void Init_NRF()
{
//*********************************************************************
printf("\n\n\n***********无线模块NRF24L01+测试************");
while(!nrf_init()) //初始化NRF24L01+ ,等待初始化成功为止
{
printf("\n NRF与MCU连接失败，请重新检查接线。\n");
}
//*********************************************************************
set_vector_handler(PORTE_VECTORn ,PORTE_IRQHandler); //设置 PORTE 的中断服务函数为 PORTE_VECTORn
enable_irq(PORTE_IRQn);
}
void PIT_init()
{
pit_init_ms(PIT0,5);
set_vector_handler(PIT0_VECTORn,PIT0_IRQHandler);
//enable_irq(PIT0_IRQn);
//pit_init_ms(PIT1,100);
//set_vector_handler(PIT1_VECTORn,PIT1_IRQHandler);
}
void PIT_init()
{
#if PIT_EN
pit_init_ms(PIT0, 1); //定时 1000 个bus时钟 后中断
set_vector_handler(PIT0_VECTORn,PIT0_IRQHandler); // 设置中断复位函数到中断向量表里
disable_irq(PIT0_IRQn);
#endif
}
extern bool
pci_irq_map_handler (pci_irq_t *irq, vector_handler handler,
uint8 destmask,
IOAPIC_destination_mode_t destmode,
IOAPIC_delivery_mode_t delivmode)
{
u8 vector = find_unused_vector (MINIMUM_VECTOR_PRIORITY);
DLOG ("vector=0x%X", vector);
if (!vector)
return FALSE;
if (!pci_irq_map (irq, vector, destmask, destmode, delivmode))
return FALSE;
set_vector_handler (vector, handler);
return TRUE;
}
// system initialize
void sys_init()
{
uart_init(UART5,9600);
adc_init(ADC1_SE6a); //PTE2 X
adc_init(ADC1_SE7a); //PTE2 Y
pit_init_ms(PIT0, 5); //初始化PIT0，定时时间为： 5ms
set_vector_handler(PIT0_VECTORn ,PIT0_IRQHandler); //设置PIT0的中断服务函数为 PIT0_IRQHandler
i2c_init(I2C0,2000*1000); //初始化I2C1 //高地位数据的读取
i2c_write_reg(I2C0, 0x1c, 0x0f, 0x10); //低通
i2c_write_reg(I2C0, 0x1c, 0x0e, 0x00); //2G
i2c_write_reg(I2C0, 0x1c, 0x2a, 0x01); //激活
}
void
acpi_secondary_init(void)
{
ACPI_STATUS Status;
ACPI_STATUS DisplayOneDevice (ACPI_HANDLE, UINT32, void *, void **);
/* Complete the ACPICA initialization sequence */
Status = AcpiInitializeSubsystem ();
if (ACPI_FAILURE (Status)) {
DLOG_COM1 ("Failed to initialize ACPI.\n");
}
Status = AcpiReallocateRootTable ();
if (ACPI_FAILURE (Status)) {
DLOG_COM1 ("Failed: AcpiReallocateRootTable %d.\n", Status);
}
Status = AcpiLoadTables ();
if (ACPI_FAILURE (Status)) {
DLOG_COM1 ("Failed: AcpiLoadTables.\n");
}
Status = AcpiEnableSubsystem (ACPI_FULL_INITIALIZATION);
if (ACPI_FAILURE (Status)) {
DLOG_COM1 ("Failed: AcpiEnableSubsystem.\n");
}
Status = AcpiInitializeObjects (ACPI_FULL_INITIALIZATION);
if (ACPI_FAILURE (Status)) {
DLOG_COM1 ("Failed: AcpiInitializeObjects.\n");
}
/* Must enable IOAPIC before checking any PCI routing tables. */
acpi_enable_IOAPIC ();
/* Install System Control Interrupt */
u8 vector = find_unused_vector (MINIMUM_VECTOR_PRIORITY);
if (vector) {
u64 flags = IOAPIC_DELIVERY_FIXED | IOAPIC_DESTINATION_LOGICAL;
u8 gsi = acpi_sci_irq;
/* SCI defaults to LEVEL/LOW in IO-APIC mode. */
if ((acpi_sci_flags & ACPI_MADT_POLARITY_MASK) == ACPI_MADT_POLARITY_ACTIVE_HIGH)
flags |= IOAPIC_POLARITY_HIGH;
else
flags |= IOAPIC_POLARITY_LOW;
if ((acpi_sci_flags & ACPI_MADT_TRIGGER_MASK) == ACPI_MADT_TRIGGER_EDGE)
flags |= IOAPIC_TRIGGER_EDGE;
else
flags |= IOAPIC_TRIGGER_LEVEL;
if (IOAPIC_map_GSI (gsi, vector, 0x0100000000000000ULL | flags) != -1) {
set_vector_handler (vector, acpi_irq_handler);
DLOG ("ACPI: mapped GSI 0x%X to vector 0x%X (%s, %s)\n",
gsi, vector,
flags & IOAPIC_TRIGGER_LEVEL ? "level" : "edge",
flags & IOAPIC_POLARITY_LOW ? "low" : "high");
} else
DLOG ("ACPI: failed to map GSI\n");
} else
DLOG ("ACPI: failed to find unused vector\n");
DLOG ("AcpiEnableEvent returned %d\n",
AcpiEnableEvent (ACPI_EVENT_POWER_BUTTON, 0));
DLOG ("AcpiInstallFixedEventHandler returned %d\n",
AcpiInstallFixedEventHandler (ACPI_EVENT_POWER_BUTTON, acpi_power_button, NULL));
DLOG ("AcpiInstallNotifyHandler returned %d\n",
AcpiInstallNotifyHandler (ACPI_ROOT_OBJECT, ACPI_SYSTEM_NOTIFY, acpi_notify_handler, NULL));
DLOG ("AcpiInstallNotifyHandler returned %d\n",
AcpiInstallNotifyHandler (ACPI_ROOT_OBJECT, ACPI_DEVICE_NOTIFY, acpi_notify_handler, NULL));
extern u8 AcpiGbl_OsiData;
AcpiGbl_OsiData=0;
/* Walk the System Bus "\_SB_" and output info about each object
* found. */
#if 0
ACPI_HANDLE SysBusHandle;
AcpiGetHandle (ACPI_ROOT_OBJECT, ACPI_NS_SYSTEM_BUS, &SysBusHandle);
AcpiWalkNamespace (ACPI_TYPE_ANY, SysBusHandle, INT_MAX,
DisplayOneDevice, NULL, NULL);
#else
AcpiGetDevices (NULL, DisplayOneDevice, NULL, NULL);
#endif
}
void main()
{
OLED_Init(); //初始化oled
qd=1;
ftm_pwm_init(FTM0,FTM_CH3,10000,0);
ftm_pwm_init(FTM0,FTM_CH4,10000,0);
ftm_pwm_init(FTM2,FTM_CH0,10000,0);
ftm_pwm_init(FTM2,FTM_CH1,10000,0);
adc_init (ADC1_SE10);
adc_init (ADC1_SE11);
adc_init (ADC1_SE12);
adc_init (ADC1_SE13); //按键初始化
gpio_init (PTA13, GPI,HIGH);//拨码开关初始化
gpio_init (PTA19, GPI,HIGH);
gpio_init (PTA24, GPI,HIGH);
gpio_init (PTA25, GPI,HIGH);
gpio_init (PTA26, GPI,HIGH);
gpio_init (PTA27, GPI,HIGH);
gpio_init (PTA28, GPI,HIGH);
gpio_init (PTA29, GPI,HIGH);
led_init (LED0);
mpu6050_init();
lptmr_delay_ms(1000);
gyro_zero=ad_ave(100);
gyro_zero1=ad_ave1(100);
mpu6050_read();
accel_accel=(accel_x-accel_zero)/16384.0;
if(accel_accel>1) accel_accel=1;
if(accel_accel<-1) accel_accel=-1;
angle_fuse=180/pi*(asin(accel_accel));
accel_accel1=(accel_y-accel_zero1)/16384.0;
if(accel_accel1>1) accel_accel1=1;
if(accel_accel1<-1) accel_accel1=-1;
angle_fuse1=180/3.1415926*(asin(accel_accel1));
pit_init_ms(PIT0, 5); //初始化PIT0，定时时间为： 5ms
set_vector_handler(PIT0_VECTORn ,PIT0_IRQHandler); //设置PIT0的中断服务函数为 PIT0_IRQHandler
enable_irq (PIT0_IRQn); //使能PIT0中断
uart_init(UART3, 115200);
while(aa<200); //初始化 1秒
DIP_switch();
while(1)
{
//display[0]=angle_fuse;
//display[1]=angle_fuse1;
display[0]=angle_fuse3;
oledplay();
if(flag==1)
mode1();
else if (flag==2)
mode2();
else if (flag==3)
mode3();
else if (flag==4)
mode4();
vcan_sendware((unsigned char *)display, 20);
}
}
void main()
{
#if 0
extern void DebugAdc();
DebugAdc();
#endif
//////////////////////////////////////////////////////////////////////////
// 局部变量或结构体 //
//////////////////////////////////////////////////////////////////////////
SpeedForline = FreecaleConfig.Config.Motor.Speed.LineSpeed;
//////////////////////////////////////////////////////////////////////////
// 位置提示 //
//////////////////////////////////////////////////////////////////////////
/************************************************************************/
/* 开中断 */
/************************************************************************/
set_vector_handler(UART0_VECTORn, UartHandler); // 设置中断服务函数到中断向量表里
uart_rx_irq_en(UART0);//串口中断
FLKeyIrqEnable();
//wdog_init (1000);//初始化看门狗
//wdog_enable ();
//////////////////////////////////////////////////////////////////////////
// 用户操作 //
//////////////////////////////////////////////////////////////////////////
#if UseEndLine
switch (FreecaleConfig.Config.CarState)
{
case CarStandby:
#endif//UseEndLine
printf("start");
#if UseAdcNormalizingInit
AdcNormalizingInit();//初始化归一化变量
#else//UseAdcNormalizingInit
LCDPrint(0, 0, "Car Ready!");
AdcInit();
if (FreecaleConfig.Config.Mode.NrfStartCar == On)
{
if (FreecaleConfig.Config.CarThis == MyCar1)
{
uint8 exitfunc = false;
LCDPrint(0, LcdLine2, "Press the");
LCDPrint(LcdLocal2, LcdLine3, "start!");
LCDPrint(LcdLocal1, LcdLine4, "Nrf Mode");
while (!exitfunc)
{
switch (KeyScanWithoutIrq())//按键检测
{
case FLKeyAdcNorExit:
LcdCls();
LCDPrint(LcdLocal1, LcdLine1, "Findind Car2!");
while (NrfSendStr("$", 1) != Nrf_AllGreen)
{
led(LED1, LED_ON);
DELAY_MS(1);
};
led(LED1, LED_OFF);
exitfunc = TRUE;//退出
break;
default:
break;
}
}
}
else
{
LCDPrint(0, LcdLine2, "Wait Command!");
uint8 strTemp[10];
while (true)
{
if (NrfRecStrCheck(strTemp, 5) != 0)
{
if (strTemp)
{
break;
}
}
led(LED1, LED_ON);
DELAY_MS(1);
} led(LED1, LED_OFF);
}
#endif//UseAdcNormalizingInit
}
else
{
uint8 exitfunc = false;
LCDPrint(0, LcdLine2, "Press the");
LCDPrint(LcdLocal2, LcdLine3, "start!");
LCDPrint(LcdLocal1, LcdLine4, "Manual Mode");
while (!exitfunc)
{
switch (KeyScanWithoutIrq())//按键检测
{
case FLKeyAdcNorExit:
exitfunc = TRUE;//退出
break;
default:
break;
}
}
}
#if UsePowerOnDelay
DELAY_MS(2000);
#else
if (FreecaleConfig.Config.CarDelay > 0)
{
LcdCls();
LCDPrint(0, 0, "wait TimeOut!");
DELAY_MS(FreecaleConfig.Config.CarDelay * 10);
}
LcdCls();
#endif//UsePowerOnDelay
//////////////////////////////////////////////////////////////////////////
//终点线
#if UseEndLine
break;
case CarRunning:
break;
case CarFinish:
LCDPrint(0, 0, "Finish!");
break;
default:
break;
}
#endif//UseEndLine
//uint16 spwm = SteerCenterDuty;
Speed.Expect = SpeedForline;
enable_irq(PIT_IRQn); //使能PIT0中断
//程序循环
while (1)
{
//////////////////////////////////////////////////////////////////////////
//舵机控制
SteerCtrl();
#if 1
#else
///lcd show
NumShow16(Speed.Expect, LcdLocal1, LcdLine1);
NumShow16(Speed.Acturally, LcdLocal1, LcdLine2);
NumShow3(MotorPid.P, LcdLocal1, LcdLine3);
NumShow3(MotorPid.I, LcdLocal2, LcdLine3);
NumShow3(MotorPid.D, LcdLocal3, LcdLine3);
#endif
if (FreecaleConfig.Config.Mode.Ultrasonic == On)
{
NumShow4(CarDistance, LcdLocal1, LcdLine2);
}
SpeedCtrl();
//////////////////////////////////////////////////////////////////////////
//nrf
if (FreecaleConfig.Config.Mode.NrfSendDistance)
{
//NrfErrorType_e nrfErr;
if (FreecaleConfig.Config.CarThis)
{
if (NrfRecStrCheck(NrfBuff, 3))
{
if (FreecaleConfig.Config.Mode.NrfSendDistance)
{
if (NrfBuff[0] == '$')//超声波识别符
{
uint8 i = 0;
while (NrfBuff[i + 1] != '#')//求字符串长度
{
if (NrfBuff[i + 1] == '\0')//error
{
goto exitthismainloop;//没辙了，我真不想这么写，实在不能再循环了，变量太多了
//break;
}
i++;
}
uint32 dis = 0;
for (uint8 j = 0; j < i; j++)//求数值
{
dis += POW((uint32)(NrfBuff[j + 1] - '0'), i - j);
}
}
}
}
}
else
{
if (FreecaleConfig.Config.Mode.NrfSendDistance)
{
sprintf(NrfBuff, "$%d#", CarDistance);
NrfSendStrCheck(NrfBuff, sizeof(NrfBuff) / sizeof(uint8), 3);
}
}
}
//////////////////////////////////////////////////////////////////////////
exitthismainloop:
//延迟，控制周期
DELAY_MS(20);
}
//////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
//Don't leave main////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////
}
/***********************************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");
// }
}
}
