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829天前/** ################################################################### |
** Filename : SMMNew1.C |
** Project : SMMNew1 |
** Processor : 56F8013VFAE |
** Version : Driver 01.14 |
** Compiler : Metrowerks DSP C Compiler |
** Date/Time : 2012-2-2, 11:06 |
** Abstract : |
** Main module. |
** This module contains user's application code. |
** Settings : |
** Contents : |
** No public methods |
** |
** ###################################################################*/ |
/* MODULE SMMNew1 */ |
/* Including needed modules to compile this module/procedure */ |
#include <intrinsics_56800e.h> |
#include "Cpu.h" |
#include "Events.h" |
#include "LED.h" |
#include "AS1.h" |
#include "AD1.h" |
#include "PWMC1.h" |
#include "COUNTER1.h" |
#include "COUNTER2.h" |
#include "TI1.h" |
#include "IFsh1.h" |
/* Including shared modules, which are used for whole project */ |
#include "PE_Types.h" |
#include "PE_Error.h" |
#include "PE_Const.h" |
#include "IO_Map.h" |
//------------------------------------------------------------------------------ |
#include "F8013.h" |
#include "CarSub.h" |
#include "config.h" |
#include "debug.h" |
//------------------------------------------------------------------------------ |
#define LOOP_TIME 250 |
void main(void) |
{ |
unsigned int nLoop; |
/* Write your local variable definition here */ |
//-------------------------------------------------------------------------- |
|
//-------------------------------------------------------------------------- |
/*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/ |
PE_low_level_init(); |
/*** End of Processor Expert internal initialization. ***/ |
//-------------------------------------------------------------------------- |
// Initialize MCU and control variables |
F8013Init(); // Initialize the F8013 |
CarSubInit(); // Initialize the control algrithm//控制算法 |
LEDFlashInit(); // Initialize LED Flash |
DebugInit(); // Initialize debug global variable |
|
//-------------------------------------------------------------------------- |
ArgumentLoad(); // Load Argument from FLASH //加载参数 |
if(g_Argument.nInitFlag != INIT_FLAG_DEFAULT) { |
ArgumentInit(); |
ArgumentSave(); |
DebugFirstStart(); |
} |
|
//-------------------------------------------------------------------------- |
nLoop = 0; |
|
//-------------------------------------------------------------------------- |
// g_fTestSpeedValue = MOTOR_OUT_MAX / 2; |
|
//-------------------------------------------------------------------------- |
for(;;) { |
//---------------------------------------------------------------------- |
WaitTime(1); |
nLoop ++; |
|
//---------------------------------------------------------------------- |
if(CAN_RECE) { |
DebugProcess(); |
} |
//---------------------------------------------------------------------- |
if(VOLTAGE_SET1 > 3000) DEBUG_STOP_CONTROL; |
if(VOLTAGE_SET2 > 3000) DebugStartControl(); |
|
//---------------------------------------------------------------------- |
LEDFlash(); |
|
//---------------------------------------------------------------------- |
if(nLoop >= LOOP_TIME) |
nLoop = 0; |
else continue; |
//---------------------------------------------------------------------- |
if(g_nDebugStopFlag == 0) { |
WaitCarStand(); |
CheckCarStand(); |
} else { |
CarControlStop(); |
} |
|
//---------------------------------------------------------------------- |
// Show the AD Result; |
g_fDebugWord[0] = g_fCarAngle * 10.0; |
g_fDebugWord[1] = g_fCarSpeed * 10.0; |
g_fDebugWord[2] = g_fDirectionControlOut * 100.0; |
g_fDebugWord[3] = g_fSpeedControlOut * 100; |
g_fDebugWord[4] = VOLTAGE_LEFT; |
g_fDebugWord[5] = VOLTAGE_RIGHT; |
g_fDebugWord[6] = VOLTAGE_GYRO; |
g_fDebugWord[7] = VOLTAGE_GRAVITY;//g_fSpeedControlIntegral * 10000; //VOLTAGE_GRAVITY; |
g_fDebugWord[8] = g_fCarSpeedSet * 10.0; |
|
if(g_nDebugStopFlag == 0) { |
g_fDebugWord[9] = g_fAngleControlOut * 100.0; |
g_fDebugWord[10] = g_fSpeedControlIntegral * 100.0; //VOLTAGE_SET2; |
} else { |
g_fDebugWord[9] = 9999; |
g_fDebugWord[10] = 9999; |
} |
SendDebugWordFloat(); |
// GetADAverage(1024); |
// SendDebugWord(); |
|
//---------------------------------------------------------------------- |
#define SPEED_INC 1 |
#define SPEED_DEC 2 |
if(IF_CAR_CONTROL) { |
if(g_fCarSpeedSet != g_Argument.fCarSpeedSet) { |
if(g_Argument.fCarSpeedSet > g_fCarSpeedSet) { |
g_fCarSpeedSet += SPEED_INC; |
if(g_Argument.fCarSpeedSet < g_fCarSpeedSet) |
g_fCarSpeedSet = g_Argument.fCarSpeedSet; |
} else { |
g_fCarSpeedSet -= SPEED_DEC; |
if(g_Argument.fCarSpeedSet > g_fCarSpeedSet) |
g_fCarSpeedSet = g_Argument.fCarSpeedSet; |
} |
} |
} else { |
g_fCarSpeedSet = 0; |
} |
//---------------------------------------------------------------------- |
|
} |
//-------------------------------------------------------------------------- |
/* Write your code here */ |
for(;;) {} |
} |
//------------------------------------------------------------------------------ |
|
/* END SMMNew1 */ |
/* |
** ################################################################### |
** |
** This file was created by Processor Expert 3.00 [04.35] |
** for the Freescale 56800 series of microcontrollers. |
** |
** ################################################################### |
*/ |
初级程序员
by: 漫步云端 发表于：2013-02-12 19:44:49 顶(1) | 踩(0) 回复
高级。。。。。。。。
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