Esempio n. 1
0
void Init()
{
	SysTickConfig();			//时钟配置
	setTime[5]+=2;
	IwdgConfig();					//看门狗初始化	
	USART2_Config();
	TIM3_PWM_Init();
	LED_GPIO_Config();		   /* LED 端口初始化 */
	HOT_config();
	DS18_config();				//温度传感器初始化 IO口
}
Esempio n. 2
0
int main(void)
{
	int i, RX_status = 0;

	SystemInit();
	GPIO_Configuration();
	USART2_Config();

	/* ========USART打印欢迎信息============ */
	for( i = 0; TxBuf[i] != '\0'; i++) {
		USART_SendData(USART2 , TxBuf[i]);
		while(USART_GetFlagStatus(USART2, USART_FLAG_TC)==RESET);
		}
	for( i = 0; TxBuf1[i] != '\0'; i++) {
		USART_SendData(USART2 , TxBuf1[i]);
		while(USART_GetFlagStatus(USART2, USART_FLAG_TC)==RESET);
		}
	for( i = 0; TxBuf4[i] != '\0'; i++) {
		USART_SendData(USART2 , TxBuf4[i]);
		while(USART_GetFlagStatus(USART2, USART_FLAG_TC)==RESET);
		}
	for( i = 0; TxBuf2[i] != '\0'; i++) {
		USART_SendData(USART2 , TxBuf2[i]);
		while(USART_GetFlagStatus(USART2, USART_FLAG_TC)==RESET);
		}
	for( i = 0; TxBuf4[i] != '\0'; i++) {
		USART_SendData(USART2 , TxBuf4[i]);
		while(USART_GetFlagStatus(USART2, USART_FLAG_TC)==RESET);
		}
	for( i = 0; TxBuf1[i] != '\0'; i++) {
		USART_SendData(USART2 , TxBuf1[i]);
		while(USART_GetFlagStatus(USART2, USART_FLAG_TC)==RESET);
		}
	for( i = 0; TxBuf3[i] != '\0'; i++) {
		USART_SendData(USART2 , TxBuf3[i]);
		while(USART_GetFlagStatus(USART2, USART_FLAG_TC)==RESET);
		}

	while (1)
	{
		GPIO_SetBits(GPIOE, GPIO_Pin_1);
		RX_status = USART_GetFlagStatus(USART2, USART_FLAG_RXNE);
		if(RX_status == SET) {
			USART_SendData(USART2 , USART_ReceiveData(USART2));
			while(USART_GetFlagStatus(USART2, USART_FLAG_TC)==RESET);
			GPIO_ResetBits(GPIOE, GPIO_Pin_1);
			Delay(0xFFFFF);	
        }
	}
}
/*
 * ³õʼ»¯Òº¾§£¬´®¿Ú£¬´¥ÃþÆÁ£¬flash¼°sd¿¨ * 
 */
void ISO_Init(void)
{
	uint8_t k;
  
  /* ÅäÖÃUSART1 */
  USART1_Config();		
	/* ÅäÖÃUSART2 */
  USART2_Config();
	/* ÉèÖÃ TIM */
	TIM2_Configuration();

	USART2_DMATxd_Init();
	
	Set_PrintfPort(1);		//ÉèÖÃDebugPf´Ó´®¿Ú1Êä³ö
}
Esempio n. 4
0
int main(void)
{
    uint16_t temp, humi;    //温湿度
    char HTTP_Buf[400];     //HTTP报文缓存区
    char tempStr[5];       //字符串格式温度
    char humiStr[5];       //字符串格式湿度
    int len;

    USART1_Config();        //USART1作为调试串口
    USART2_Config();        //USART2用于连接ESP8266模块
    Hal_I2C_Init();			//I2C初始化,用于连接温湿度传感器

    ESP8266_Init();         //ESP8266初始化
		printf("ESP8266 init over\r\n");
    //SHT20_loop();         //
	
    while(1)
    {
        /* 获取温湿度 */
        SHT2x_MeasureHM(SHT20_Measurement_T_HM, &temp);
        mDelay(500);
        SHT2x_MeasureHM(SHT20_Measurement_RH_HM, &humi);

        /* 转化为字符串形式 */
        sprintf(tempStr, "%d", temp);
        sprintf(humiStr, "%d", humi);

        //printf("%s   %s\r\n", tempStr, humiStr);

        USART2_Clear();
        len = HTTP_PostPkt(HTTP_Buf, API_KEY, DEV_ID, "temp", tempStr); //HTTP组包
        USART2_Write(USART2, (unsigned char *)(HTTP_Buf), len);			//报文发送
        printf("send HTTP msg:\r\n%s\r\n", HTTP_Buf);

        mDelay(1000);
        printf("rcv response:\r\n%s\r\n", usart2_rcv_buf);

        USART2_Clear();
        len = HTTP_PostPkt(HTTP_Buf, API_KEY, DEV_ID, "humi", humiStr); //HTTP组包
        USART2_Write(USART2, (unsigned char *)(HTTP_Buf), len);			//报文发送
        printf("send HTTP msg:\r\n%s\r\n", HTTP_Buf);

        mDelay(1000);
        printf("rcv response:\r\n%s\r\n", usart2_rcv_buf);

        mDelay(5000);
    }
}
Esempio n. 5
0
/* 
 * 函数名:main
 * 描述  : "主机"的主函数
 * 输入  :无
 * 输出  : 无
 */
int main(void)
{	 
	LED_GPIO_Config();
	TIM2_Config();
	USART2_Config(115200);
	LED1(OFF);
  LED2(OFF);
	Get_ChipID();
	printf("USART2 Test OK!!\r\n");
	printf("Chip ID is 0x%08X 0x%08X 0x%08X.\r\n",
			ChipUniqueID[0],ChipUniqueID[1],ChipUniqueID[2]);
	printf("Chip Size is %d KBytes.\r\n",(*(__IO uint32_t *)(0X1FFF7A22))&0xFFFF);
	while(1)
	{ 
		
	}	
}
Esempio n. 6
0
int main(void)
{	
	u8 i=0,m=0;
	//char buff[6];
	SystemInit();//初始化RCC 设置系统主频为72MHZ
	USART1_Config();
	delay_init();	     //延时初始化
	Ultran_Init();
	I2c_Init_MI();
	TIM5_Cap_Init(0xfffe,8);
	TIM2_Cap_Init(0xfffe,8);
	TIM3_Cap_Init(0xfffe,8);
	TIM1_Cap_Init(0xfffe,8);
	TIM4_Cap_Init(0xfffe,8);
	TIM8_Cap_Init(0xfffe,8);
	USART1_Config();
	USART2_Config();
	USART3_Config();
	delay_ms(1000);
	delay_ms(1000);
	esp8266_ap_server_init();
	for(i=0;i<99;i++)//数组初始化
	{
		data_pc[i]=0x30;
	}
	data_pc[0]=0xff;
	data_pc[1]=0xff;
  while(1)
{	
//		char *buff[10]={"AT",
//	"AT+CIPSTATUS"};
	Ultra_Ranging();
	if(state_0x0a==1)//字符串解析函数
	{
		u8 i=0,weizhi=0;
		data_exist=bf( data_cu,ESP_Responses[5]);
		if(data_exist!=-1)
		{
			data_exist1=bf( data_cu,ESP_Responses[10]);
			if(data_exist1!=-1)
			{	
				data_exist2=data_exist1-data_exist-7;
				if(data_exist2==1)
				{
					data_length1=data_cu[data_exist+7];
					data_length1=data_length1-0x30;
					data_length=data_length1;
					weizhi=9;
				}

				if(data_exist2==2)
				{
					data_length1=data_cu[data_exist+7];
					data_length1=data_length1-0x30;
					data_length1=data_length1*10;

					data_length2=data_cu[data_exist+8];
					data_length2=data_length2-0x30;
					data_length=data_length1+data_length2;
					weizhi=10;
				}

				for(i=0;i<data_length;i++)
				{
					data_wifi[i]=data_cu[data_exist+weizhi+i];				
				}
//				USART_printf(USART1, data_right);//发送通过校验的数据到电脑上方便调试
//				USART_printf(USART1, "\r\n");
			}


		}
		cun=0;
		for(i=0;i<100;i++)//清空接收数组
		{
			data_cu[i]=0;
		}
		state_0x0a=0;//接收状态变量清零
		//data_exist=0;
	}
	if(state_0x0a1==1)//字符串解析函数
	{
		u8 i=0,weizhi=0;
		data_exist3=bf( data_cu1,ESP_Responses[5]);
		if(data_exist3!=-1)
		{
			data_exist4=bf( data_cu1,ESP_Responses[10]);
			if(data_exist4!=-1)
			{	
				data_exist5=data_exist4-data_exist3-7;
				if(data_exist5==1)
				{
					data_length4=data_cu1[data_exist3+7];
					data_length4=data_length4-0x30;
					data_length3=data_length4;
					weizhi=9;
				}

				if(data_exist5==2)
				{
					data_length4=data_cu1[data_exist3+7];
					data_length4=data_length4-0x30;
					data_length4=data_length4*10;

					data_length5=data_cu1[data_exist3+8];
					data_length5=data_length5-0x30;
					data_length3=data_length4+data_length5;
					weizhi=10;
				}

				for(i=0;i<data_length3;i++)
				{
					data_wifi1[i]=data_cu1[data_exist3+weizhi+i];				
				}
				//USART_printf(USART1, data_right);//发送通过校验的数据到电脑上方便调试
				//USART_printf(USART1, "\r\n");
			}


		}
		cun1=0;
		for(i=0;i<100;i++)//清空接收数组
		{
			data_cu1[i]=0;
		}
		state_0x0a1=0;//接收状态变量清零
		//data_exist=0;
	}	 
	data_test=0;
	for(data_long=0;data_long<9;data_long++)//将接收到的数据进行加和,准备进行校验
	{
		data_test+=data_wifi[data_long];

	}
	if(data_test==data_wifi[9])//校验通过就将数据转移并且保存
	{
		for(data_long=0;data_long<9;data_long++)
		{
			data_right[data_long]=data_wifi[data_long];

		}
	}
	data_test=0;
	for(data_long=0;data_long<9;data_long++)//将接收到的数据进行加和,准备进行校验
	{
		data_test+=data_wifi1[data_long];

	}
	if(data_test==data_wifi1[9])//校验通过就将数据转移并且保存
	{
		for(data_long=0;data_long<9;data_long++)
		{
			data_right1[data_long]=data_wifi1[data_long];

		}
	}
	
	for(i=0;i<6;i++)//将转速数据放入data_pc数据包
	{
		sprintf(revolving,"%d",juli[i]);
		for(m=0;m<5;m++)
		{
			if(revolving[m]==0)
				revolving[m]=0xaa;
		}
		for(m=revolving_long;m>0;m--)
		{
			data_pc[i*revolving_long+m+1]=revolving[m-1];

		}
		for(m=0;m<revolving_long;m++)							//将revolving在这里清零
		{
			revolving[m]=0;
		}
	}

	for(i=0;i<8;i++)
	{
		data_pc[32+i+8*(data_right[8]-1)]=data_right[i];
	}
	for(i=0;i<8;i++)
	{
		data_pc[32+i+8*(data_right1[8]-1)]=data_right1[i];
	}	
      crc_code = yb_crc(data_pc,80);//计算CRC校验码
			
	USART_printf(USART1, data_pc);//发送通过校验的数据到电脑上方便调试
	USART_printf(USART1, "\r\n");
	//printf(data_right);
	//printf("\r\n");
	//			printf("电机1=%d ",juli);
	//			printf("电机2=%d\r\n",juli1);
	//			printf("*********\r\n");
	//USART_printf(USART1,buff[1] );
	//delay_ms(100);
	//esp8266_ap_server_init();
	}
			//printf("电机1=%d\s\n",juli);
			//printf("电机2=%s\r\n",juli1);
			
 }
Esempio n. 7
0
/*
 * 函数名:main
 * 描述  :主函数
 * 输入  :无
 * 输出  :无
 */
int main(void)
{
	
	uint32_t i, u32RxLen;
	
 	u16 led0pwmval1=59999;
	u16 led0pwmval2=59999;
	u16 led0pwmval3=59999;
	u16 led0pwmval4=59999;
	u16 adcx;

	float temp;
	double x1,y1,x2,y2,fai;
	
	u8 LAT1,LNG1;//定义两个指针指向存放经纬度的内存地址

	u8 processok=0;//所有数据每20ms处理一次
	double lat,lng;
	double speed2;
// 	double seitatest=0;
	static u8 heartbeat=0;
	
	const u8 at[] = {"receiveok"};
	u8 reply[6]={0x01,0x04,0x01};
	u8 gpsdata[100]={0};//存放待处理的GPS数组
	u8 reply1[3];//准备存放回应的数据	
	u8 reply2[3];//存放左右倾角,滚转角
	u8 reply3[3];//存放前后倾角,俯仰角
	u8 package1[10];//存放纬度
	u8 package2[10];//存放经度
	u8 package3[10];//存放方位角
	u8 package4[10];//存放滚转角
	u8 package5[10];//存放前后倾角
	u8 package6[4];//存放速度
	u8 package7[4];//存放剩余电量
	
	uint8_t source=0x01;//源地址
	uint8_t destination=0x02;//目的地址
	tsPacketOfAppInfo truesendout;//给这个类型定义一个名字
	uint8_t len=61;
	
// 	u8 gpgga[]={"$GPGGA,061021.05,3102.02726033,N,12126.86794498,E,2,12,0.9,25.022,M,8.127,M,1.0,0000*46\r\n"};
  uint8_t sendbuff[]="receiveok";
	u32RxLen=sizeof(at);
	
	ptuoqiu->latitude=&latitude3;
	ptuoqiu->longitude=&longitude3;
	
	gaosi->gaosix =&gaosix3;
	gaosi->gaosiy =&gaosiy3;
	gaosi->gaosix1 =&gaosix4;
	gaosi->gaosiy1 =&gaosiy4;

	DK_NVIC_Init(4);
	SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);//设置systick的时钟是AHB不分频的
	SysTick_Config(7200000);//设置两次中断的时间间隔为100ms

/* USART1,2,3 ,UART4 config 115200 8-N-1 */
	USART1_Config();
	USART2_Config();
	USART3_Config();
	UART4_Config();
	
	Usart_DMA_Config();
	LED_GPIO_Config();
	
	delay_ms(1000);
	
	PWM_Initch1(60000,0);	 //不分频。PWM频率=72000000/60000=1.2Khz
	PWM_Initch2(60000,0);
	PWM_Initch3(60000,0);
	PWM_Initch4(60000,0);

	TIM3->CR1|=0x01;    //使能定时器3 

	LED0_PWM_VAL1=led0pwmval1;
	LED0_PWM_VAL2=led0pwmval2;
	LED0_PWM_VAL3=led0pwmval3;
	LED0_PWM_VAL4=led0pwmval4;

//这个是测试用的数据	
  /*填充将要发送的数据*/	
// 	for (i = 0; i < sizeof(at); i++)
//   {
// 			SendBuff[i]	 = at[i];
//   }

// 	USART_SEND(SendBuff, sizeof(at)-1);

// 	delay_ms(1000);
	
	
  /*填充将要发送的数据*/
// 	for (i = 0; i < SENDBUFF_SIZE; i++)
//   {
// 			SendBuff[i]	 = 0x31;
//   }

// 	USART_SEND(SendBuff, 30);
// //测试数据结束	
//  /*串口向 DMA发出请求 */
//  USART_DMACmd(USART1, USART_DMAReq_Tx, ENABLE);	

  /*在DMA尚未传送完成时,cpu继续执行main函数中的代码*/
  /*点亮了LED灯*/
/*而同时DMA在向串口运送数据,当DMA发送完成时,在中断函数关闭LED灯 */

	Adc_Init();//ADC转换是分频为12MHz

	
	//order_sendinit();
	while(1)
	{
// 	  gpggaresolve(gpgga);
		//Usart1_Send(command1, sizeof(comd1));
		//delay_ms(500);
// 		static u8 pathen=0;
		
				if (sUsart2_entity.u8RxFlag == 1)
				{//如果收到罗盘返回的数据
					sUsart2_entity.u8RxFlag = 0;
					u32RxLen = sUsart2_entity.u16RxTotalNum;
					sUsart2_entity.u16RxTotalNum = 0;	
					processok=1;//50ms到,可以开始处理数据
					if(sUsart2_entity.u8RX_Buffer[1]==0x0d)//如果传回的数据是角度
					{
						for(i=0;i<3;i++)
						{
							reply1[i]=sUsart2_entity.u8RX_Buffer[10+i];//取出方向角
							reply2[i]=sUsart2_entity.u8RX_Buffer[4+i];//取出左右倾角,滚转角
							reply3[i]=sUsart2_entity.u8RX_Buffer[7+i];//取出前后倾角,俯仰角
						}
					}
					memset(sUsart2_entity.u8RX_Buffer,0,15);
				}
	
				if(sUsart3_entity.u8RxFlag==1)
				{//如果收到GPS传回的数据
					sUsart3_entity.u8RxFlag = 0;
					u32RxLen = sUsart3_entity.u16RxTotalNum;
					sUsart3_entity.u16RxTotalNum = 0;	
					
// 					processok=1;//20ms到,可以开始处理数据
					
					for(i=0;i<sizeof(sUsart3_entity.u8RX_Buffer);i++)
					{
						sUsart3_entity.u8RX_Buffer[i]=gpsdata[i];
					}
					memset(sUsart3_entity.u8RX_Buffer,0,150);
// 					gpggaresolve(sUsart3_entity.u8RX_Buffer);		
				}
				
				if (sUart4_entity.u8RxFlag == 1)
				{//如果收到指令
					sUart4_entity.u8RxFlag = 0;
					u32RxLen = sUart4_entity.u16RxTotalNum;
					sUart4_entity.u16RxTotalNum = 0;			
				}
				
				if(speeden==1)//如果2秒到了的话,测速一次,检测剩余电量一次
				{
					speeden=0;
					heartbeat++;
					memset(package6,0,4);//速度和电量的数组先清掉再赋新的值
					memset(package7,0,4);
					speed2=getspeed((*(gaosi->gaosix1)),(*(gaosi->gaosiy1)));//1秒测速一次
// 					speed2=10.6;
// 					seita=getheading(0.5,-1,1,-2);//检测方位角函数是否正常
// 					gettoorbit(200,330);//检测大调整函数
// 					changedirections(1,4,0.5,-1,1,-2);//检测微调是否正常
					if(heartbeat==7)//每隔14s检测一次心跳是否正常
					{
						heartbeat=0;
						hearttest();//检测心跳是否正常函数
					}
// 					(*(gaosi->gaosix1))+=0.05;
// 					(*(gaosi->gaosiy1))+=0.05;//测试速度
// 					if((*(gaosi->gaosix1))>=5)
// 						*(gaosi->gaosix1)=0;
// 					if((*(gaosi->gaosiy1))>=5)
// 						*(gaosi->gaosiy1)=0;
// 					GaussProjCal(*(ptuoqiu->longitude),*(ptuoqiu->latitude),gaosi->gaosix,gaosi->gaosiy);
// 					speed2=getspeed((*(gaosi->gaosix1)),(*(gaosi->gaosiy1)));//1秒测速一次
					
					sprintf(package6,"%4.1f",speed2);
				
					for(i=50;i<=53;i++)
					{
						package[i]=package6[i-50];//速度数组赋值,准备打包
					}
					temp=powadc();//1秒转换电压一次
					
					sprintf(package7,"%4.1lf",temp);
					for (i=54;i<=57;i++)
					{
						package[i]=package7[i-54];//将电压值赋值到数组的后面
					}
				}
		
				if(processok==1)//如果50ms到了的话,那么所有数据进行处理
				{
					memset(package1,0,10);//数据域经纬度,方位角,前后倾角,左右滚转角数组清零
					memset(package2,0,10);
					memset(package3,0,10);
					memset(package4,0,10);
					memset(package5,0,10);
// 					memset(package6,0,4);//速度和电量的数组先清掉再赋新的值
// 					memset(package7,0,4);
					processok=0;//清零50ms标记

					
					head2=hextodex(reply1);//将角度转换为十进制
					roll2=rolltodec(reply2);
					pitch2=pitchtodec(reply3);
	
					
					gpggaresolve(sUsart3_entity.u8RX_Buffer,&LAT1,&LNG1);//处理GPS的数据
					
					lat=longtodouble(ptuoqiu->LAT);
					lng=longtodouble(ptuoqiu->LNG);
					
					changeformat(lng,lat,ptuoqiu->latitude,ptuoqiu->longitude);//将GPS数据解析成经纬度
					
					order();//判断串口4是否接收到什么指令了
					
					if((pathok==1)&&(heartok==1))//如果允许路径转换的话
					{
						move();//路径转换,大约耗时4ms左右
					}
					
					sprintf(package1,"%10.6lf",*(ptuoqiu->latitude));
					sprintf(package2,"%10.6lf",*(ptuoqiu->longitude));
					sprintf(package3,"%10.6lf",head2);
					sprintf(package4,"%10.6lf",roll2);
					sprintf(package5,"%10.6lf",pitch2);
					
// 					GaussProjCal(*(ptuoqiu->longitude),*(ptuoqiu->latitude),gaosi->gaosix,gaosi->gaosiy);//将小车当前的坐标转换为平面坐标
	
					for(i=0;i<=9;i++)//纬度赋值到数据域
					{
						package[i]=package1[i];
					}
					for(i=10;i<=19;i++)//经度赋值到数据域
					{
						package[i]=package2[i-10];
					}
					
					for(i=20;i<=29;i++)//将方位角赋值到数据域中
					{
						package[i]=package3[i-20];
					}
					
					for(i=30;i<=39;i++)//将左右倾角赋值到数据域中
					{
						package[i]=package4[i-30];
					}

					for(i=40;i<=49;i++)//将前后倾角赋值到数据域中
					{
						package[i]=package5[i-40];
					}
						
					
					
					memset(sUart4_entity.u8RX_Buffer,0,150);
		
					count=SendData_thisprotocol(truesendout,source,destination,len);//所有要打包的数据准备到一个数组里	
	//返回打包后的数据个数,函数很好,但是用于VB非常麻烦,太麻烦了简直,所以不用了,解析的时候实在是崩溃了
					head2=0;
					roll2=0;
					pitch2=0;
					memset(reply1,0,10);//三个角度数组都清零
					memset(reply2,0,10);
					memset(reply3,0,10);
// 					memset(package1,0,10);
// 					memset(package2,0,10);
// 					memset(package3,0,10);
// 					memset(package4,0,10);
// 					memset(package5,0,10);
// 					memset(package6,0,4);
// 					memset(package7,0,4);
			
				}
	}
}
Esempio n. 8
0
int main()
{
	USART3_Config();
	USART2_Config();
	Encoder_Init();
	//while(1);
	Motor_Init();
	SysTick_Init(72);
	Car_Run_Speed(0);
	while(!Start_Due)
	{
		Car_Turn_Speed(2000);   //Z向输出标定
	}
	Car_Turn_Angle(0);
	while(1)
	{
		
		//USART1_printf(USART2,"angle=%d cnt=%d\r\n", (int)Car_Angle,TIM2->CNT);
		//USART_SendData(USART2,USART_ReceiveData(USART2));
		
		cmd_speed_pre = speed;
		cmd_angle_pre = turn;
		sscanf(Cmd_Ble, "#%d-%d*", &speed, &turn);
		if (turn > 180)
		{
			turn = turn % 180;
		}
		else if (turn <= -180)
		{
			turn = turn % -180;
		}


		#ifdef BOTTOMIMPROVE  
		// //转向优化
		// if (is_close(Car_Angle,turn))
		// 	turn = turn;
		// else
		// 	turn = turn + 180;
		// 	speed = -speed;
		// if (turn > 180)
		// {
		// 	turn = turn % 180;
		// }
		// else if (turn <= -180)
		// {
		// 	turn = -((-turn) % 180);
		// }

		// Car_Turn_Angle(turn);	
		// Car_Run(speed);
		if (abs(speed) > 0)   //速度为零时不要优化,便于调零
		{
			src_1 = Car_Angle;
		    if (Car_Angle > 0)
		    {
		    	src_2 = -180 + Car_Angle;
		    }
		    else
		    {
		    	src_2 = 180 + Car_Angle;
		    }
		    //calc the angle distance 
		    diff_4 = abs(turn - src_1);   //normal
		    diff_5 = abs(turn - src_2);   //reverse
		    if (diff_4 > 180)
		    {
		    	diff_4 = 360 - diff_4;
		    }
		    if (diff_5 > 180)
		    {
		    	diff_5 = 360 - diff_5;
		    }
		    if (diff_5 >= diff_4)
		   	{
		   		//normal turn
		   	}
		   	else
		   	{
		   		if (turn >=0)
		   		{
		   			turn = -180 + turn;
		   		}
		   		else
		   		{
		   			turn = 180 + turn;
		   		}
		   		speed = -speed; //reverse turn 
		   	}
		}
		#endif


		//解决170 -> -170反转的问题,原理:以170->-170为例,未过180前,turn为190,但是对于calcpid而言,仍然能够正常输出。过了180后,
		//turn就变回-170了,从而恢复正常。
		diff_1 = abs(turn - Car_Angle);
		diff_2 = abs(360 + turn - Car_Angle);
		diff_3 = abs(turn - 360 - Car_Angle);

		if (diff_2 < diff_1)   //+360较小,即170 -> -170
		{
			turn = 360 + turn;
		}
		else if (diff_3 < diff_1)   //-360较小,即-170 -> 170
		{
			turn = turn - 360;
		}
		else
		{
			turn = turn;
		}

		//#ifndef BOTTOMIMPROVE  
		if(abs(turn - cmd_angle_pre) != 0)       //cmd_angle_pre 在读取新值之前被赋值,接下来被赋值的turn又会被更改,因此没有问题
		{
			Car_Turn_Angle(turn);	
		}
		if(abs(speed - cmd_speed_pre) != 0)
		{
			Car_Run(speed);
		}
		stop_protect_val  = (130 - abs(speed)) > 60?60:(130-abs(speed));
		//Car_Turn(1);
		//#endif

	}    
}