int main()
{
unsigned char i=0;
HalLcd_HW_Init(); //oled 初始化
LCD_Fill(0xff); //屏全亮
while(1)
{
for(i=0; i<8; i++)
{
LCD_P16x16Ch(i*16,0,i); //点阵显示
LCD_P16x16Ch(i*16,2,i+8);
LCD_P16x16Ch(i*16,4,i+16);
LCD_P16x16Ch(i*16,6,i+24);
}
HalHW_WaitMS(1000);
LCD_CLS();
LCD_P8x16Str(44,0,"saler");
LCD_P8x16Str(20,2,"OLED DISPLAY");
LCD_P8x16Str(8,4,"TEL:18588220515");
LCD_P6x8Str(20,6,"*****@*****.**");
LCD_P6x8Str(20,7,"2013-10-6 18:18");
HalHW_WaitMS(1000);
//LCD_CLS();
//Draw_BMP(0,0,128,8,BMP); //图片显示
//DelayMS(1000);
}
}
void TEST_display()
{
TEST_mode();
if(MODE)
{
// printf("ldc0_val");
// printf("%d \t",(int)LDC_SPI0_val);
// printf("ldc1_val");
// printf("%d \t",(int)LDC_SPI1_val);
// printf("%d\r\n",(int)LDC_result);
LCD_P6x8Str(0,4,"ldc0_val:");
LCD_BL(55,4,(uint16)LDC_SPI0_val);
LCD_P6x8Str(0,6,"ldc1_val:");
LCD_BL(55,6,(uint16)LDC_SPI1_val);
LCD_BL(90,4,(uint16)adjustment[1]);
LCD_BL(90,6,(uint16)adjustment[2]);
LCD_BL(70,2,(uint16)(divisor*100));
}
else
{
FLOAT_SPI_Read_Buf(LDC1000_CMD_REVID,&orgVal[0],12,SPI0);//orgVal[]对应上面写入的值说明初始化正常
for(int i=0;i<3;i++)
{
printf("%c0",orgVal[i]);
LCD_BL(0+(i*10),8,(uint16)orgVal[i]);
}
RPMIN_tmp_SPI0 = orgVal[2];
systick_delay_ms(150);
FLOAT_SPI_Read_Buf(LDC1000_CMD_REVID,&orgVal[0],12,SPI1);//orgVal[]对应上面写入的值说明初始化正常
for(int i=0;i<3;i++)
{
printf("%c1",orgVal[i]);
LCD_BL(0+(i*10),9,(uint16)orgVal[i]);
Motor_stop();
}
systick_delay_ms(150);
}
}
void Out_side_collect()
{
int count = 50;
LCD_P6x8Str(0,6,"out side");
while(count--)
{
ldc0_side=(float)filter(SPI0)/10;//左
ldc1_side=(float)filter(SPI1)/10;//右
LCD_BL(55,6,(uint16)ldc0_side);
LCD_BL(90,6,(uint16)ldc1_side);
if(flag) ldc1_side += adjustment[0];
else ldc0_side += adjustment[0];
}
ldc1_side += 50;
ldc0_side += 50;
}
/***********功能描述：显示一行ascii 码?无显示的点阵显示黑色, y为页的范围0～7*****************/
void HalLcd_HW_WriteLine(unsigned char line, const char *pText)
{
LCD_FillLine(line-1, 0); //先把这一行显示成黑色
LCD_P6x8Str(0, line-1, (unsigned char *)pText);
}
void main(void)
{
int i1=0;
int count10S = 0;
Device_init();
disable_irq(PIT0_IRQn);
systick_delay_ms(50);
FLOAT_LDC_init(SPI1);
systick_delay_ms(50);
FLOAT_LDC_init(SPI0);
systick_delay_ms(1000);
uart_init(UART3,115200);
key_init(0);
key_init(1);
key_init(2);
//LDC_EVM_TEST();
//Speed_Ctl_Init(short point_value, double dKpp, double dKii, double dKdd);
while(1)
{
//value_collect();
LCD_P6x8Str(0,2,"Rmax Lmin");
printf("Rmax Rmin\r\n");
systick_delay_ms(1500);
i1=50;
while(i1--)
{
adjustment[2]=(float)filter(SPI1)/10;//右max
LCD_BL(55,2,(uint16)adjustment[2]);
printf("%d\r\n",adjustment[2]);
}
i1=50;
while(i1--)
{
adjustment[1]=(float)filter(SPI0)/10;//左min
LCD_BL(90,2,(uint16)adjustment[1]);
printf("%d\r\n",adjustment[1]);
}
LCD_BL(55,2,(uint16)adjustment[1]);
LCD_BL(90,2,(uint16)adjustment[2]);
LCD_P6x8Str(0,4,"Lmax Rmin");
printf("Lmax Rmin\r\n");
systick_delay_ms(1500);
i1=50;
while(i1--)
{
adjustment[3]=(float)filter(SPI1)/10;//右min
LCD_BL(55,4,(uint16)adjustment[3]);
printf("%d\r\n",adjustment[3]);
}
i1=50;
while(i1--)
{
adjustment[4]=(float)filter(SPI0)/10;//左max
LCD_BL(90,4,(uint16)adjustment[4]);
printf("%d\r\n",adjustment[4]);
}
LCD_BL(55,4,(uint16)adjustment[4]);
LCD_BL(90,4,(uint16)adjustment[3]);
if(adjustment[1]<=adjustment[3])
adjustment[5]=adjustment[1];//次小值
else
adjustment[5]=adjustment[3];//次小值
if(adjustment[2]>=adjustment[4])
adjustment[6]=adjustment[2];//次大值
else
adjustment[6]=adjustment[4];//次大值
divisor = (adjustment[2] - adjustment[3])/60; //48 //50
divisor2 = (adjustment[4] - adjustment[1])/59; //48 //45
zengfuzhi = (adjustment[2] - adjustment[3])/(adjustment[4] - adjustment[1]);
// for(int i=0;i<10;i++)
// {
// printf("%d\r\n",adjustment[i]);
// }
// systick_delay_ms(1000);
LCD_P6x8Str(0,6,"Mid value");
i1 = 50;
systick_delay_ms(1500);
while(i1--)
{
adjustment[7]=(float)filter(SPI0)/10;//左
adjustment[8]=(float)filter(SPI1)/10;//右
LCD_BL(55,6,(uint16)adjustment[7]);
LCD_BL(90,6,(uint16)adjustment[8]);
}
if(adjustment[7]>=adjustment[8])
{ flag=1;
adjustment[0]=adjustment[7]-adjustment[8];
}
else
{
flag=0;
adjustment[0]=adjustment[8]-adjustment[7];
}
LCD_Fill(0x00);
Out_side_collect();
LCD_Fill(0x00);
adjustment_change();
enable_irq(PIT0_IRQn);
while(1)
{
if(PIT_1sFlag == 1)
{
gpio_turn(PTD4);
PIT_1sFlag = 0;
count10S ++;
}
if(key_check(2) == 0)
{
LCD_Fill(0x00);
Motor_stop();
break;
}
else
{
if(PIT_5msFlag == 1)
{
LDC_get();
PIT_5msFlag = 0;
Steering_Change();
}
if(count10S > 10)
{
if(gpio_get(PTC4) == 0)
{
while(1)
{
Motor_stop();
Steering_Change();
}
}
}
if(PIT_10msFlag == 1)
{
Quad_count();
now = (float)guad_val;
Motor_PID(now);
PIT_10msFlag = 0;
}
if(PIT_20msFlag == 1)
{
PIT_20msFlag = 0;
}
if(PIT_50msFlag == 1)
{
//Result_collect();
PIT_50msFlag = 0;
}
//printf("guad_val:%d \r\n",(guad_val));
//TEST_display();
speed_control();
//key_choice();
uint16 i23 = gpio_get(PTC4);
//LCD_BL(50,2,(uint16)(i23));
}
}
}
}
void value_collect() //收集得出最大值放在0 和 1 位置
{
int i=0;
int i1 =0;
float max,min;
LCD_P6x8Str(0,2,"Rmax Lmin");
LCD_P6x8Str(0,4,"Lmax Rmin");
systick_delay_ms(1500);
i = 0;
while(i<100)
{
ldcValuetemp1[i]=(float)filter(SPI1)/10;
LCD_BL(55,2,(uint16)ldcValuetemp1[i]);
systick_delay_ms(30);
ldcValuetemp0[i]=(float)filter(SPI0)/10;
LCD_BL(90,2,(uint16)ldcValuetemp0[i]);
i++;
}
i = 1;
max = ldcValuetemp0[0];
min = ldcValuetemp0[0];
while(i<100)
{
if(max<ldcValuetemp0[i])
max = ldcValuetemp0[i];
if(min>ldcValuetemp0[i]);
min = ldcValuetemp0[i];
i++;
}
adjustment[4] = max;
adjustment[1] = min;
max = ldcValuetemp1[0];
min = ldcValuetemp1[0];
i = 1;
while(i<100)
{
if(max<ldcValuetemp1[i])
max = ldcValuetemp1[i];
if(min>ldcValuetemp1[i]);
min = ldcValuetemp1[i];
i++;
}
adjustment[2] = max;
adjustment[3] = min;
LCD_BL(55,2,(uint16)adjustment[1]);
LCD_BL(90,2,(uint16)adjustment[2]);
LCD_BL(55,4,(uint16)adjustment[4]);
LCD_BL(90,4,(uint16)adjustment[3]);
}
