久久精品在线观看视频,国产精品永久免费,少妇久久久

/********************* 節(jié)能管腳分配 *******************************************
REST P54
LED P47
LED P15
---------------------------------------------------------------------------
下載口:
R P30
T P31
UART3: 調(diào)試口
R P50
T P51
UART4: 上位機
R P52
T P53
---------------------------------------------------------------------------
模擬MPU6050:
SCL P32
SDA P33
MPUIT
---------------------------------------------------------------------------
ENCODER:
L DIR:P05 TIM3_CIN:P04
R DIR:P07 TIM4_CIN:P06
---------------------------------------------------------------------------
MOTOR_PWMXX: select P2
L P20 P21
R P22 P23
備用 P24 P25 P26 P27
STC8A 一共1個PWM模塊可以輸出8路頻率相同的PWM波這8路PWM每路可以映射在三個管腳上面
channel n = 2 n = 1 n = 6
PWM00 P2_0 P1_0 P6_0
PWM01 P2_1 P1_1 P6_1
PWM02 P2_2 P1_2 P6_2
PWM03 P2_3 P1_3 P6_3
PWM04 P2_4 P1_4 P6_4
PWM05 P2_5 P1_5 P6_5
PWM06 P2_6 P1_6 P6_6
PWM07 P2_7 P1_7 P6_7
---------------------------------------------------------------------------
ADCX: select P1
0 P1.0
1 P1.1
2 P1.2
3 P1.3
4 P1.4
5 P1.5
6 P1.6
7 P1.7
SCT8G/STC8A 有15個ADC通道每個通道對應(yīng)管腳如下
0 P1.0 8 P0.0
1 P1.1 9 P0.1
2 P1.2 10 P0.2
3 P1.3 11 P0.3
4 P1.4 12 P0.4
5 P1.5 13 P0.5
6 P1.6 14 P0.6
7 P1.7 15 測試內(nèi)部 1.19V
---------------------------------------------------------------------------
INT:
INT0 P32
INT1 P33
INT2 P36
INT3 P37
---------------------------------------------------------------------------
timer:
timer0
timer1
tiemr2 串口波特率發(fā)生器
timer3 P37
timer4
---------------------------------------------------------------------------
*/
#include "headfile.h"
//board.h文件中FOSC設(shè)置內(nèi)部晶振頻率為35Mhz
//使用stc-isp工具下載程序的時候需要將IRC頻率設(shè)置為35Mhz
int16 send[6]; //上位機數(shù)組
int16 sec; //小車運行時間
float power; //電源的電壓值
char rec; //調(diào)試串口值
float K1=0.04; //互補濾波加權(quán)值注意：這里原始值是0.03，可能需要更改
float Balance_Kp=600,Balance_Kd=-10,Velocity_Kp=-6,Velocity_Ki=-0.05;//PID參數(shù)
float Angle_Balance,Gyro_Balance,Gyro_Turn; //平衡傾角平衡陀螺儀轉(zhuǎn)向陀螺儀
int Encoder_Left,Encoder_Right; //左右編碼器的脈沖計數(shù)
long int Balance_Pwm,Velocity_Pwm,Turn_Pwm; //直立環(huán) 速度環(huán) 轉(zhuǎn)向環(huán)的pwm
char delay_50,delay_flag;
char oled_show,rtu_show;
Inductance ppInductance;
Inductance *psInductance;
float Kp=30,Kd=12; //轉(zhuǎn)向環(huán)PD參數(shù)
int Velocity_target;
float zhongzhi;
int distance_garage,distance_huandao;
char flag,strong_flag,huandao_flag_num;
float power_bili;
char stop_flag;
void main()
{
RSTCFG = 0x50; //自動下載和復位
/**********數(shù)據(jù)初始化****************/
psInductance=&ppInductance;
stop_flag=0;
sec=0;
power=0;
rec='p';
Encoder_Left=Encoder_Right=0;
oled_show=1;
rtu_show=1;
Velocity_target=1000;
Velocity_Pwm=0;
zhongzhi=-6;
flag=2;
strong_flag=2;
distance_garage,distance_huandao=0;
psInductance->InductanceGYHC_MAX=0;
psInductance->dir_sum=0;
huandao_flag_num=0;
/***********************************/
DisableGlobalIRQ(); //關(guān)閉總中斷
board_init(); //初始化內(nèi)部寄存器
/**********硬件外設(shè)初始化************/
gpio_mode(led1, GPO_PP);
gpio_mode(led2, GPO_PP);
gpio_mode(key1, GPI_IMPEDANCE);
gpio_mode(key2, GPI_IMPEDANCE);
gpio_mode(key3, GPI_IMPEDANCE);
gpio_mode(key4, GPI_IMPEDANCE);
gpio_mode(P00, GPI_IMPEDANCE);
gpio_mode(P01, GPI_IMPEDANCE);
gpio_mode(P02, GPI_IMPEDANCE);
gpio_mode(P03, GPI_IMPEDANCE);
gpio_mode(P05, GPI_IMPEDANCE);
gpio_mode(P07, GPI_IMPEDANCE);
gpio_mode(P10, GPI_IMPEDANCE);
gpio_mode(P16, GPI_IMPEDANCE);
gpio_mode(P04, GPI_IMPEDANCE);
gpio_mode(P34, GPI_IMPEDANCE);
gpio_mode(P06, GPI_IMPEDANCE);
gpio_mode(P35, GPI_IMPEDANCE);
gpio_mode(P23, GPO_PP);
gpio_mode(P22, GPO_PP);
gpio_mode(P21, GPO_PP);
gpio_mode(P20, GPO_PP);
gpio_mode(P44, GPO_PP);
gpio_mode(PWM1_P11, GPO_PP);
gpio_mode(PWM1_P12, GPO_PP);
gpio_mode(PWM1_P13, GPO_PP);
gpio_mode(PWM1_P14, GPO_PP);
pwm_init(PWM1_P11,500, 0);
pwm_init(PWM1_P12,500, 0);
pwm_init(PWM1_P13,500, 0);
pwm_init(PWM1_P14,500, 0);
adc_init(ADC_P10, ADC_SYSclk_DIV_2); //初始化ADC,P1.0通道，ADC時鐘頻率：SYSclk/2
adc_init(ADC_P00, ADC_SYSclk_DIV_2); //初始化ADC,P1.0通道，ADC時鐘頻率：SYSclk/2
adc_init(ADC_P01, ADC_SYSclk_DIV_2); //初始化ADC,P1.0通道，ADC時鐘頻率：SYSclk/2
adc_init(ADC_P02, ADC_SYSclk_DIV_2); //初始化ADC,P1.0通道，ADC時鐘頻率：SYSclk/2
adc_init(ADC_P03, ADC_SYSclk_DIV_2); //初始化ADC,P1.0通道，ADC時鐘頻率：SYSclk/2
adc_init(ADC_P05, ADC_SYSclk_DIV_2); //初始化ADC,P1.0通道，ADC時鐘頻率：SYSclk/2
adc_init(ADC_P16, ADC_SYSclk_DIV_2); //初始化ADC,P1.0通道，ADC時鐘頻率：SYSclk/2
mpu6050_init();
oled_init();
ctimer_count_init(CTIM0_P34);
ctimer_count_init(CTIM4_P06);
//uart_init(UART_3, UART3_RX_P50,UART3_TX_P51, 115200, TIM_2);
uart_init(UART_4, UART4_RX_P52,UART4_TX_P53, 115200, TIM_2);
/***********************************/
/**********軟件外設(shè)初始化************/
exit_init(INT2_P36,FALLING_EDGE);
// exit_init(INT3_P37,FALLING_EDGE);
pca_dealy_init();
// pca_init_interrupt_ms(PCA_0, 40); //使用PCA_0作為周期中斷，時間1ms一次
pit_timer_ms(TIM_1,10); //定時器1
/***********************************/
adc_init(ADC_P10, ADC_SYSclk_DIV_2); //初始化ADC,P1.0通道，ADC時鐘頻率：SYSclk/2
adc_init(ADC_P00, ADC_SYSclk_DIV_2); //初始化ADC,P1.0通道，ADC時鐘頻率：SYSclk/2
adc_init(ADC_P01, ADC_SYSclk_DIV_2); //初始化ADC,P1.0通道，ADC時鐘頻率：SYSclk/2
adc_init(ADC_P02, ADC_SYSclk_DIV_2); //初始化ADC,P1.0通道，ADC時鐘頻率：SYSclk/2
adc_init(ADC_P05, ADC_SYSclk_DIV_2); //初始化ADC,P1.0通道，ADC時鐘頻率：SYSclk/2
adc_init(ADC_P16, ADC_SYSclk_DIV_2); //初始化ADC,P1.0通道，ADC時鐘頻率：SYSclk/2
while(power<6.4)
{
power=12.12*adc_once(ADC_P16, ADC_10BIT)/1050;
oled_printf_float(80,6,power,3,2);
if(key1==0) Velocity_target=130;
if(key2==0) Velocity_target=160;
if(key3==0) Velocity_target=200;
}
EnableGlobalIRQ(); //開啟總中斷
while(1) //50ms一個精確循環(huán)
{
if(oled_show==1)
{
oled_uint16(0,0, psInductance->InductanceAveNowA);
oled_uint16(0,1, psInductance->InductanceAveNowB);
oled_uint16(0,2, psInductance->InductanceAveNowC);
oled_uint16(0,3, psInductance->InductanceAveNowD);
oled_uint16(0,4, psInductance->InductanceAveNowE);
oled_int16(0,5, psInductance->dir);
oled_int16(0,6, mpu_acc_x/48);
// oled_uint16(0,4, psInductance->InductanceAveNowE);
//
oled_uint16(60,0, psInductance->InductanceGYHA);
oled_uint16(60,1, psInductance->InductanceGYHB);
oled_uint16(60,2, psInductance->InductanceGYHC);
oled_uint16(60,3, psInductance->InductanceGYHD);
oled_uint16(60,4, psInductance->InductanceGYHE);
oled_uint16(60,5,flag);
oled_printf_float(60,6,power,3,2);
}
if(rtu_show==1)
{
send[0]=Velocity_Pwm; //mpu_gyro_z
send[1]=Balance_Pwm;
send[2]=Encoder_Left;
send[3]=Encoder_Right; //注意這是平衡方向的加速度計
send[4]=Angle_Balance; //注意這是平衡方向的加速度計
rtu_send_data(send,5);
}
if(rec=='A')
{
Balance_Kd+=0.5;
rec='p';
}
if(rec=='B')
{
Balance_Kd-=0.5;
rec='p';
}
delay_flag = 1;
delay_50 = 0;
while(delay_flag);
}
}
//三電感AC先比較判斷偏左還是偏右然后用左循跡AB或者右循跡BC差比和

復制代碼

久久久久久久999_99精品久久精品一区二区爱城_成人欧美一区二区三区在线播放_国产精品日本一区二区不卡视频_国产午夜视频_欧美精品在线观看免费