/*!
* @brief 设置LED灯亮灭反转
* @param LED_e LED编号（LED0、LED1、LED2、LED3）
* @since v5.2
* Sample usage: led_turn (LED0); // LED0灯亮灭反转
*/
void led_turn(LED_e ledn)
{
if(ledn < LED_MAX)
{
gpio_turn(LED_PTxn[ledn]);
}
else
{
ledn = LED_MAX;
while(ledn--)
{
gpio_turn(LED_PTxn[ledn]);
}
}
}
void ccd_clock_turn(){
gpio_turn(PORTB, 9); // Gen 3 main board Clock
}
void main()
{
uart_init(UART3, 115200); // For our flashed bluetooth
//uart_init(UART3, 9600); // For our non-flashed bluetooth
gpio_init(PORTE,6,GPI,0); // SW2 goes into gyro calibration mode
printf("\nWelcome to the SmartCar 2013 Sensor team developement system\n");
while(1){
printf("==============================================================\n");
printf("Please select mode:\n---------------------------\n");
printf("1:Accelerometer&gyro\n");
printf("2:LinearCCD\n");
printf("3:Flash Memory\n");
printf("4:Encoder testing\n");
printf("6:Motor control test\n");
printf("7:SystemLoop Test\n");
delayms(300);
if(gpio_get(PORTE,6)==0){
adc_init(ADC1,AD5b);
adc_init(ADC1,AD7b);
printf("We are now in gyro calibration mode, Please keep car stationery and wait till light dies");
gpio_init(PORTE,24,GPO,0);
gpio_init(PORTE,25,GPO,0);
gpio_init(PORTE,26,GPO,0);
gpio_init(PORTE,27,GPO,0);
delayms(3000);
turn_gyro_offset=ad_ave(ADC1,AD5b,ADC_12bit,1000);
balance_gyro_offset=ad_ave(ADC1,AD7b,ADC_12bit,1000);
store_u32_to_flashmem1(turn_gyro_offset);
store_u32_to_flashmem2(balance_gyro_offset);
gpio_turn(PORTE,24);
gpio_turn(PORTE,25);
gpio_turn(PORTE,26);
gpio_turn(PORTE,27);
while(1){}
}
g_char_mode = '7'; // Hard code mode = system loop
//g_char_mode = uart_getchar(UART3);
switch (g_char_mode){
case '0':
//VR analog input
adc_init(ADC0,AD14);
while(1){
delayms(500);
printf("\n%d",ad_once(ADC0,AD14,ADC_16bit));//vr value
}
break;
case '1':
uart_sendStr(UART3,"The mode now is 1: Accelerometer and Gyroscope Test");
//accl_init();
adc_init(ADC1,AD6b);
adc_init(ADC1,AD7b);
adc_init(ADC0,AD14);
adc_init(ADC1,AD4b);
balance_centerpoint_set=ad_ave(ADC0,AD14,ADC_12bit,10);
printf("\nEverything Initialized alright\n");
while(1)
{
//printf("\n\f====================================");
//control_tilt=(ad_ave(ADC1,AD6b,ADC_12bit,8)-3300)+(balance_centerpoint_set/10);
//printf("\nMain gyro%d",control_tilt);//theta
//printf("\n%d",ad_once(ADC1,AD7b,ADC_12bit)-1940);//omega
printf("\n%d",ad_ave(ADC1,AD6b,ADC_12bit,8)-940);
delayms(50);
}
break;
case '2':
uart_sendStr(UART3,"The mode now is 2: Linear CCD");
ccd_interrupts_init();
printf("\nEverything Initialized alright\n");
while(1)
{
//ccd_sampling(1); // Longer SI CCD Sampling
}
break;
case '3':
uart_sendStr(UART3,"The mode now is 3:Flash Memory\n");
Flash_init();
printf("Flash Memory init ok\n");
printf("writing the u32 : 3125 to memory 1\n");
store_u32_to_flashmem1(3125);
printf("writing the u32: 1019 to memory 2\n");
store_u32_to_flashmem2(1019);
printf("Now reading from memory\n");
printf("Memory 1:%d\n",get_u32_from_flashmem1());
printf("Memory 2:%d\n",get_u32_from_flashmem2());
while(1)
{
//stops loop to see results
}
break;
case '4':
//temporary case for debuggine encoder libraries, move to encoder.h later
uart_sendStr(UART3,"The mode now is 4: encoder test");
DisableInterrupts;
exti_init(PORTA,6,rising_up); //inits left encoder interrupt capture
exti_init(PORTA,7,rising_up); //inits right encoder interrupt capture
pit_init_ms(PIT1,500); //periodic interrupt every 500ms
EnableInterrupts;
printf("\nEverything Initialized alright\n");
while(1){
}
break;
case '6':
uart_sendStr(UART3,"The mode now is 6: Motor Control test");
//inits
motor_init();
printf("\nEverything Initialized alright\n");
delayms(1000);
while(1)
{
//printf("\n\fInput 0-9 Motor Speed, Currently:%d",motor_test);
//motor_test=100*(uart_getchar(UART3)-48);
FTM_PWM_Duty(FTM1,CH0,2000);
FTM_PWM_Duty(FTM1,CH1,2000);//left
printf("\n\f Input direction : 0 or 1");
motor_test = uart_getchar(UART3)-48;
if (motor_test){
gpio_set(PORTD,9,1);
gpio_set(PORTD,7,1);//this is DIR
}else{
gpio_set(PORTD,9,0);
gpio_set(PORTD,1,0);//this is DIR
}
}
break;
case '7':
printf("\n The Mode is now 7: SystemLoop Test");
adc_init(ADC1,AD6b);
adc_init(ADC1,AD7b);
adc_init(ADC0,AD14);
adc_init(ADC1,AD5b);
balance_centerpoint_set=ad_ave(ADC0,AD14,ADC_12bit,10);
motor_init();
gpio_set(PORTD,9,0); //dir
gpio_set(PORTD,7,0); //dir
FTM_PWM_Duty(FTM1, CH0, 3000); //initital speed
FTM_PWM_Duty(FTM1, CH1, 3000); //initital speed
ccd_interrupts_init();
pit_init_ms(PIT3,1);
printf("\nEverything inited alright");
while(1){
//system loop runs
}
break;
default :
printf("\n\fYou entered:%c, Please enter a number from 1-7 to select a mode\n\f",g_char_mode);
}
}
}
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));
}
}
}
}