void BlueToothHandler() { ////////////////串口////////////////////////////////////////////////////////// char ch; if (uart_query(UART0) == 1) //接收数据寄存器满 { //用户需要处理接收数据 uart_getchar(UART0, &ch); //无限等待接受1个字节 uart_putchar(UART0, ch); //发送字符串 } }
int char_present (void) { return uart_query(FIRE_PORT); }
/***********************************主函数**************************************/ void main(void) { for(i = 0; i < 110; i++) //装载摄像头边线初值 { slope.left_initial_value[i] = left_initial[i]; slope.right_initial_value[i] = right_initial[i]; } camera_init(imgbuff); //初始化摄像头 //配置中断服务函数 set_vector_handler(PORTA_VECTORn , PORTA_IRQHandler); //设置LPTMR的中断服务函数为 PORTA_IRQHandler set_vector_handler(DMA0_VECTORn , DMA0_IRQHandler); //设置LPTMR的中断服务函数为 PORTA_IRQHandler set_vector_handler(PORTE_VECTORn ,PORTE_IRQHandler); //设置PORTE的中断服务函数为 PORTE_IRQHandler enable_irq (PORTE_IRQn); //使能PORTE中断 port_init(PTE2, ALT1 | PULLUP ); //5 蓝牙同时发车 if(!gpio_get (PTE2)) //蓝牙通讯同时发车 { key_init(KEY_A); OLED_Init(); while(1) { #if ( CAR_NUMBER == 2 ) OLED_P6x8Str(0, 6, "Press K6 to start!"); if(key_check(KEY_A) == KEY_DOWN) //按K3发车 { uart_putchar(VCAN_PORT, ch); OLED_P6x8Str(0, 6, " "); bluetooth = 1; break; } #endif #if ( CAR_NUMBER == 1 ) OLED_P6x8Str(0, 6, "Start 2B to start!"); while(uart_query (VCAN_PORT) == 0); OLED_P6x8Str(0, 6, " "); bluetooth = 1; break; #endif } } else { bluetooth = 2; } mk60int(); init_PID(); while(1) { oled_display(); camera_get_img(); //摄像头获取图像 img_extract(img, imgbuff, CAMERA_SIZE); //解压图像 get_slope(img, &slope); //获取斜率 boundary_detection();//扫描图像获取边界 picture_analysis();//获取中线 //SetMotorVoltage(0.2,0.2); if(!gpio_get (PTE1)) { vcan_sendimg(imgbuff,CAMERA_SIZE);//摄像头看图像 } if(!gpio_get (PTE2)) //蓝牙同时发车 { #if ( CAR_NUMBER == 1 ) if(uart_querychar (VCAN_PORT, &ch) != 0) { if(ch == 's') { stop_done = 1; } } #endif #if ( CAR_NUMBER == 2 ) if(stop_done) { lptmr_delay_ms(500); //延时确保后车过线 while(1) { uart_putchar(VCAN_PORT, ch_stop); } } #endif } if(!gpio_get (PTE3)) //速度40 { vPID.Setpoint = 40; } if(!gpio_get (PTE4)) //速度45 { vPID.Setpoint = 45; } if(!gpio_get (PTE5)) //速度50 { vPID.Setpoint = 50; } if(!gpio_get (PTE6)) //速度47 { vPID.Setpoint = 46; } if(!gpio_get (PTE7)) //速度48 { vPID.Setpoint = 47; } if(!gpio_get (PTE8)) //速度49 { vPID.Setpoint = 48; } //ware1[0]=xielv; //vcan_sendware(ware1, sizeof(xielv)); /* Display_number(36, 6, ttt); Display_number(0, 6, sss); printf("%d,", left_diuxian1); printf("%d\n",tt-t); */ //printf("%d\n",speed1); //printf("%d,",left_diuxian1); //printf("%d\n",slope3); //printf("%d,",left_chazi); //printf("%d\n",right_chazi); //printf("%d,",m); //printf("%d\n",a); // if(!gpio_get (PTE8)) // { // for(l=0;l<120;l++) // { // printf("%d,",left_bianjie[l]); // } // printf("\n"); // } } }