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#include "headfile.h"
int flag;
void Para_Init()
{
PID_ANGLE.P=0.10;
PID_ANGLE.D=0.001;
PID_SPEED.P=1.5;
PID_SPEED.I=0.05;
PID_TURN.P=0.01;
PID_TURN.D=0.005;
Fuzzy_Kp=0.005;
Fuzzy_Kd=0.0005;
SetSpeed=2.5;
Set_Angle=20;
Control_Para[0]=SetSpeed;
Control_Para[1]=PID_ANGLE.P;
Control_Para[2]= PID_ANGLE.D;
Control_Para[3]= PID_SPEED.P;
Control_Para[4]= PID_SPEED.I;
Control_Para[5]= PID_TURN.P;
Control_Para[6]= PID_TURN.D;
}
void main(void)
{
DisableInterrupts ;
ADC_Init(ADC_CHANNEL_AD4,ADC_12BIT); //電磁采集0
ADC_Init(ADC_CHANNEL_AD5,ADC_12BIT); //電磁采集1
ADC_Init(ADC_CHANNEL_AD2,ADC_12BIT); //電磁采集2
ADC_Init(ADC_CHANNEL_AD3,ADC_12BIT); //電磁采集3
ADC_Init(ADC_CHANNEL_AD6,ADC_12BIT); //電磁采集4
ADC_Init(ADC_CHANNEL_AD7,ADC_12BIT); //電磁采集5
ADC_Init(ADC_CHANNEL_AD10,ADC_12BIT); //電池電壓采集實驗
button_init(); //按鍵初始化
switch_init(); //撥碼開關初始化
FTM_PWM_init(CFTM2, FTM_CH5, 20000, 0); //PWM0 PTG7 電機驅動
FTM_PWM_init(CFTM2, FTM_CH4, 20000, 0); //PWM1 PTG6 電機驅動
FTM_PWM_init(CFTM2, FTM_CH3, 20000, 0); //PWM2 PTG5 電機驅動
FTM_PWM_init(CFTM2, FTM_CH2, 20000, 0); //PWM3 PTG4 電機驅動
PULSE_INIT(CFTM0); //編碼器1采集
PULSE_INIT(CFTM1); //編碼器1采集
uart_init(UARTR1,1500000); //wifi模塊傳輸初始化
BEEP_ON;
OLED_Init(); //OLED 初始化
OLED_Draw_Logo(); //畫logo專用函數
delay(300);
OLED_Fill(0); //初始清屏
BEEP_OFF;
I2C_Init(); //初始化加速度陀螺儀傳感器
PIT_Init(PIT_CHANNEL0,2*BUS_CLK_KHZ); //定時中斷 2ms 初始化
EnableInterrupts;
Para_Init();
led_init();
water_lights();
while(1)
{
if(beep)
{
BEEP_ON;
delay(50);
BEEP_OFF;
beep=0;
}
Read_Switch();
Check_BottonPress();
if(SendPara)
{
SendPara=0;
Send_Parameter();
}
if(flag) //此段不超過0.5ms 200ms主頻 6ms 或8ms 執行一次
{
flag=0;
Send_Begin();
Variable_update();
Send_Variable();
Send_Inductor();
}
if(OLED_Refresh)
{
OLED_Draw_UI();
}
}
}
//定時器0中斷函數
void PIT0_ISR(void)
{
static uint8 flag_100ms,cnt=0;
RunTime=RunTime+0.002;
flag_100ms++;
if(flag_100ms>50)
{
flag_100ms=0;
Speed_Control(); //100ms進行一次速度控制
LED_RED_TURN;
SpeedCount=0;
}
cnt++;
if(cnt==1) //4ms運行一次
{
flag=1;
ADC_SAMPLE();
Get_Attitude();
Angle_Calculate();
Angle_Control();
Get_Speed();
Direction_Control();
}
if(cnt>=2)
{
cnt=0;
}
SpeedCount++;
Speed_Control_Output();
Moto_Out();
PIT->CHANNEL[0].TFLG |= PIT_TFLG_TIF_MASK;//清楚中斷標志位
}
//定時器0中斷函數
void UART0_ISR(void)
{
static uint8 recv;
static uint8 data_cnt=0;
static uint8 predata[10];
static uint8 Recv_Buff[100];
static uint8 Data_Receiving=false;
// recv=Uart_GetChar(UART1_BASE);
/**********代表正在接收來自上位機的參數數據*********/
if(Data_Receiving)
{
if(data_cnt<56)
{
Recv_Buff[data_cnt]= recv;
data_cnt++;
}
else
{
data_cnt=0; //達到幀長
Data_Receiving=false;
if(recv==2) //幀尾
{
Modify_Parameter(Recv_Buff);
SendPara=1; //參數回傳，確認參數修改完成
beep=1; //開啟蜂鳴器
}
}
}
if( predata[1]==0x55&&predata[0]==0xAA)
{
switch(recv) //判斷功能字
{
case 1: //讀取參數
if(SendPara==0) SendPara=1;
beep=1; //開啟蜂鳴器
break;
case 2: //修改參數
data_cnt=0;
Data_Receiving=true;
case 3: //保存參數
//EEPROM_Save();
beep=1; //開啟蜂鳴器
break;
case 4: //功能開關1
break;
case 5: //功能開關2
break;
case 6: //功能開關3
break;
case 7: //功能開關4
break;
default: //
break;
}
}
predata[1]=predata[0];
predata[0]=recv;
}

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