2022年电子设计大赛，C题——小车跟随行驶系统，控制代码的一部分。.zip

/* --COPYRIGHT--,BSD * Copyright (c) 2014, Texas Instruments Incorporated * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * * Neither the name of Texas Instruments Incorporated nor the names of * its contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * --/COPYRIGHT--*/ //##### AUTO GENERATED FILE...DO NOT EDIT ##### #undef DEBUG #define BUILD_FOR_ROM 1 #include <ti/devices/msp432p4xx/inc/msp.h> #include <src/adc14.h> #include <src/aes256.h> #include <src/comp_e.h> #include <src/cpu.h> #include <src/crc32.h> #include <src/cs.h> #include <src/debug.h> #include <src/dma.h> #include <src/eusci.h> #include <src/flash.h> #include <src/fpu.h> #include <src/gpio.h> #include <src/i2c.h> #include <src/interrupt.h> #include <src/mpu.h> #include <src/pcm.h> #include <src/pmap.h> #include <src/pss.h> #include <src/ref_a.h> #include <src/reset.h> #include <src/rtc_c.h> #include <src/spi.h> #include <src/sysctl.h> #include <src/systick.h> #include <src/timer_a.h> #include <src/timer32.h> #include <src/uart.h> #include <src/wdt_a.h> static const uint32_t MAX_PROGRAM_NO_TLV = 5; static const uint32_t MAX_ERASE_NO_TLV = 50; //***************************************************************************** // //! //! Returns a boolean value that tells if conversion is active/running or is //! not acMSP432 ted. //! //! Originally a public function, but moved to static. External customers should //! use the ADC14_isBusy function. //! //! \return true if conversion is active, false otherwise // //***************************************************************************** static bool ADCIsConversionRunning(void) { return BITBAND_PERI(ADC14->rCTL0.r, ADC14BUSY_OFS); } void ADC14_enableModule(void) { BITBAND_PERI(ADC14->rCTL0.r, ADC14ON_OFS) = 1; } bool ADC14_disableModule(void) { if (ADCIsConversionRunning()) return false; BITBAND_PERI(ADC14->rCTL0.r, ADC14ON_OFS) = 0; return true; } static volatile uint32_t* const _ctlRegs[32] = { &ADC14->rMCTL0.r, &ADC14->rMCTL1.r, &ADC14->rMCTL2.r, &ADC14->rMCTL3.r, &ADC14->rMCTL4.r, &ADC14->rMCTL5.r, &ADC14->rMCTL6.r, &ADC14->rMCTL7.r, &ADC14->rMCTL8.r, &ADC14->rMCTL9.r, &ADC14->rMCTL10.r, &ADC14->rMCTL11.r, &ADC14->rMCTL12.r, &ADC14->rMCTL13.r, &ADC14->rMCTL14.r, &ADC14->rMCTL15.r, &ADC14->rMCTL16.r, &ADC14->rMCTL17.r, &ADC14->rMCTL18.r, &ADC14->rMCTL19.r, &ADC14->rMCTL20.r, &ADC14->rMCTL21.r, &ADC14->rMCTL22.r, &ADC14->rMCTL23.r, &ADC14->rMCTL24.r, &ADC14->rMCTL25.r, &ADC14->rMCTL26.r, &ADC14->rMCTL27.r, &ADC14->rMCTL28.r, &ADC14->rMCTL29.r, &ADC14->rMCTL30.r, &ADC14->rMCTL31.r }; static uint_fast8_t _getIndexForMemRegister(uint32_t reg) { switch (reg) { case ADC_MEM0: return 0; case ADC_MEM1: return 1; case ADC_MEM2: return 2; case ADC_MEM3: return 3; case ADC_MEM4: return 4; case ADC_MEM5: return 5; case ADC_MEM6: return 6; case ADC_MEM7: return 7; case ADC_MEM8: return 8; case ADC_MEM9: return 9; case ADC_MEM10: return 10; case ADC_MEM11: return 11; case ADC_MEM12: return 12; case ADC_MEM13: return 13; case ADC_MEM14: return 14; case ADC_MEM15: return 15; case ADC_MEM16: return 16; case ADC_MEM17: return 17; case ADC_MEM18: return 18; case ADC_MEM19: return 19; case ADC_MEM20: return 20; case ADC_MEM21: return 21; case ADC_MEM22: return 22; case ADC_MEM23: return 23; case ADC_MEM24: return 24; case ADC_MEM25: return 25; case ADC_MEM26: return 26; case ADC_MEM27: return 27; case ADC_MEM28: return 28; case ADC_MEM29: return 29; case ADC_MEM30: return 30; case ADC_MEM31: return 31; default: ASSERT(false); return ADC_INVALID_MEM; } } bool ADC14_initModule(uint32_t clockSource, uint32_t clockPredivider, uint32_t clockDivider, uint32_t internalChannelMask) { ASSERT( clockSource == ADC_CLOCKSOURCE_ADCOSC || clockSource == ADC_CLOCKSOURCE_SYSOSC || clockSource == ADC_CLOCKSOURCE_ACLK || clockSource == ADC_CLOCKSOURCE_MCLK || clockSource == ADC_CLOCKSOURCE_SMCLK || clockSource == ADC_CLOCKSOURCE_HSMCLK); ASSERT( clockPredivider == ADC_PREDIVIDER_1 || clockPredivider == ADC_PREDIVIDER_4 || clockPredivider == ADC_PREDIVIDER_32 || clockPredivider == ADC_PREDIVIDER_64); ASSERT( clockDivider == ADC_DIVIDER_1 || clockDivider == ADC_DIVIDER_2 || clockDivider == ADC_DIVIDER_3 || clockDivider == ADC_DIVIDER_4 || clockDivider == ADC_DIVIDER_5 || clockDivider == ADC_DIVIDER_6 || clockDivider == ADC_DIVIDER_7 || clockDivider == ADC_DIVIDER_8); ASSERT( !(internalChannelMask & ~(ADC_MAPINTCH3 | ADC_MAPINTCH2 | ADC_MAPINTCH1 | ADC_MAPINTCH0 | ADC_TEMPSENSEMAP | ADC_BATTMAP))); if (ADCIsConversionRunning()) return false; ADC14->rCTL0.r = (ADC14->rCTL0.r & ~(ADC14PDIV_M | ADC14DIV_M | ADC14SSEL_M)) | clockDivider | clockPredivider | clockSource; ADC14->rCTL1.r = (ADC14->rCTL1.r & ~(ADC_MAPINTCH3 | ADC_MAPINTCH2 | ADC_MAPINTCH1 | ADC_MAPINTCH0 | ADC_TEMPSENSEMAP | ADC_BATTMAP)) | internalChannelMask; return true; } void ADC14_setResolution(uint32_t resolution) { ASSERT( resolution == ADC_8BIT || resolution == ADC_10BIT || resolution == ADC_12BIT || resolution == ADC_14BIT); ADC14->rCTL1.r = (ADC14->rCTL1.r & ~ADC14RES_M) | resolution; } uint_fast32_t ADC14_getResolution(void) { return ADC14->rCTL1.r & ADC14RES_M; } bool ADC14_setSampleHoldTrigger(uint32_t source, bool invertSignal) { ASSERT( source == ADC_TRIGGER_ADCSC || source == ADC_TRIGGER_SOURCE1 || source == ADC_TRIGGER_SOURCE2 || source == ADC_TRIGGER_SOURCE3 || source == ADC_TRIGGER_SOURCE4 || source == ADC_TRIGGER_SOURCE5 || source == ADC_TRIGGER_SOURCE6 || source == ADC_TRIGGER_SOURCE7); if (ADCIsConversionRunning()) return false; if (invertSignal) { ADC14->rCTL0.r = (ADC14->rCTL0.r