timer_stm32.zip_Capture_movementziz_stm32 timer_timer

#include <stm32f10x_lib.h> #include <stdlib.h> #include <stdio.h> #include <string.h> #include <math.h> #include <RTL.h> #include "serial//serial.h" #include "timer//timer.h" #include "init//stm32_init.h" ///////////include contol file///// #include "control//control_main.h" /* Model's header file */ #include "control//rtwtypes.h" /////////////////////////////////////// #define PINB GPIOB->IDR #define True 1 #define False 0 #define Chanel_Port PINB #define Led_Port GPIOB->ODR #define Led_Pin 12 //======================================================================================================= int i; int ch=48; char temp_main[80]; char usart_buffer[50]; int usart_buffer_index=0; unsigned int M1,M2,M3,M4; float n1[10]={0,0.1,0.2,0.3,0.4,0.5,0.6,0.7,0.8,0.9}; float n2[10]={0,0.01,0.02,0.03,0.04,0.05,0.06,0.07,0.08,0.09}; float n3[10]={0,0.001,0.002,0.003,0.004,0.005,0.006,0.007,0.008,0.009}; float n4[10]={0,0.0001,0.0002,0.0003,0.0004,0.0005,0.0006,0.0007,0.0008,0.0009}; //======================================================================================================= char usart3_buff[40]; char index3; char Flag_Rec=False; //================================ struct D_Sensor_Tilt{ float T_x; float T_y; float Compass; } Data_Sensor_Tilt; //===================================== struct D_Sensor_Gyro{ float G_x; float G_y; float G_z; } Data_Sensor_Gyro; //===================================== struct D_Stick{ unsigned int THRO; unsigned int AILE; unsigned int ELEV; unsigned int RUDD; unsigned int GEAR; unsigned int AUX1; unsigned int AUX2; } Data_Stick; //======================================= struct D_Naza{ unsigned int M1; unsigned int M2; unsigned int M3; unsigned int M4; } Data_Naza; //==================================== void Set_Speed_M1(unsigned int *Speed){ if(*Speed >5500) *Speed=5500; TIM2->CCR1=*Speed+3201; //TIM2->CCR1=*Speed; } void Set_Speed_M2(unsigned int *Speed){ if(*Speed >5500) *Speed=5500; TIM2->CCR2=*Speed+3201; //TIM2->CCR2=*Speed; } void Set_Speed_T1(unsigned int *Pos){ if(*Pos >5500) *Pos=5500; TIM2->CCR3=*Pos+3201+131; //TIM2->CCR3=*Pos; } void Set_Speed_T2(unsigned int *Pos){ if(*Pos >5500) *Pos=5500; TIM2->CCR4=*Pos+3201; //TIM2->CCR4=*Pos; } void delay_ms(int Delay){ unsigned long int i=0,j=0; while(i++<Delay){ for(j=0;j<9000;j++); } } void delay_us(int Delay){ unsigned long int i=0,j=0; while(i++<Delay){ for(j=0;j<9;j++); } } void EXTI4_IRQHandler(){ EXTI->PR=1<<4; //reset interrupt // send_string("i"); // TIM3->CNT=0; TIM4->CNT=0; } void EXTI3_IRQHandler(){ EXTI->PR=1<<3; //reset interrupt // send_string("i"); TIM3->CNT=0; // TIM4->CNT=0; } void USART1_IRQHandler(){ //char k; //unsigned int f1=0,f2=0,f3=0,f4=0; //k=getkey(); //sendchar3(k); /*; if(k==13){usart_buffer_index=0; send_string("result="); send_string(usart_buffer); send_string("\n"); sscanf(usart_buffer,"%d %d %d %d",&f1,&f2,&f3,&f4); Set_Speed_M1(&f1); Set_Speed_M2(&f2); Set_Speed_T1(&f3); Set_Speed_T2(&f4); } usart_buffer[usart_buffer_index++]=k; usart_buffer[usart_buffer_index]=0; */ } void USART3_IRQHandler() { char ch; ch = getkey3(); // sendchar(ch); usart3_buff[index3++] = ch; usart3_buff[index3] = 0; if(ch=='\n'){ index3 = 0; Flag_Rec=TRUE; } } //=======================pin configuration for out pwm and input capture ================================================ void GPIO_Configuration(void) { GPIO_InitTypeDef GPIO_InitStructure; /*GPIOA Configuration: TIM3 channel 1 and 2 as alternate function push-pull */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1| GPIO_Pin_2| GPIO_Pin_3; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); // RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_3|GPIO_Pin_4|GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_8|GPIO_Pin_9; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; GPIO_Init(GPIOA, &GPIO_InitStructure); } //=========================================================== void Get_Stick(struct D_Stick *DD_Stick){ DD_Stick->THRO=(TIM_GetCapture1(TIM4)/8)-93; DD_Stick->AILE=(TIM_GetCapture2(TIM4)/8)-93; DD_Stick->ELEV=(TIM_GetCapture3(TIM4)/8)-94; DD_Stick->RUDD=(TIM_GetCapture4(TIM4)/8)-94; // if (TIM_GetCapture1(TIM3)>27000){ // DD_Stick->THRO=((TIM_GetCapture1(TIM4)-28000)/6); // DD_Stick->AILE=((TIM_GetCapture2(TIM4)-28000)/6); // DD_Stick->ELEV=((TIM_GetCapture3(TIM4)-28000)/6); // DD_Stick->RUDD=((TIM_GetCapture4(TIM4)-28000)/6); // } //DD_Stick->GEAR=(TIM_GetCapture1(TIM4)); // DD_Stick->AUX1=TIM_GetCapture2(TIM4); //DD_Stick->AUX2=TIM_GetCapture3(TIM4); } void Get_Naza(struct D_Naza *DD_Naza){ DD_Naza->M1=(TIM_GetCapture1(TIM3)); DD_Naza->M2=TIM_GetCapture2(TIM3); DD_Naza->M3=TIM_GetCapture3(TIM3); DD_Naza->M4=TIM_GetCapture4(TIM3); } //======================================================================================================= void Get_Sensor_Tilt(struct D_Sensor_Tilt *DT_Sensor){ unsigned char count_compass=0; unsigned char count_x=0; unsigned char count_y=0; unsigned char Count_Read=0; char buf_compass[10]; char buf_x[10]; char buf_y[10]; index3=0; sendchar3(':'); sendchar3('1'); sendchar3('\n'); while(Flag_Rec!=TRUE); // index3=0; Flag_Rec=FALSE; while(usart3_buff[Count_Read]!=',') buf_x[count_x++]=usart3_buff[Count_Read++]; Count_Read++; while(usart3_buff[Count_Read]!=',') buf_compass[count_compass++]=usart3_buff[Count_Read++]; Count_Read++; while(usart3_buff[Count_Read]!='\n') buf_y[count_y++]=usart3_buff[Count_Read++]; /////////////////////// if(buf_compass[0]!='-'){ DT_Sensor->Compass=(buf_compass[0]-48)+n1[buf_compass[2]-48]+n2[buf_compass[3]-48]+n3[buf_compass[4]-48]+n4[buf_compass[5]-48]; } else { DT_Sensor->Compass=(buf_compass[1]-48)+n1[buf_compass[3]-48]+n2[buf_compass[4]-48]+n3[buf_compass[5]-48]+n4[buf_compass[6]-48]; DT_Sensor->Compass*=-1; } //////////////////////////////////// if(buf_x[0]!='-'){ DT_Sensor->T_x=(buf_x[0]-48)+n1[buf_x[2]-48]+n2[buf_x[3]-48]+n3[buf_x[4]-48]+n4[buf_x[5]-48]; } else { DT_Sensor->T_x=(buf_x[1]-48)+n1[buf_x[3]-48]+n2[buf_x[4]-48]+n3[buf_x[5]-48]+n4[buf_x[6]-48]; DT_Sensor->T_x*=-1; } //////////////////////////////////////////// if(buf_y[0]!='-'){ DT_Sensor->T_y=(buf_y[0]-48)+n1[buf_y[2]-48]+n2[buf_y[3]-48]+n3[buf_y[4]-48]+n4[buf_y[5]-48]; } else { DT_Sensor->T_y=(buf_y[1]-48)+n1[buf_y[3]-48]+n2[buf_y[4]-48]+n3[buf_y[5]-48]+n4[buf_y[6]-48]; DT_Sensor->T_y*=-1; } } void Get_Sensor_Gyro(struct D_Sensor_Gyro *DG_Sensor){ unsigned char count_z=0; unsigned char count_x=0; unsigned char count_y=0; unsigned char Count_Read=0; char buf_z[10]; char buf_x[10]; char buf_y[10]; index3=0; sendchar3(':'); sendchar3('3'); sendchar3('3'); sendchar3('\n'); while(Flag_Rec!=TRUE); // index3=0; Flag_Rec=FALSE; while(usart3_buff[Count_Read]!=',') buf_x[count_x++]=usart3_buff[Count_Read++]; buf_x[count_x]=0; Count_Read++; while(usart3_buff[Count_Read]!=',') buf_z[count_z++]=usart3_buff[Count_Read++]; buf_z[count_z]=0; Count_Read++; while(usart3_buff[Count_