中文字幕免费无码专区剧情,亚洲中文字幕无码区,曰韩无码一区二区三区九动漫

//******************************************************************************
// Author:wwj
// Built with IAR V7.0
// Gui Lin
// IDE IAR430
/*截止當(dāng)前：
功能：
本程序從平衡車程序移植出來，仍有平衡車的影子，但不影響運(yùn)行。
1.硬件IIC讀取6050，并在OLED上顯示
2.中斷測速
3.pwm電機(jī)驅(qū)動
4.循跡（由于每個人裝循跡模塊的位置都會有差異，需要自己調(diào)整傳感器）
5.按鍵檢測
6.藍(lán)牙控制
7....ADD ING
勿拿本代碼做交易�。�！
勿拿本代碼做交易！�。�
勿拿本代碼做交易�。�！
本來只想放出來演示，突然發(fā)現(xiàn)有人從中謀取利益，于是決定共享源碼！!!
各位朋友加油，未來的科技看你們�。。�
*/
//******************************************************************************
#include <msp430.h>
#include <stdint.h>
#include <stdbool.h>
//#include "oledfont.h"
//#include "msp430f5529.h"
#include "MPU6050.h"
#include "uart.h"
#include "exter_interr.h"
#include "pwm.h"
#include "time.h"
#include "hardw_i2c_oled.h"
#include "mathfun.h"
#include "xunji.h"
void OledDisApp(void);
void delay(unsigned int z)
{
unsigned int x,y;
for(x=z;x>0;x--)
for(y=5000;y>0;y--);
}
//******************************************************************************
// Device Initialization *******************************************************
//******************************************************************************
void initClockTo16MHz()
{
UCSCTL3 |= SELREF_2; // Set DCO FLL reference = REFO
UCSCTL4 |= SELA_2; // Set ACLK = REFO
__bis_SR_register(SCG0); // Disable the FLL control loop
UCSCTL0 = 0x0000; // Set lowest possible DCOx, MODx
UCSCTL1 = DCORSEL_5; // Select DCO range 16MHz operation
UCSCTL2 = FLLD_0 + 487; // Set DCO Multiplier for 16MHz
// (N + 1) * FLLRef = Fdco
// (487 + 1) * 32768 = 16MHz
// Set FLL Div = fDCOCLK
__bic_SR_register(SCG0); // Enable the FLL control loop
// Worst-case settling time for the DCO when the DCO range bits have been
// changed is n x 32 x 32 x f_MCLK / f_FLL_reference. See UCS chapter in 5xx
// UG for optimization.
// 32 x 32 x 16 MHz / 32,768 Hz = 500000 = MCLK cycles for DCO to settle
__delay_cycles(500000);//
// Loop until XT1,XT2 & DCO fault flag is cleared
do
{
UCSCTL7 &= ~(XT2OFFG + XT1LFOFFG + DCOFFG); // Clear XT2,XT1,DCO fault flags
SFRIFG1 &= ~OFIFG; // Clear fault flags
}while (SFRIFG1&OFIFG); // Test oscillator fault flag
}
uint16_t setVCoreUp(uint8_t level){
uint32_t PMMRIE_backup, SVSMHCTL_backup, SVSMLCTL_backup;
//The code flow for increasing the Vcore has been altered to work around
//the erratum FLASH37.
//Please refer to the Errata sheet to know if a specific device is affected
//DO NOT ALTER THIS FUNCTION
//Open PMM registers for write access
PMMCTL0_H = 0xA5;
//Disable dedicated Interrupts
//Backup all registers
PMMRIE_backup = PMMRIE;
PMMRIE &= ~(SVMHVLRPE | SVSHPE | SVMLVLRPE |
SVSLPE | SVMHVLRIE | SVMHIE |
SVSMHDLYIE | SVMLVLRIE | SVMLIE |
SVSMLDLYIE
);
SVSMHCTL_backup = SVSMHCTL;
SVSMLCTL_backup = SVSMLCTL;
//Clear flags
PMMIFG = 0;
//Set SVM highside to new level and check if a VCore increase is possible
SVSMHCTL = SVMHE | SVSHE | (SVSMHRRL0 * level);
//Wait until SVM highside is settled
while((PMMIFG & SVSMHDLYIFG) == 0)
{
;
}
//Clear flag
PMMIFG &= ~SVSMHDLYIFG;
//Check if a VCore increase is possible
if((PMMIFG & SVMHIFG) == SVMHIFG)
{
//-> Vcc is too low for a Vcore increase
//recover the previous settings
PMMIFG &= ~SVSMHDLYIFG;
SVSMHCTL = SVSMHCTL_backup;
//Wait until SVM highside is settled
while((PMMIFG & SVSMHDLYIFG) == 0)
{
;
}
//Clear all Flags
PMMIFG &= ~(SVMHVLRIFG | SVMHIFG | SVSMHDLYIFG |
SVMLVLRIFG | SVMLIFG |
SVSMLDLYIFG
);
//Restore PMM interrupt enable register
PMMRIE = PMMRIE_backup;
//Lock PMM registers for write access
PMMCTL0_H = 0x00;
//return: voltage not set
return false;
}
//Set also SVS highside to new level
//Vcc is high enough for a Vcore increase
SVSMHCTL |= (SVSHRVL0 * level);
//Wait until SVM highside is settled
while((PMMIFG & SVSMHDLYIFG) == 0)
{
;
}
//Clear flag
PMMIFG &= ~SVSMHDLYIFG;
//Set VCore to new level
PMMCTL0_L = PMMCOREV0 * level;
//Set SVM, SVS low side to new level
SVSMLCTL = SVMLE | (SVSMLRRL0 * level) |
SVSLE | (SVSLRVL0 * level);
//Wait until SVM, SVS low side is settled
while((PMMIFG & SVSMLDLYIFG) == 0)
{
;
}
//Clear flag
PMMIFG &= ~SVSMLDLYIFG;
//SVS, SVM core and high side are now set to protect for the new core level
//Restore Low side settings
//Clear all other bits _except_ level settings
SVSMLCTL &= (SVSLRVL0 + SVSLRVL1 + SVSMLRRL0 +
SVSMLRRL1 + SVSMLRRL2
);
//Clear level settings in the backup register,keep all other bits
SVSMLCTL_backup &=
~(SVSLRVL0 + SVSLRVL1 + SVSMLRRL0 + SVSMLRRL1 + SVSMLRRL2);
//Restore low-side SVS monitor settings
SVSMLCTL |= SVSMLCTL_backup;
//Restore High side settings
//Clear all other bits except level settings
SVSMHCTL &= (SVSHRVL0 + SVSHRVL1 +
SVSMHRRL0 + SVSMHRRL1 +
SVSMHRRL2
);
//Clear level settings in the backup register,keep all other bits
SVSMHCTL_backup &=
~(SVSHRVL0 + SVSHRVL1 + SVSMHRRL0 + SVSMHRRL1 + SVSMHRRL2);
//Restore backup
SVSMHCTL |= SVSMHCTL_backup;
//Wait until high side, low side settled
while(((PMMIFG & SVSMLDLYIFG) == 0) &&
((PMMIFG & SVSMHDLYIFG) == 0))
{
;
}
//Clear all Flags
PMMIFG &= ~(SVMHVLRIFG | SVMHIFG | SVSMHDLYIFG |
SVMLVLRIFG | SVMLIFG | SVSMLDLYIFG
);
//Restore PMM interrupt enable register
PMMRIE = PMMRIE_backup;
//Lock PMM registers for write access
PMMCTL0_H = 0x00;
return true;
}
bool increaseVCoreToLevel2()
{
uint8_t level = 2;
uint8_t actlevel;
bool status = true;
//Set Mask for Max. level
level &= PMMCOREV_3;
//Get actual VCore
actlevel = PMMCTL0 & PMMCOREV_3;
//step by step increase or decrease
while((level != actlevel) && (status == true))
{
if(level > actlevel)
{
status = setVCoreUp(++actlevel);
}
}
return (status);
}
void initGPIO()
{
//I2C Pins
P3SEL |= BIT0 + BIT1; // P3.0,1 option select
P1DIR |=BIT0;
P4DIR |=BIT7;
//按鍵輸入
P2DIR &=~BIT1;
P1DIR &=~BIT1;
P2REN |= BIT1;//使能上下拉
P2OUT |= BIT1;//上拉
P1REN |= BIT1;//使能上下拉
P1OUT |= BIT1;//上拉
}
void initI2C()
{
UCB0CTL1 |= UCSWRST; // Enable SW reset(復(fù)位使能)
UCB0CTL0 = UCMST + UCMODE_3 + UCSYNC; // Master, I2C,synchronous mode(同步模式)
UCB0CTL1 = UCSSEL_2 + UCSWRST; // Use SMCLK, keep SW reset
UCB0BR0 = 160; // fSCL = SMCLK/160 = ~100kHz
UCB0BR1 = 0;
UCB0CTL0 &=~UCSLA10; //7位地址模式
UCB0I2CSA = SLAVE_ADDR>>1; //SlaveAddress>>1;//SLAVE_ADDR>>1; //
UCB0CTL1 &= ~UCSWRST; // Clear SW reset, resume operation
UCB0IFG &=~UCTXIFG;
}
int num;
int main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
increaseVCoreToLevel2();
initClockTo16MHz(); //配置系統(tǒng)時鐘為16Mhz
//delay(10);
initGPIO();
initI2C();
//delay(10);
OLED_Init();
//delay(10);
UART_Init('n',8,1);
InitMPU6050();
//delay(10);
exterPin();//外部引腳中斷
//MotorSpeedDetectionInit();
PWMInit();
TB6612INOUT();
time0InterInit();
xunioinit();//尋跡引腳初始化
delay(10);
//OLED_ShowChar(0,0,'A',16);
//OLED_ShowChar(16,0,'B',16);
//OLED_ShowChar(16*2,0,'C',16);
_EINT();//開啟總中斷
//曾經(jīng)由于沒開總中斷，調(diào)了一下午...
while(1)
{
//按鍵檢測
if((P2IN & BIT1) == 0)
{
delay(3);
if((P2IN & BIT1) == 0)
{
P1OUT ^= BIT0;
}
//PWM_Motor(-20,-20);
}
while(!(P2IN&BIT1));
xunjiing();//尋跡
if(count_time >=20)
{
count_time =0;
// P1OUT ^= BIT0; //形成閃燈效果
Angle = Mpu6050AccelAngle(ACCEL_XOUT,ACCEL_ZOUT);
Angle_dot = Mpu6050GyroAngle(GYRO_YOUT);
// pwm_calculate();//PWM計(jì)算輸出
}
#if 1
if(count_time2 >=10)
{
count_time2 =0;
OledDisApp();
}
#endif
#if 0
if(Angle >10.0)
{
PWM_Motor(20,20);
}
else if(Angle < -10.0)
{
PWM_Motor(-20,-20);
}
else
{
Stop();
}
#endif
//printf ("Pwm = %d \r\n",Pwm);
//
// OLED_Show_Number(0,6,abs(Angle),16);
//P1OUT ^=BIT0;
//printf("angle = %1f , angle_dot = %2f \r\n",Angle,Angle_dot);
//printf("ML = %d , MR = %d \r\n",speed_mL,speed_mR);//打印編碼器
//PWM_Motor(20,-20);//測試電機(jī),應(yīng)看到左輪后退，右輪前進(jìn)
//TA2CCR1 = abs(-100);//L
//TA1CCR1 = abs(256/2);//R
P4OUT ^=BIT7;
// delay(10);
}
}
void OledDisApp(void)
{
#if 1
if(Angle < 0.0)
{
//sprintf
OLED_ShowChar(32, 2, '-', 16);
}
else
{
OLED_ShowChar(32, 2, ' ', 16);
}
OLED_ShowNum(32+8, 2, abs(Angle), 3, 16);
OLED_ShowNum(32+8, 5, speedcar/2, 3, 16);
#endif
//================Speed====================
#if 0
if(Speed < 0.0)
{
//sprintf
OLED_ShowChar(50, 2, '-', 16);
}
else
{
OLED_ShowChar(50, 2, ' ', 16);
}
OLED_ShowNum(50+8, 2, abs(Speed), 3, 16);
#endif
//fillRect(124, 64/2, 2, -63, 1,1);
}

復(fù)制代碼