 8 && Pixel[i + 5] - Pixel[i + 1] >= 8 && Pixel[i] <= AverageValue) break;
}
if (Left != 6) Center = (Right + Left ) / 2;
else
{
if (Right >= Budao) Center = Right - Budao;
else Center = 0;
if (Center > (Right + Left) / 2) Center = (Right + Left) / 2;
}
}
if (Left != 6 && Right != 122) Center = (Right + Left) / 2;
/*************************heixianchuli*****************************************/
if (Left == 6 && Right == 122 && AverageValue <= 90)
{
if (CenterLast[0] <= 63) Center = 10;
if (CenterLast[0] > 63) Center = 110;
leixin = 1;
}
/***************************shizhichuli*********************************************/
if (AverageValue >= a4 && Left <= 8 && Right >= 120 && Cross_flag_wan == 1 && AverageValue <= 200)
{
Cross_flag = 0;
}
if (AverageValue >= a4 && Left <= 8 && Right >= 120 && Cross_flag_wan == 0 && AverageValue <= 200)
{
Cross_flag = 1;
}
if (Cross_flag)
{
x1 = x2 = a3;
if (leixin == 1) Cross_flag_wan = 1;
if (leixin == 0 && leixin_last == 0)
{
Cross_flag_wan = 0;
Cross_flag = 0;
}
}
else
{
x1 = a1;
x2 = a2;
if (leixin == 0) Cross_flag_wan = 0;
}
/*******************************leixin************************************/
if (Center > 44 && Center < 88 && CenterLast[0] > 44 && CenterLast[0] < 88)
{
leixin = 0;//zhidao
jiansuflag = 0;
}
if ((Center <= 44 && Left <= 13) || (Center >=84 && Right >= 115))
{
leixin = 1;//wandao
jiasuflag = 0;
}
/****************************************************************************/
CenterLast[1] = CenterLast[0];
CenterLast[0] = Center;
leixin_last = leixin;
if (Center >= 122) Center = 122;
if (Center <= 6) Center = 6;
saoxian = Center;
if (Cross_flag)
{
if (Center <= 63) FTMDuty = 4896 - (63 - Center) * x1;
if (Center >= 64) FTMDuty = 4896 + (Center - 64) * x2;
if (FTMDuty <= 4000) FTMDuty = 4000;
if (FTMDuty >= 5800) FTMDuty = 5800;
}
else
{
if (Center <= 63) FTMDuty = 4910 - (63 - Center)*(63 - Center) * x1 / 10;
if (Center >= 64) FTMDuty = 4910 + (Center - 64)*(Center - 64) * x2 / 10;
if (FTMDuty <= 4000) FTMDuty = 4000;
if (FTMDuty >= 5800) FTMDuty = 5800;
}
FTM_PWM_ChangeDuty(FTM0_CH4_PA7,FTMDuty);
}
/*****************************
*
* 函数名称CCD_HeiXian
* 功能说明：采集黑线位置进行黑线点数计算
* 参数说明：
* 函数返回：无
* 修改时间：
* 备 注：
*************************************************************************/
void CCD_HeiXian(void)
{
uint8_t i,j;
j = 0;
for(i = 0;i < 128;i++)
{
if(Pixel[i] == 255)
{
if(j == 0)
{
Left = i;
Right = i;
j = 1;
}
else
{
if(i < Left) Left = i;
if(i > Right) Right = i;
}
}
}
if(Left!=0||Right!=0)
{
Center = (Left + Right) / 2;
if(Center <= 63)
{
if (63 - Center <= 5) FTMDuty = 4700 + (63 - Center) * a1;
if (63 - Center <= 10 && 63 - Center > 5) FTMDuty = 4700 + (63 - Center) * a2;
if (63 - Center < 15 && 63 - Center > 10) FTMDuty = 4700 + (63 - Center) * a3;
if (63 - Center >= 15) FTMDuty = 4700 + (63 - Center) * a4;
FTM_PWM_ChangeDuty(FTM0_CH4_PA7,FTMDuty);
if(FTMDuty >= 5900) FTMDuty = 5900;
}
if(Center >= 64)
{
if (Center - 64 < 5) FTMDuty = 4700 - (Center - 64) * a1;
if (Center - 64 <= 10 && Center - 64 >= 5) FTMDuty = 4700 - (Center - 64) * a2;
if (Center - 64 < 15 && Center - 64 > 10) FTMDuty = 4700 - (Center - 64) * a3;
if (Center - 64 >= 15) FTMDuty = 4700 - (Center - 64) * a4;
FTM_PWM_ChangeDuty(FTM0_CH4_PA7,FTMDuty);
if(FTMDuty <= 3700) FTMDuty = 3700;
}
c=Center;
}
// for(i=63;i>0;i--)
// {
// if(Pixel[i] == 0)
// Left = i;
// }
// for(i = 63;i < 127;i++)
// {
// if(Pixel[i] == 0)
// Right = i;
// }
// Center = (Left + Right) / 2;
// if(Center <= 63)
// {
// if (63 - Center < 5)
// {
// FTMDuty = 4350 - (63 - Center) * a1;
// }
// if (63 - Center <= 10 && 63 - Center >= 5)
// {
// FTMDuty = 4350 - (63 - Center) * a2;
// }
// if (63 - Center < 15 && 63 - Center > 10)
// {
// FTMDuty = 4350 - (63 - Center) * a3;
// }
// if (63 - Center >= 15)
// {
// FTMDuty = 4350 - (63 - Center) * a4;
// }
// FTM_PWM_ChangeDuty(FTM2_CH0_PA10,FTMDuty);
// if(FTMDuty <= 3500) FTMDuty = 3500;
// }
// if(Center >= 64)
// {
// if (Center - 64 < 5)
// {
// FTMDuty = 4350 + (Center - 64) * a1;
// }
// if (Center - 64 <= 10 && Center - 64 >= 5)
// {
// FTMDuty = 4350 + (Center - 64) * a2;
// }
// if (Center - 64 < 15 && Center - 64 > 10)
// {
// FTMDuty = 4350 + (Center - 64) * a3;
// }
// if (Center - 64 >= 15)
// {
// FTMDuty = 4350 + (Center - 64) * a4;
// }
// FTM_PWM_ChangeDuty(FTM2_CH0_PA10,FTMDuty);
// if(FTMDuty >= 5300) FTMDuty = 5300;
// }
// c=Center;
}
/******************************主界面显示********************************/
void Menu_Init(void)
{
OLED_Write_Char(0, yiwei(i,i), 43);
OLED_Write_String(2,yiwei(0,i),"AI ");
OLED_Write_String(2,yiwei(2,i),"BI ");
OLED_Write_String(2,yiwei(4,i),"CI ");
OLED_Write_String(2,yiwei(6,i),"DI ");
OLED_Write_String(2,yiwei(8,i),"F1 ");
OLED_Write_String(2,yiwei(10,i),"F2 ");
OLED_Write_String(2,yiwei(12,i),"SD ");
OLED_Write_Num2(7,yiwei(0,i),a1);
OLED_Write_String(9,yiwei(0,i)," ");
OLED_Write_Num2(7,yiwei(2,i),a2);
OLED_Write_String(9,yiwei(2,i)," ");
OLED_Write_Num2(7,yiwei(4,i),a3);
OLED_Write_String(9,yiwei(4,i)," ");
OLED_Write_Num2(7,yiwei(6,i),a4);
OLED_Write_String(9,yiwei(6,i)," ");
OLED_Write_Num4(7,yiwei(8,i),FTMDuty_1);
OLED_Write_Num4(7,yiwei(10,i),FTMDuty_2);
OLED_Write_String(7,yiwei(12,i)," ");
//上移
if(Key_up == 0)
{
DelayMs(100);
if(Key_up == 0)
{
OLED_Write_Char(0,yiwei(i,i), ' ');
i = i - 2;
if(i == -2) i = 12;
}
}
//下移
if(Key_down == 0)
{
DelayMs(100);
if(Key_down == 0)
{
OLED_Write_Char(0,yiwei(i,i), ' ');
i = i + 2;
if(i == 14) i = 0;
}
}
//a1
if(yiwei(i,i) == yiwei(0,i))
{
//加
if(Key_right == 0)
{
DelayMs(50);
if(Key_right == 0)
{
a1++;
if(a1 >= 50) a1 = 0;
}
}
//减
if(Key_left == 0)
{
DelayMs(50);
if(Key_left == 0)
{
a1--;
if(a1 <= 0) a1 = 50;
}
}
}
//a2
if(yiwei(i,i) == yiwei(2,i))
{
//加
if(Key_right == 0)
{
DelayMs(50);
if(Key_right == 0)
{
a2++;
if(a2 >= 50) a2 = 0;
}
}
//减
if(Key_left == 0)
{
DelayMs(50);
if(Key_left == 0)
{
a2--;
if(a2 <= 0) a2 = 50;
}
}
}
//a3
if(yiwei(i,i) == yiwei(4,i))
{
//加
if(Key_right == 0)
{
DelayMs(50);
if(Key_right == 0)
{
a3++;
if(a3 >= 50) a3 = 0;
}
}
//减
if(Key_left == 0)
{
DelayMs(50);
if(Key_left == 0)
{
a3--;
if(a3 <= 0) a3 = 50;
}
}
}
//a4
if(yiwei(i,i) == yiwei(6,i))
{
//加
if(Key_right == 0)
{
DelayMs(50);
if(Key_right == 0)
{
a4++;
if(a4 >= 50) a4 = 0;
}
}
//减
if(Key_left == 0)
{
DelayMs(50);
if(Key_left == 0)
{
a4--;
if(a4 <= 0) a4 = 50;
}
}
}
//FTMDuty_1
if(yiwei(i,i) == yiwei(8,i))
{
//加
if(Key_right == 0)
{
DelayMs(50);
if(Key_right == 0)
{
FTMDuty_1 += 50;
if(FTMDuty_1 >= 3000) FTMDuty_1 = 3000;
}
}
//减
if(Key_left == 0)
{
DelayMs(50);
if(Key_left == 0)
{
FTMDuty_1 -= 50;
if(FTMDuty_1 <= 0) FTMDuty_1 = 0;
}
}
}
//FTMDuty_2
if(yiwei(i,i) == yiwei(10,i))
{
//加
if(Key_right == 0)
{
DelayMs(50);
if(Key_right == 0)
{
FTMDuty_2 += 50;
if(FTMDuty_2 >= 3000) FTMDuty_2 = 3000;
}
}
//减
if(Key_left == 0)
{
DelayMs(50);
if(Key_left == 0)
{
FTMDuty_2 -= 50;
if(FTMDuty_2 <= 0) FTMDuty_2 = 0;
}
}
}
//SD
if(yiwei(i,i) == yiwei(12,i))
{
if(Key_right == 0)
{
DelayMs(50);
if(Key_right == 0)
{
OLED_Clear();
SD_D = 0;
flag_sd_d = 1;
}
}
}
//打开ccd测试
if(Key_2 == 0)
{
DelayMs(100);
if(Key_2 == 0)
{
OLED_Clear();
flag_test = 1;
SD_X = 0;
PIT_Start(PIT1);
FTM_PWM_ChangeDuty(FTM0_CH3_PA6,FTMDuty_1);
}
}
//发车
if(Key_1 == 0)
{
DelayMs(50);
if(Key_1 == 0)
{
OLED_Clear();
flag_run = 1;
PIT_Start(PIT1);
FTM_PWM_ChangeDuty(FTM0_CH3_PA6,FTMDuty_1);
}
}
}
int main(void)
{
SystemClockSetup(ClockSource_EX50M,CoreClock_100M);
DelayInit();
OLED_Init();
Sd_Init();
chuinit_Init();
DataInit();
Data_Uart_Init();
while(1)
{
Menu_Init();
//ccd测试
while(Flag == 1)
{
if(TIME1flag_20ms == 1)
{
TIME1flag_20ms = 0;
ImageCapture(P1);
// Sd_X();
// Sd_D();
// UART_Send_Con();
oled_collect();
oled_show();
}
CCD_HeiXian();
OLED_ZhongXian();
OLED_Write_Num3(4,0,Center);
OLED_Write_Num3(0,0,Left);
OLED_Write_Num3(9,0,Right);
OLED_Write_Num3(0,2,AverageValue);
if(Key_1 == 0) //发车
{
DelayMs(100);
if(Key_1 == 0)
{
OLED_Clear();
Flag = 2;
SD_X = 0;
PIT_Start(PIT1);
}
}
if(Key_down == 0) //菜单
{
DelayMs(100);
if(Key_down == 0)
{
OLED_Clear();
Flag = 0;
PIT_Stop(PIT1);
FTM_PWM_ChangeDuty(FTM1_CH0_PB0,0);
FTM_PWM_ChangeDuty(FTM1_CH1_PB1,0);
}
}
if(Key_up == 0) //SD 发车
{
DelayMs(100);
if(Key_up == 0)
{
SD_Flag = !SD_Flag;
if(SD_Flag) OLED_Write_String(2,2,"SD running");
else OLED_Write_String(2,2,"SD stopping");
}
}
if(Key_right == 0) //上位机
{
DelayMs(100);
if(Key_right == 0)
{
while(1)
{
OLED_Clear();
Sd_D();
UART_Send_Con();
}
}
}
}
//发车
while(Flag == 2)
{
if(TIME1flag_20ms == 1)
{
TIME1flag_20ms = 0;
ImageCapture(P1);
Sd_X();
}
CCD_HeiXian();
if(leixin == 0)
{
if (jiasuflag <= jiasu_Num) FTM_PWM_ChangeDuty(FTM1_CH0_PB0,5000);
else FTM_PWM_ChangeDuty(FTM1_CH0_PB0,FTMDuty_1);
}
if(leixin == 1)
{
if (jiansuflag <= jiansu_Num)
{
FTM_PWM_ChangeDuty(FTM1_CH0_PB0,0);
FTM_PWM_ChangeDuty(FTM1_CH1_PB1,100);
}
// else if(zhidaoflag_save < 200 && jiansuflag <= a6)
// {
// FTM_PWM_ChangeDuty(FTM1_CH0_PB0,0);
// }
else FTM_PWM_ChangeDuty(FTM1_CH0_PB0,FTMDuty_2);
}
if(Key_down == 0) //菜单
{
DelayMs(100);
if(Key_down == 0)
{
OLED_Clear();
Flag = 0;
PIT_Stop(PIT1);
FTM_PWM_ChangeDuty(FTM1_CH0_PB0,0);
FTM_PWM_ChangeDuty(FTM1_CH1_PB1,0);
}
}
}
}
}
/*****************************
*
* 函数名称CCD_HeiXian
* 功能说明：采集黑线位置进行黑线点数计算
* 参数说明：
* 函数返回：无
* 修改时间：
* 备 注：
*************************************************************************/
void CCD_HeiXian(void)
{
uint8_t i;
for(i = Saoxian;i <= 120;i++)
{
Right = i;
if(Pixel[i] == 0) break;
}
for(i = Saoxian;i >= 12;i--)
{
Left = i;
if(Pixel[i] == 0) break;
}
if (Left != 12 && Right != 120) Budao = (Right - Left) / 2;
if (Left != 12 && Right == 120)
{
for (i = Saoxian; i <= 120; i++)
{
Right = i;
if(Pixel[i] == 0) break;
}
if(Right != 120) Center = (Right + Left) / 2;
else
{
Center = Left + Budao;
if (Center > 128) Center = 128;
if (Center < (Right + Left) / 2) Center = (Right + Left) / 2;
}
}
if (Left == 12 && Right != 120)
{
for (i = Saoxian; i >= 12; i--)
{
Left = i;
if(Pixel[i] == 0) break;
}
if(Left != 12) Center = (Right + Left ) / 2;
else
{
if (Right >= Budao) Center = Right - Budao;
else Center = 0;
if (Center > (Right + Left) / 2) Center = (Right + Left) / 2;
}
}
if (Left != 12 && Right != 120) Center = (Right + Left) / 2;
if(Center <= 63)
{
if(63 - Center <= 7) FTMDuty = 4700 + (63 - Center) * a1;
if(63 - Center <= 15 && 63 - Center > 7) FTMDuty = 4700 + (63 - Center) * a2;
if(63 - Center <= 25 && 63 - Center > 15) FTMDuty = 4700 + (63 - Center) * a3;
if(63 - Center <= 40 && 63 - Center > 25) FTMDuty = 4700 + (63 - Center) * a4;
if(63 - Center > 40) FTMDuty = 4700 + (63 - Center) * a5;
FTM_PWM_ChangeDuty(FTM0_CH4_PA7,FTMDuty);
if(FTMDuty >= 5900) FTMDuty = 5900;
}
if(Center >= 64)
{
if (Center - 64 <= 7) FTMDuty = 4700 - (Center - 64) * a1;
if (Center - 64 <= 15 && Center - 64 > 7) FTMDuty = 4700 - (Center - 64) * a2;
if (Center - 64 <= 25 && Center - 64 > 15) FTMDuty = 4700 - (Center - 64) * a3;
if (Center - 64 <= 40 && Center - 64 > 25) FTMDuty = 4700 - (Center - 64) * a4;
if (Center - 64 > 40) FTMDuty = 4700 - (Center - 64) * a5;
FTM_PWM_ChangeDuty(FTM0_CH4_PA7,FTMDuty);
if(FTMDuty <= 3700) FTMDuty = 3700;
}
Saoxian = Center;
OLED_Write_Num3(0,0,Center);
OLED_Write_Num3(4,0,Left);
OLED_Write_Num3(9,0,Right);
}
/**
* @brief 鍏抽棴sin涓柇锛屽叧闂璓WM
* @param None
* @retval None
*/
void AD7687_StopConver (void)
{
NVIC_DisableIRQ (AD7687_SIN_IRQ);
FTM_PWM_ChangeDuty(FTM1_CH1_PB1,0);
}
/**
* @brief When SDI and CNV are low, SDO is driven low. With SCK
* high, a rising edge on CNV initiates a conversion.
* 寮�鍚疨WM锛屽苟镓揿紑SIN镄勪笂鍗囨部涓柇
*
* @param None
* @retval None
*/
void AD7687_StartConver (void)
{
FTM1->CNT = 0;
FTM_PWM_ChangeDuty(FTM1_CH1_PB1,FTM_DUTY);
NVIC_EnableIRQ (AD7687_SIN_IRQ);
}
/*****************************
*
* 函数名称CCD_HeiXian
* 功能说明：采集黑线位置进行黑线点数计算
* 参数说明：
* 函数返回：无
* 修改时间：
* 备 注：
*************************************************************************/
void CCD_HeiXian(void)
{
uint8_t i,x1,x2;
for (i = saoxian;i <= 122;i++)
{
Right = i;
if (Pixel[i] == 0) break;
}
for (i = saoxian;i >= 6;i--)
{
Left = i;
if (Pixel[i] == 0) break;
}
if (Left != 6 && Right != 122 && leixin == 0) Budao = (Right - Left) / 2;
/***********************buxianchuli*************************************/
if (Left != 6 && Right == 122)
{
for (i = saoxian; i <= 122; i++)
{
Right = i;
if (Pixel[i] == 0) break;
}
if (Right!= 122) Center = (Right + Left) / 2;
else
{
Center = Left + Budao;
if (Center > 128) Center = 128;
if (Center < (Right + Left) / 2) Center = (Right + Left) / 2;
}
}
if (Left == 6 && Right != 122)
{
for (i = saoxian; i >= 6; i--)
{
Left = i;
if(Pixel[i] == 0) break;
}
if (Left != 6) Center = (Right + Left ) / 2;
else
{
if (Right >= Budao) Center = Right - Budao;
else Center = 0;
if (Center > (Right + Left) / 2) Center = (Right + Left) / 2;
}
}
if (Left != 6 && Right != 122) Center = (Right + Left) / 2;
/***********************heixian***************************/
// if (Right == Left)
// {
// if (flag_black ==0) flag_miss = 1;
// }
// if (flag_miss == 1)
// {
// for (i = saoxian;i <= 122;i++)
// {
// Right = i;
// if (Pixel[i] == 0)
// {
// flag_miss = 0;
// break;
// }
// }
// for (i = saoxian;i >= 6;i--)
// {
// Left = i;
// if (Pixel[i] == 0)
// {
// flag_miss = 0;
// break;
// }
// }
// if (Left != 6 && Right == 122)
// {
// Center = Left + Budao;
// if (Center > 128) Center = 128;
// if (Center < (Right + Left) / 2) Center = (Right + Left) / 2;
// }
// if (Left == 6 && Right != 122)
// {
// if (Right >= Budao) Center = Right - Budao;
// else Center = 0;
// if (Center > (Right + Left) / 2) Center = (Right + Left) / 2;
// }
//
// if (Left != 6 && Right != 122) Center = (Right + Left) / 2;
if (Right == Left)
{
// flag_black = 0;
// flag_miss = 0;
if (CenterLast[0] < 63) Center = 10;
if (CenterLast[0] >= 63) Center = 118;
}
// }
/*****************************shizhi*****************************************/
if (Right ==122 && Left == 6 && Cross_flag_wan == 0 && Cross_flag == 0)
{
Cross_flag = 1;
Center = 64;
}
if (Right ==122 && Left == 6 && Cross_flag_wan == 1 && Cross_flag == 1)
{
Cross_flag = 0;
Center = 64;
}
if(Cross_flag)
{
x1 = x2 = a3;
if (leixin == 1) Cross_flag_wan = 1;
}
else
{
x1 = a1;
x2 = a2;
if (leixin == 0) Cross_flag_wan = 0;
}
/*********************************************************************/
if (Center > 44 && Center <88 && CenterLast[0] > 44 && CenterLast[0] < 88 )
{
leixin = 0;//zhidao
jiansuflag = 0;
}
if ((Center <= 44 && Left <= 13) || (Center >=84 && Right >= 115))
{
leixin = 1;//wandao
jiasuflag = 0;
}
LeftLast = Left;
RightLast = Right;
CenterLast[1] = CenterLast[0];
CenterLast[0] = Center;
if (Center >= 122) Center = 122;
if (Center <= 6) Center = 6;
saoxian = Center;
if (Cross_flag == 0)
{
if (Center <= 63) FTMDuty = 4896 - (63 - Center)*(63 - Center) * x1 / 10;
if (Center >= 64) FTMDuty = 4896 + (Center - 64)*(Center - 64) * x2 / 10;
if (FTMDuty <= 4000) FTMDuty = 4000;
if (FTMDuty >= 5800) FTMDuty = 5800;
FTM_PWM_ChangeDuty(FTM0_CH4_PA7,FTMDuty);
}
if (Cross_flag == 1)
{
if (Center <= 63) FTMDuty = 4896 - (63 - Center) * x1 / 10;
if (Center >= 64) FTMDuty = 4896 + (Center - 64) * x2 / 10;
if (FTMDuty <= 4000) FTMDuty = 4000;
if (FTMDuty >= 5800) FTMDuty = 5800;
FTM_PWM_ChangeDuty(FTM0_CH4_PA7,FTMDuty);
}
}
int main(void)
{
unsigned char i;
unsigned char Send_Count;
uint32_t DMA_Value0 = 0;
uint32_t DMA_Value1 = 0;
PIT_InitTypeDef PIT_InitStruct1;
GPIO_InitTypeDef GPIO_InitStruct1;
FTM_InitTypeDef FTM_InitStruct1;
DMACNT_InitTypeDef DMACNT_InitStruct1;
SystemClockSetup(ClockSource_EX50M,CoreClock_100M);
UART_DebugPortInit(UART0_RX_PA14_TX_PA15,115200);
DisplayCPUInfo();
DelayInit();
OLED_Init();
DMACNT_InitStruct1.DMACNT_Mode = DMACNT_MODE_FALLING; //ÉÏÉýÑؼÆÊý
DMACNT_InitStruct1.DMA_Chl = DMA_CH0; //ʹÓÃͨµÀ 0
DMACNT_InitStruct1.GPIOx = PTC; //PTC5
DMACNT_InitStruct1.GPIO_Pin = GPIO_Pin_5;
DMACNT_Init(&DMACNT_InitStruct1);
GPIO_InitStruct1.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStruct1.GPIO_InitState = Bit_RESET;
GPIO_InitStruct1.GPIO_IRQMode = GPIO_IT_DISABLE;
GPIO_InitStruct1.GPIO_Mode = GPIO_Mode_OPP;
GPIO_InitStruct1.GPIOx = PTB;
GPIO_Init(&GPIO_InitStruct1);
GPIO_InitStruct1.GPIO_Pin = GPIO_Pin_1;
GPIO_InitStruct1.GPIO_InitState = Bit_SET;
GPIO_InitStruct1.GPIOx = PTB;
GPIO_Init(&GPIO_InitStruct1);
PIT_InitStruct1.PITx=PIT2;
PIT_InitStruct1.PIT_Interval=100;
PIT_Init(&PIT_InitStruct1);
NVIC_EnableIRQ(PIT2_IRQn);
PIT_ITConfig(PIT2,PIT_IT_TIF,ENABLE);
PIT_InitStruct1.PITx=PIT0;
PIT_InitStruct1.PIT_Interval=20000;
PIT_Init(&PIT_InitStruct1);
PIT_ITConfig(PIT0,PIT_IT_TIF,ENABLE);
NVIC_EnableIRQ(PIT0_IRQn);
FTM_InitStruct1.Frequency = 800;
FTM_InitStruct1.FTM_Mode = FTM_Mode_EdgeAligned;
// FTM_InitStruct1.InitalDuty = 10000;
FTM_InitStruct1.FTMxMAP = FTM0_CH0_PC1;
FTM_Init(&FTM_InitStruct1);
UART_printf("DMACNT_CH0_Value:%d \n",*Pid_Out);
while(1)
{
// if(key_detect1()){
// Pid_Set += 500;
// }
// if(key_detect3()){
// Pid_Set -= 500;
// }
GPIO_ResetBits(PTB,GPIO_Pin_0);
PidError[2] = Pid_Set - *Pid_Out;
PidOut = Kp * (PidError[2] - PidError[1]);
PidOut += Ki * PidError[2] * Td;
PidOut += Kd * (PidError[2] - 2 * PidError[1] + PidError[0]) / Td;
PidError[0] = PidError[1];
PidError[1] = PidError[2];
PID_FinalOut =PidOut*2;
//
// if(key_detect5()){
// Kd+=0.2;OLED_Clear();
// }
// else if(key_detect6()){
// Kd-=0.2;OLED_Clear();
// }
//
// OLED_Write_String(2,0,"Kp");
// OLED_Write_String(2,2,"Ki");
// OLED_Write_String(2,4,"Kd");
// OLED_Write_Num3(6,0,Kp*10);
// OLED_Write_Num3(6,2,Ki*10);
// OLED_Write_Num3(6,4,Kd*10);
// OLED_Write_Num4(9,6,*Pid_Out-1000);
//
if(PID_FinalOut>10000) PID_FinalOut=10000;
else if(PID_FinalOut<0) PID_FinalOut=0;
FTM_PWM_ChangeDuty(FTM0_CH0_PC1,PID_FinalOut);
}
}
int main(void)
{
SystemClockSetup(ClockSource_EX50M,CoreClock_100M);
DelayInit();
OLED_Init();
Sd_Init();
chuinit_Init();
DataInit();
Data_Uart_Init();
while(1)
{
Menu_Init();
//ccd测试
while(Flag == 1)
{
if(TIME1flag_20ms==1)
{
TIME1flag_20ms=0;
ImageCapture(Pixel);
// Sd_X();
// Sd_D();
// UART_Send_Con();
erzhi();
LB();
oled_collect();
oled_show();
}
CCD_HeiXian();
OLED_ZhongXian();
if(Key_1 == 0) //发车
{
DelayMs(100);
if(Key_1 == 0)
{
OLED_Clear();
Flag = 2;
SD_X = 0;
PIT_Start(PIT1);
}
}
if(Key_down == 0) //菜单
{
DelayMs(100);
if(Key_down == 0)
{
OLED_Clear();
Flag = 0;
PIT_Stop(PIT1);
FTM_PWM_ChangeDuty(FTM1_CH0_PB0,0);
}
}
}
//发车
while(Flag == 2)
{
if(TIME1flag_20ms==1)
{
TIME1flag_20ms=0;
ImageCapture(Pixel);
erzhi();
LB();
// Sd_X();
}
CCD_HeiXian();
if(Center - 64 >= 7 || 63 - Center >= 7) FTM_PWM_ChangeDuty(FTM1_CH0_PB0,FTMDuty_2);
if(Center - 64 <= 7 || 63 - Center >= 7) FTM_PWM_ChangeDuty(FTM1_CH0_PB0,FTMDuty_1);
if(Key_down == 0)//菜单
{
DelayMs(100);
if(Key_down == 0)
{
OLED_Clear();
Flag = 0;
PIT_Stop(PIT1);
FTM_PWM_ChangeDuty(FTM1_CH0_PB0,0);
}
}
}
// while(SD_Flag)
// {
// Sd_D();
// UART_Send_Con();
// }
}
}