DSP小车智能控制系统F2812

/*2812A板： 使用直连的串口通信电缆; 启动串口调试助手.exe; PC机发送一个"."为结束标志 */ #include"DSP281x_Device.h" #include"DSP281x_Examples.h" //////////////////////////////////////////////////////////// unsigned int MaxCmpare=0xF000,LeftIndex=7,RightIndex=7;//cKey,OldSpeed,nDIR,StepLength=0x5000,nDIR=1,,temp unsigned int Maxstep=7,Mindistance=50,distance=100;//,GPF1,GPF3 unsigned int a[15]={0,0x1000,0x2000,0x3000,0x4000,0x5000,0x6000,0x0F000,0x0F000,0x0F000,0x0F000,0x0F000,0x0F000,0x0F000,0x0F000};// unsigned int ajust_num=0x1200,zhuangtai=0,mov_key=0; //Prototypestatementsforfunctionsfoundwithinthisfile. void init_eva(void ); void init_evb(void ); void Delay(unsigned int ); void Swap(unsigned int *,unsigned int *); unsigned int mean(unsigned int* ); void adjust_speed(void); void Stop(); void LinearMotion(unsigned int ); void LeftMotor(unsigned int ,unsigned int ); void RightMotor(unsigned int ,unsigned int ); void TurnAround(unsigned int ,unsigned int ); void vehicle_self_control(void); void SaMotor1(unsigned int ,unsigned int );//,unsigned int void SaMotor2(unsigned int ,unsigned int );//,unsigned int void ReadDistance(void ); //Prototypestatementsforfunctionsfoundwithinthisfile. void scia_loopback_init(void ); void scib_loopback_init(void ); void scia_fifo_init(void ); void scib_fifo_init(void ); void scia_xmit(int a); interrupt void scia_rx_isr(void ); interrupt void scia_tx_isr(void ); interrupt void CAPINT4_ISR(void ); interrupt void CAPINT5_ISR(void ); //Globalcountsusedinthisexample //Uint16LoopCount; //Uint16ErrorCount; char cString[6]={"Hello!"},cBuffer[7],cAnswer[5]={"HUC:"};//,ReceivedChar="";//,cReceive char ReceivedChar='0'; void main(void ) { unsigned int ZIZHU=0;//自主控制位，全局变量，默认不自主 unsigned int Step,time1=0,time2=0;//Direction, int i,k=0,bReceive=0;//,nLen //Step1.InitializeSystemControlregisters,PLL,WatchDog,Clockstodefaultstate: //ThisfunctionisfoundintheDSP281x_SysCtrl.cfile. InitSysCtrl(); //Step2.SelectGPIOforthedeviceorforthespecificapplication: //ThisfunctionisfoundintheDSP281x_Gpio.cfile. //InitGpio();skipthisasthisisexampleselectstheI/OforSCIinthisfileitself EALLOW; GpioMuxRegs.GPAMUX.all=0x00FF;//EVAPWM1-6pinsCAP123 GpioMuxRegs.GPBMUX.all=0x00FF;//EVBPWM7-12pinsCAP456 GpioMuxRegs.GPDMUX.all=0x0000;//GPIODIOpin GpioMuxRegs.GPEMUX.all=0x0000;//GPIODIOpin GpioMuxRegs.GPFMUX.all=0x0030;//SelectGPIOstobeScipins //PortFMUX-x000000000110000 GpioMuxRegs.GPGMUX.all=0x0030;//SCIB EDIS; //Step3.InitializePIEvectortable: //ThePIEvectortableisinitializedwithpointerstoshellInterrupt //ServiceRoutines(ISR).TheshellroutinesarefoundinDSP281x_DefaultIsr.c. //InsertuserspecificISRcodeintheappropriateshellISRroutinein //theDSP28_DefaultIsr.cfile. //DisableandclearallCPUinterrupts: DINT; IER=0x0000; IFR=0x0000; //InitializePieControlRegistersToDefaultState: //ThisfunctionisfoundintheDSP281x_PieCtrl.cfile. InitPieCtrl();//PIEisnotusedforthisexample //InitializethePIEVectorTableToaKnownState: //ThisfunctionisfoundinDSP281x_PieVect.c. //ThisfunctionpopulatesthePIEvectortablewithpointers //totheshellISRfunctionsfoundinDSP281x_DefaultIsr.c. InitPieVectTable(); //EnableCPUandPIEinterrupts //ThisexamplefunctionisfoundintheDSP281x_PieCtrl.cfile. EnableInterrupts(); //Step4.InitializealltheDevicePeripheralstoaknownstate: //ThisfunctionisfoundinDSP281x_InitPeripherals.c //InitPeripherals();skipthisforSCItests //Step5.Userspecificfunctions,Reassignvectors(optional),EnableInterrupts: //LoopCount=0; //ErrorCount=0; PieCtrlRegs.PIEIER5.bit.INTx5=1; IER |= M_INT5; EINT; // Enable Global interrupt INTM ERTM; // Enable Global realtime interrupt DBGM scia_fifo_init();//InitializetheSCIFIFO scia_loopback_init();//InitalizeSCIfordigitalloopback scib_fifo_init();//InitializetheSCIFIFO scib_loopback_init();//InitalizeSCIfordigitalloopback //InitializeonlyGPAMUXandGPBMUXforthistest init_eva(); init_evb(); EALLOW; //接近开关 GpioMuxRegs.GPADIR.bit.GPIOA15=0;//右 GpioMuxRegs.GPADIR.bit.GPIOA14=0;//左 GpioMuxRegs.GPADIR.bit.GPIOA13=0;//后 //SAMoter1底盘 GpioMuxRegs.GPFDIR.bit.GPIOF14=1;//output方向 GpioMuxRegs.GPFDIR.bit.GPIOF13=1;//output脉冲 GpioMuxRegs.GPFDIR.bit.GPIOF9=0;//input边界 //SAMoter2机械臂 GpioMuxRegs.GPFDIR.bit.GPIOF12=1;//output方向 GpioMuxRegs.GPFDIR.bit.GPIOF11=1;//output脉冲 GpioMuxRegs.GPFDIR.bit.GPIOF10=0;//input边界 //轮子霍尔开关 GpioMuxRegs.GPFDIR.bit.GPIOF3=0;//后左接近 GpioMuxRegs.GPFDIR.bit.GPIOF2=0;//后右接近 GpioMuxRegs.GPFDIR.bit.GPIOF1=1; //GpioMuxRegs.GPFDIR.bit.GPIOF0=0;//左后轮 GpioMuxRegs.GPFDIR.bit.GPIOF0=1;//output枪 EDIS; GpioDataRegs.GPFDAT.bit.GPIOF0=0; GpioDataRegs.GPFDAT.bit.GPIOF1=0; //Note:Autobaudlockisnotrequiredforthisexample //Sendacharacterstartingwith0 //while(1) //{ ////Step=1;SaMotor2(1,Step); ////Step=20;SaMotor1(0,Step); //Stop(); //LinearMotion(1); ////RightMotor(0,2); ////LeftMotor(0,2); //} //Step6.SendCharactersforeverstartingwith0x00andgoingthrough //0xFF.Aftersendingeach,checktherecievebufferforthecorrectvalue for(i=0;i<6;i++) { scia_xmit(cString[i]); while(SciaRegs.SCIFFTX.bit.TXFFST!=0){} //Delay(1024); } for(;;) { if(bReceive==1) { for(i=0;i<4;i++) { scia_xmit(cAnswer[i]); while(SciaRegs.SCIFFTX.bit.TXFFST!=0){} } scia_xmit(cBuffer[1]); while(SciaRegs.SCIFFTX.bit.TXFFST!=0){} scia_xmit('.'); } if((cBuffer[2]>0x30)||(cBuffer[2]<0x3A)) Step=cBuffer[2]-0x30;//3; else Step=1; switch(cBuffer[1]) { case'L': zhuangtai=3;TurnAround(1,5*Step); break; case'R': zhuangtai=4;TurnAround(0,5*Step); break; //(unsigned int Direction,unsigned int delaytime); case'A': zhuangtai=1;LinearMotion(0); break; case'D': zhuangtai=2;LinearMotion(1); break; //(unsigned int cKey,unsigned int StepLength); case'T': zhuangtai=0;Stop(); break; /////////////////////////// case'Z': SaMotor1(1,Step); break; case'Y': SaMotor1(0,Step); break; case'X': SaMotor2(1,Step); break; case'S': SaMotor2(0,Step); break; case'F': GpioDataRegs.GPFDAT.bit.GPIOF0=1; break; case'f': //Delay(1024); GpioDataRegs.GPFDAT.bit.GPIOF0=0; break; case'V': ZIZHU=1; //scia_loopback_init(); break; case'U': ZIZHU=0; //scia_loopback_init(); break; case'r': time1=0; time2=0; break; default:break; } //测试 //LinearMotion(0);zhuangtai=1;