/***********************************************************
*功能： 利用pit定时中断，模拟N路定时器，定时间隔1ms
*形参：
* 无
*返回：
* 无
*/
void SimulatTimerMsF_PIT_ISR()
{
uint_8 i;
if((PIT_TFLG(SimulatTimer_PIT_Tn) & PIT_TFLG_TIF_MASK) != 0)
{
PIT_Flag_Clear(SimulatTimer_PIT_Tn);
for(i = 0; i < SimulatTimerMsCountN; i++)
{
if(SimulatTimerMsVal[i] . flag.ten == 1) //使能
{
if(++ SimulatTimerMsVal[i].count == 0) //溢出
{
SimulatTimerMsVal[i].flag.tov = 1;
}
if(SimulatTimerMsVal[i].flag.tfc == 1) //比较
{
if(SimulatTimerMsVal[i].count == SimulatTimerMsVal[i].cmr)
{
SimulatTimerMsVal[i].count = 0;
SimulatTimerMsVal[i].flag.tcf = 1;
}
}
}
}
}
}
void PIT0_IRQHandler(void)
{
PIT_Flag_Clear(PIT0); //清中断标志位
TimeCount ++ ;
if(TimeCount%5 == 0 )
{
TIME0flag_5ms = 1;
}
if(TimeCount%10 == 0 )
{
TIME0flag_10ms = 1;
}
if(TimeCount%20 == 0 )
{
TIME0flag_20ms = 1;
}
if(TimeCount%80 == 0 )
{
TIME0flag_80ms = 1;
}
if(TimeCount%100 == 0 )
{
TIME0flag_100ms = 1;
}
if(TimeCount%200 == 0 )
{
TIME0flag_200ms = 1;
TimeCount = 0 ;
}
}
void PIT0_IRQHandler()
{
speed_current = FTM2_CNT;
speed_count = 1;
//printf("%d\n", speed_current);
system_clock ++;
PIT_Flag_Clear(PIT0);
FTM2_CNT = 0;
}
/*************************************************************************
* Jack
*
* 函数名称：SysTimerISR
* 功能说明：PIT1中断，用作系统时钟
* 参数说明：无
* 函数返回：无
* 修改时间：2013-4-9 已测试
* 备 注：
*************************************************************************/
void SysTimerISR(void)
{
for( uint8 i = 0; i <= 7; i++ ) {
PB[i] = gpio_get(PORTC,i+10);
}
Tick++;
PIT_Flag_Clear(PIT1); //清中断标志位
}
/**********************中断服务程序*******************/
void PIT0_IRQHandler(void)
{
//printf(" %d, %d \r\n",get_gyro(),adc_once(ADC1_SE6a, ADC_12bit));
//printf("x :%d\r\n",adc_once(ADC1_SE6a, ADC_12bit)) ;
printf("x :%d\r\n",get_gravity(MMA8451_REG_STATUS ,MMA8451_REG_OUTZ_MSB));
PIT_Flag_Clear(PIT0); //清中断标志位
}
void PIT1_IRQHandler(void)
{
PIT_Flag_Clear(PIT1); //清中断标志位
FTM_PWM_Duty(FTM0, CH2 ,10);
if(sin_count==16)
{
sin_count=0;
}
sin_count++;
}
void PIT0_IRQHandler(void)
{ if(aa<1000) aa++;
delayms();
mpu6050_read();
angle_calculate();
angle_calculate1();
if (flag==2||flag==1)
set_gyro();
if (flag==3&&active==1)
{
set_gyro1_3();
set_gyro_3();
}
// oledplay();
if(flag==1)
{
motor_control();
SetMotorVoltage(0.05,0);
MotorSpeedOut();
}
if(qd==0)
{
motor_control();
SetMotorVoltage(0.05,0);
MotorSpeedOut();
}
if (flag==3&&active==1)
{
motor_control_3();
// SetMotorVoltage(0,0.5);
MotorSpeedOut_3();
}
if (flag==4)
{
motor_control_4();
SetMotorVoltage(0.05,0);
MotorSpeedOut();
}
if(flag==5)
{
set_gyro1();
motor_control1();
SetMotorVoltage(0,0.05);
MotorSpeedOut1();
angle_set1=16;
}
PIT_Flag_Clear(PIT0); //清中断标志位
}
void
PIT0_ISR(void)
{
DisableInterrupts;
speed_cnt = encoder_cnt;
getEncoder = true;
encoder_cnt = 0;
GPIOD_PTOR |= (1 << 8);
PIT_Flag_Clear(PIT0);
EnableInterrupts;
}
/********************************5ms定时器*************************************/
void PIT0_IRQHandler(void)
{
PDkongzhi();//舵机PD控制
//SetMotorVoltage(0.2, 0.2);
PID_count();
// if(gpio_get (PTE3)) //拨码3
// {
// #if ( CAR_NUMBER == 1 )
// if(gpio_get (PTE5))
// {
// #endif
// do_camere_stop(img); //检测停车
// #if ( CAR_NUMBER == 1 )
// }
// #endif
// }
vall = - ( ftm_quad_get(FTM1) ); //获取FTM 正交解码 的脉冲数(负数表示反方向)
ftm_quad_clean(FTM1);
#if ( CAR_NUMBER == 1 )
valr = - ( ftm_quad_get(FTM2) ); //获取FTM 正交解码 的脉冲数(负数表示反方向)
ftm_quad_clean(FTM2);
#endif
#if ( CAR_NUMBER == 2 )
valr = ftm_quad_get(FTM2); //获取FTM 正交解码 的脉冲数(负数表示反方向)
ftm_quad_clean(FTM2);
#endif
if(stop_do)
{
//检测停车延时，防止第一次检测到之后停车
}
else
{
if(stop_count > 200 * 5) //延时5秒
{
stop_do = 1;
}
else
{
stop_count++;
}
}
PIT_Flag_Clear(PIT0);//清中断标志位
}
void PIT_IRQHandler(void)
{
//TpmCountRead();
Speed.Acturally = tpm_pulse_get(TPM2);
//Speed.Acturally = (tpm_pulse_get(TPM2) * WheelGirth) / (CordLineInOneCircle * CoderTimeCircle); //保存脉冲计数器计算值
MotorCtrl();
extern uint32 mpwm;
//printf("$%d,1000,%d,0,0,0,0,0#", Speed.Acturally, mpwm);
tpm_pulse_clean(TPM2); //清空脉冲计数器计算值（开始新的计数）
led_turn(LED3);
PIT_Flag_Clear(PIT0);
}
void PIT2_IRQHandler(void)
{
PIT_Flag_Clear(PIT2); //清中断标志位
if(key8start)
{
key8cout ++ ;
}
if( key8cout > 150)
{
key8cout = 0 ;
key8start = 0 ;
}
if(key9start)
{
key9cout ++ ;
}
if( key9cout > 150)
{
key9cout = 0 ;
key9start = 0 ;
}
if(key10start)
{
key10cout ++ ;
}
if( key10cout > 150)
{
key10cout = 0 ;
key10start = 0 ;
}
if(key11start)
{
key11cout ++ ;
}
if( key11cout > 150)
{
key11cout = 0 ;
key11start = 0 ;
}
}
/*************************************************************************
* 野火嵌入式開發工作室
*
* 函數名稱：pit_init
* 功能說明：PITn定時中斷
* 參數說明：PITn 模塊號（PIT0~PIT3）
cnt 延時時間(單位為bus時鐘周期)
* 函數返回：無
* 修改時間：2012-1-24
* 備 注：
*************************************************************************/
void pit_init(PITn pitn,u32 cnt)
{
//PIT 用的是 Bus Clock 總線頻率
//溢出計數 = 總線頻率 * 時間
/* 開啟時鐘*/
SIM_SCGC6 |=SIM_SCGC6_PIT_MASK; //使能PIT時鐘
/* PIT模塊控制 PIT Module Control Register (PIT_MCR) */
PIT_MCR &=~(PIT_MCR_MDIS_MASK | PIT_MCR_FRZ_MASK ); //使能PIT定時器時鐘 ，調試模式下繼續運行
/* 定時器加載值設置 Timer Load Value Register (PIT_LDVALn) */
PIT_LDVAL(pitn) =cnt; //設置溢出中斷時間
//定時時間到了後，TIF 置 1 。寫1的時候就會清0
PIT_Flag_Clear(pitn); //清中斷標志位
/* 定時器控制寄存器 Timer Control Register (PIT_TCTRL0) */
PIT_TCTRL(pitn) |=( PIT_TCTRL_TEN_MASK | PIT_TCTRL_TIE_MASK ); //使能 PITn定時器,並開PITn中斷
enable_irq(pitn+68); //開接收引腳的IRQ中斷
}
void PIT0_IRQHandler(void)
{
DisableInterrupts;
TimeCount ++ ;
I1_Vol_present_value=ad_ave(ADC0, AD9,ADC_16bit,10);
I1_Vol_present_value=I1_Vol_present_value/65535*3.3;
U1_present_value=ad_ave(ADC0, AD10,ADC_16bit,10);
U1_present_value=U1_present_value/65535*3.3*16;
U2_present_value=ad_ave(ADC0, AD12,ADC_16bit,10);
U2_present_value=U2_present_value/65535*3.3*16;
sum+=I1_Vol_present_value;
PID_control();
if(TimeCount==3000)
{
TimeCount = 0 ;
sum/=3000;
I1_Vol_present_value=sum;
Refresh_Present();
sum=0;
if(U1_present_value>=24)
{
gpio_init(PORTC,3,GPO,0);
gpio_init(PORTC,4,GPO,0);
start_flag=0;
ftm_flag=0;
}
}
EnableInterrupts;
PIT_Flag_Clear(PIT0); //清中断标志位
}
void SamplingISR(void) {
#define T 10
static uint8 count;
DisableInterrupts; //关总中断
GetPosInfo();
FuzzyCtrl();
if(count>T) {
count = 0;
SpeedCtrl();
if(StopDelay<30*T+10)
StopDelay++;
//ScopeShow();
} else {
count++;
}
ShowLCD();
PIT_Flag_Clear(PIT0); //清中断标志位
EnableInterrupts; //开总中断
}
void PIT3_IRQHandler(){
#ifdef PIT3_OnInt
PIT3_OnInt();
#endif
PIT_Flag_Clear(PIT3);
}
void pit3_system_loop(void)
{
switch (system_mode)
{ case 0:
if(gpio_get(PORTE, 6) == 0)
{
system_mode=99;
}
if(gpio_get(PORTE, 8) == 0)
{system_mode=98;}
if(gpio_get(PORTE, 9) == 0)
{system_mode=97;}
if(e<5000){e++;system_mode=0; //wait 5 sec
}
break;
case 99:
ideal_speed=300;
trankp=14;
leftkp=12;
rightkp=13;
leftkd=8;
rightkd=6;
system_mode=100;
break;
case 98:
ideal_speed=300;
trankp=13;
leftkp=13;
rightkp=11;
leftkd=9;
rightkd=7;
system_mode=100;
break;
case 97:
ideal_speed=180;
trankp=18;
leftkp=18;
rightkp=14;
leftkd=11;
rightkd=9;
system_mode=100;
break;
case 100:
if(t<3000){t++; //wait 3 sec
system_mode=100;
}
else{
{system_mode=1;
FTM_PWM_Duty(FTM1,CH1,3800);
}}
break;
case 1:
case 2:
case 3:
case 4:
case 5:
case 6:
case 7:
case 8:
case 9:
case 10:
case 11:
case 12:
case 13:
case 14:
case 15:
case 16:
case 17:
case 18:
case 19:
case 20:
//get sensor advalue
for(i = 0; i < 6; i++){
ADvalue_left += ad_max(ADC0,SE14,ADC_16bit,20);
ADvalue_right += ad_max(ADC0,SE15,ADC_16bit,20);}
ADvalue_left=ADvalue_left/6;
ADvalue_right=ADvalue_right/6;
//decide turn left or turn right
ADvalue_left=ADvalue_left-41500;
ADvalue_right=ADvalue_right-42000;
if(ADvalue_left<0){ADvalue_left=1;} //avoid 0/0
if(ADvalue_right<0){ADvalue_right=1;}
k=ADvalue_right-ADvalue_left; // easy to go straight
if(k<1400 && k>-1400 && ADvalue_left>6000 && ADvalue_right>6000)
{k=750;
FTM_PWM_Duty(FTM0,CH1,k);
tempk=k;
system_mode=system_mode+1;
ADvalue_left=0; // set ad value to zero
ADvalue_right=0;
break;
}
q=ADvalue_right+ADvalue_left;
k=k*1000;
k=k/q;
if(k>0){
k=k*k;}
if(k<0){
k=-k*k;}
k=k/1000;
k=k*trankp/100;
if(k>0){k=k*rightkp/10;}
if(k<0){k=k*leftkp/10;}
k=750+k;
if(k>910){k=909;}
if(k<570){k=571;}
errork=k-tempk;
if(k>0){errork=errork*rightkd/10;}
if(k<0){errork=errork*leftkd/10;}
k=k+errork;
if(k>910){k=909;}
if(k<570){k=571;}
absoluterrork=k-tempk;
if(absoluterrork>50 || absoluterrork<-57){k=tempk;}
FTM_PWM_Duty(FTM0,CH1,k);
ADvalue_left=0;
ADvalue_right=0;
tempk=k;
system_mode=system_mode+1;//go to next state on next cycle
if(s<5000){s++;
rsw=0;}
else{
if(rsw>1){system_mode=22;}}
break;
case 21: // speed control
encoder20ms = FTM2_CNT;
error = ideal_speed-encoder20ms ;
if(error==ideal_speed){error= error*7;}
if(error>ideal_speed*7/10){error = error*4;}
if(error>ideal_speed*9/20){error = error*2;}
if(error>ideal_speed*1/5){error = error*1;}
if(error>0){error = error*1/5;}
if(error<-ideal_speed){error = error*7;}
if(error<-ideal_speed*7/10){error = error*4;}
if(error<-ideal_speed*9/20){error = error*2;}
if(error<-ideal_speed*1/5){error = error*1;}
if(error<0){error = error*1/5;}
if(encoder20ms!=ideal_speed){final_speed = final_speed+error;}
if(final_speed>8000){final_speed=7600;}
if( encoder20ms>ideal_speed*2)
{
gpio_set(PORTD,9,0);
final_speed= 2000;
}
else{gpio_set(PORTD,9,1);}
FTM_PWM_Duty(FTM1,CH1,final_speed);
FTM2_CNT=0;
system_mode=1; //back to the top of pit
if(s<5000){s++;
rsw=0;}
else{
if(rsw>1){system_mode=22;}}
break;
case 22:
FTM_PWM_init(FTM1,CH1,10000,0);
break;
}
PIT_Flag_Clear(PIT3);
}
void PIT0_IRQHandler()
{
pit0_isr();
PIT_Flag_Clear(PIT0);
}
/*************************************************************************
* 野火嵌入式开发工作室
*
* 函数名称：PIT0_IRQHandler
* 功能说明：PIT0 定时中断服务函数
* 参数说明：无
* 函数返回：无
* 修改时间：2012-2-18 已测试
* 备 注：
*************************************************************************/
void PIT0_IRQHandler(void)
{
PIT_Flag_Clear(PIT0); //清中断标志位
}
void PIT0_IRQHandler(void)
{
DisableInterrupts;
PIT_Flag_Clear(PIT0);
zlf++;
sf++;
df++;
if(b==1)
{
if(fanzhuan==0)
{
sdsd=700;//1350
fanzhuan=1;
}
}
if(d==1||g_fCarAngle>=35)
while(1)
{
FTM_PWM_Duty(FTM0, CH0, 0);
FTM_PWM_Duty(FTM0, CH1, 0);
FTM_PWM_Duty(FTM0, CH2, 0);
FTM_PWM_Duty(FTM0, CH3, 0);
}
/////////////////////////////////////////////////////分段
g_nSpeedControlPeriod++;
speedcontrolout();
g_nDirectionControlPeriod++;
directcontrolout();
//////////////////////////////////////////////
if(zlf>=5)
{
zlf=0;
AD_Calculate();
Speed_Calculate(g_fCarAngle,Gyro_Now);//清华
// Speed_Calculate(angle,angle_dot);//卡尔曼
ssc();///////////////////////////////////////////////////PWM驱动
}
if(df>=10)
{
df=0;
g_nDirectionControlPeriod=0;
directcontrol(Find_Mid_Place);///////////////////////////////////传入中线值
}
if(sf>=100)
{
sf=0;
g_nSpeedControlPeriod=0;
speedcontrol();
}
if(js==0)
{
StartIntegration1();
StartIntegration2();
js=1;
}
else
fs++;
EnableInterrupts;
}
/*************************************************************************
* 野火嵌入式开发工作室
*
* 函数名称：PIT0_IRQHandler
* 功能说明：PIT0 定时中断服务函数
* 参数说明：无
* 函数返回：无
* 修改时间：2012-2-18 已测试
* 备 注：
*************************************************************************/
void PIT0_IRQHandler(void)
{
LED_turn(LED0); //LED0反转
PIT_Flag_Clear(PIT0); //清中断标志位
}
