2020亚洲视频,www.se天堂,一区二区三区视频

#include <stdbool.h>
#include <stdlib.h>
#include <stdint.h>
#include <string.h>
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_gpio.h"
#include "inc/tm4c1294ncpdt.h"
#include "inc/hw_epi.h"
//#include "inc/hw_ints.h" //和"inc/tm4c1294ncpdt.h"里面的宏定義重復了
#include "driverlib/epi.h"
#include "driverlib/gpio.h"
#include "driverlib/sysctl.h"
#include "driverlib/rom.h"
#include "driverlib/rom_map.h"
#include "driverlib/pin_map.h"
#include "driverlib/pwm.h"
#include "driverlib/systick.h"
#include "driverlib/interrupt.h"
#include "driverlib/ssi.h"
#include "driverlib/fpu.h"
#include "driverlib/adc.h"
#include "utils/uartstdio.h"
#include "TFTinit/TFT_400x240_OTM4001A_16bit.h"
//#include "TFTinit/picture.h"
#include "TOUCHinit/TOUCH_TSC2046.h"
#include "EPIinit/EPIinit.h"
//Todo
#include "math.h"
#include "driverlib/timer.h"
#include "utils/uartstdio.h"
//Todo
/*項目分類*/
typedef enum{
noun,//空
return_main,//返回
pj1,//顯示時鐘
pj2,//音樂播放器
pj3,//聲音定位
wrong,//錯誤選擇,
} Project;
/*自定義變量*/
//Todo
#define _NOP() _nop()
#define SLAVE_ADDRESS_W 0x3A //寫ADXL345L時的從機地址
#define SLAVE_ADDRESS_R 0x3B //讀ADXL345L時的從機地址
double tem,tem_tmp;//溫度（*100）
Project choose_pj = noun;
volatile uint32_t show_flag=0;//是否顯示了時鐘
volatile uint32_t start_flag=0;//是否進入主頁
volatile uint32_t musicplay_once=0,musicplay_rotate=0;//單次演奏和循環演奏
volatile uint32_t time = 0,time1=0,time2=0;;//時間
volatile uint32_t mg[3]={0x00,0x00,0x00};
volatile uint32_t touch_cnt=0;
#define touch_cnt_max 5
uint32_t page=1;
uint32_t array_num;
//*****************************************************************************
//
// System clock rate in Hz.
//
//*****************************************************************************
uint32_t g_ui32SysClock;
extern uint32_t GetData[21];
uint32_t TouchXData[21];
uint32_t TouchYData[21];
//Todo
/*舵機初始化*/
void ServoInit()//對所有PWM generator進行初始化
{
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);//PWM0模塊使能
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);//GPIOF模塊使能
GPIOPinConfigure(GPIO_PF1_M0PWM1);//設置引腳復用功能為PWM
// GPIOPinConfigure(GPIO_PK4_M0PWM6);
// GPIOPinConfigure(GPIO_PK5_M0PWM7);
GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_1);//配置相應引腳用于PWM功能
// GPIOPinTypePWM(GPIO_PORTK_BASE, GPIO_PIN_4);//外擴引腳
// GPIOPinTypePWM(GPIO_PORTK_BASE, GPIO_PIN_5);
PWMGenConfigure(PWM0_BASE, PWM_GEN_0, PWM_GEN_MODE_DOWN |PWM_GEN_MODE_NO_SYNC);//配置PWM發生器為減計數、立即更新方式
PWMGenConfigure(PWM0_BASE, PWM_GEN_1, PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
// PWMGenConfigure(PWM0_BASE, PWM_GEN_2, PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
// PWMGenConfigure(PWM0_BASE, PWM_GEN_3, PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, 60000);//配置PWM工作頻率為120MHz/8/120000=125Hz
// PWMGenPeriodSet(PWM0_BASE, PWM_GEN_1, 120000);
// PWMGenPeriodSet(PWM0_BASE, PWM_GEN_2, 50000);
// PWMGenPeriodSet(PWM0_BASE, PWM_GEN_3, 50000);
PWM0_CC_R = PWM_CC_USEPWM | PWM_CC_PWMDIV_8;
PWMOutputState( PWM0_BASE, PWM_OUT_1_BIT, true);
//PWMOutputState(PWM0_BASE, PWM_OUT_1_BIT | PWM_OUT_2_BIT | PWM_OUT_3_BIT, true);//使能PWM輸出信號
//PWMOutputState(PWM0_BASE, PWM_OUT_4_BIT | PWM_OUT_5_BIT | PWM_OUT_6_BIT, true);//使能PWM輸出信號
PWMGenEnable(PWM0_BASE, PWM_GEN_0);//使能相應PWN發生器模塊
// PWMGenEnable(PWM0_BASE, PWM_GEN_1);
// PWMGenEnable(PWM0_BASE, PWM_GEN_2);
// PWMGenEnable(PWM0_BASE, PWM_GEN_3);
}
//Todo
//聲音定位
/** * adc采集數據長度 */
#define ADC_DATA_LEN 2048
/* * adc采集完成標志位 */
volatile uint8_t AdcFinishFlag = 0;
/* * adc雙buff緩沖區緩沖完成的區域序號 */
volatile uint8_t AdcBuffIndex = 0;
/** adc數組下標 */
volatile uint32_t adcCount = 0;
/* * ADC數據 adc0 1 2 3 采集麥克風信號
*
* 2 1
*
* 3 0 */
__attribute__ ((aligned(256))) volatile int16_t g_adc0Data[2][ADC_DATA_LEN];
__attribute__ ((aligned(256))) volatile int16_t g_adc1Data[2][ADC_DATA_LEN];
__attribute__ ((aligned(256))) volatile int16_t g_adc2Data[2][ADC_DATA_LEN];
//__attribute__ ((aligned(256))) volatile int16_t g_adc3Data[2][ADC_DATA_LEN];
/* * 互相關結果 */
float g_acor1[2][30];
float g_acor2[2][30];
//float g_acor3[2][30];
//float g_acor4[2][30];
/* * 聲音角度 */
float g_Angle = 0;
/* * ADC數據 adc0 1 2 3 采集麥克風信號
*
* 2 1
*
* 3 0
*
* PD2 PB5
*
* (PK1) PB4
* */
//引腳對應通道、通道連接采樣序列、采樣序列使能
void VoiceInit(void)
{
// 初始化ADC0/ 初始化PB4、PB5為TypeADC
SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
GPIOPinTypeADC(GPIO_PORTB_BASE, GPIO_PIN_4);
GPIOPinTypeADC(GPIO_PORTB_BASE, GPIO_PIN_5);
// 初始化ADC1/ 初始化PK0、PK1TypeADC
SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
GPIOPinTypeADC(GPIO_PORTD_BASE, GPIO_PIN_2);
// GPIOPinTypeADC(GPIO_PORTK_BASE, GPIO_PIN_1);
// 配置ADC0的采集序列2給PB4 //配置ADC0采樣序列2的步驟0，PB4的模擬通道是AIN10（ADC_CTL_CH10）
ADCSequenceConfigure(ADC0_BASE, 2, ADC_TRIGGER_PROCESSOR, 0);
ADCSequenceStepConfigure(ADC0_BASE, 2, 0, ADC_CTL_CH10 | ADC_CTL_END | ADC_CTL_IE);
//配置ADC0的采集序列1給PB5 //配置ADC0采樣序列1的步驟0，PB5的模擬通道是AIN11（ADC_CTL_CH11）
ADCSequenceConfigure(ADC0_BASE, 1, ADC_TRIGGER_PROCESSOR, 0);
ADCSequenceStepConfigure(ADC0_BASE, 1, 0, ADC_CTL_CH11 | ADC_CTL_END | ADC_CTL_IE);
//
// // 配置ADC1的采集序列2給PD2 //配置ADC1采樣序列2的步驟0，PK0的模擬通道是AIN13（ADC_CTL_CH13）
ADCSequenceConfigure(ADC1_BASE, 0, ADC_TRIGGER_PROCESSOR, 0);
ADCSequenceStepConfigure(ADC1_BASE, 0, 0, ADC_CTL_CH13 | ADC_CTL_END | ADC_CTL_IE);
// //配置ADC0的采集序列1給PK1 //配置ADC1的采樣序列1的步驟0，PK1的模擬通道是AIN17（ADC_CTL_CH17）
// ADCSequenceConfigure(ADC1_BASE, 1, ADC_TRIGGER_PROCESSOR, 0);
// ADCSequenceStepConfigure(ADC1_BASE, 1, 0, ADC_CTL_CH17 | ADC_CTL_END | ADC_CTL_IE);
// 使能ADC采集序列 //清中斷
ADCSequenceEnable(ADC0_BASE, 2);
ADCSequenceEnable(ADC0_BASE, 1);
ADCSequenceEnable(ADC1_BASE, 0);
// ADCSequenceEnable(ADC1_BASE, 1);
ADCIntClear(ADC0_BASE, 2);
ADCIntClear(ADC0_BASE, 1);
ADCIntClear(ADC1_BASE, 0);
// ADCIntClear(ADC1_BASE, 1);
// CCU6_InitConfig(CCU60, CCU6_Channel0, 100); //100us進入一次中斷中斷中采集adc數據
}
/*! * @brief 采集中斷服務函數聲音信號采集 * @date 2020/4/28 */
void VoiceGetSample(void)
{
static uint8_t adcIndex = 0;
if(adcCount >= ADC_DATA_LEN)
{
adcCount = 0;
AdcFinishFlag = 1;
/* 切換buff緩沖區 */
if(adcIndex == 0)
{
adcIndex = 1;
AdcBuffIndex = 0;
}
else
{
adcIndex = 0;
AdcBuffIndex = 1;
}
}
// 觸發采集
ADCProcessorTrigger(ADC0_BASE, 2);
ADCProcessorTrigger(ADC0_BASE, 1);
ADCProcessorTrigger(ADC1_BASE, 0);
// ADCProcessorTrigger(ADC1_BASE, 1);
// 等待采集結束 // 獲取采集結果
while(!ADCIntStatus(ADC0_BASE, 2, false)) ;
ADCSequenceDataGet(ADC0_BASE, 2, &g_adc0Data[adcIndex][adcCount]);
while(!ADCIntStatus(ADC0_BASE, 1, false)) ;
ADCSequenceDataGet(ADC0_BASE, 1, &g_adc1Data[adcIndex][adcCount]);
while(!ADCIntStatus(ADC1_BASE, 0, false)) ;
ADCSequenceDataGet(ADC1_BASE, 0, &g_adc2Data[adcIndex][adcCount]);
//
// while(!ADCIntStatus(ADC1_BASE, 1, false)) ;
// ADCSequenceDataGet(ADC1_BASE, 1, &g_adc3Data[adcIndex][adcCount]);
adcCount++;
}
/*!
* @brief 歸一化處理
*
* @param x ：要處理數據
* @param len ：要處理數據長度
* @date 2020/4/28
*/
void Normal(int16_t *x, uint16_t len)
{
float sum = 0;
int i;
for(i = 0; i < len; i++)
{
sum += x[i];
}
sum = sum / len;
for(i = 0; i < len; i++)
{
x[i] -= sum;
}
}
/*!
* @brief 互相關
*
* @param acor1： y0 y1 互相關結果
* @param acor2： y1 y2互相關結果
* @param acor3： y0 y2互相關結果
* @param acor4： y1 y3互相關結果
* @param y0 ：互相關數據 y0
* @param y1 ：互相關數據 y1
* @param y2 ：互相關數據 y2
* @param y3 ：互相關數據 y3
* @param len ：互相關數據長度
* @date 2020/4/28
*/
//void Xcorr(float *acor1, float *acor2, float *acor3, float *acor4, int16_t *y0, int16_t *y1, int16_t *y2, int16_t *y3, uint16_t len)
void Xcorr(float *acor1, float *acor2, int16_t *y0, int16_t *y1, int16_t *y2, uint16_t len)
{
// float sum3 = 0;
// float sum4 = 0;
float sum1 = 0;
float sum2 = 0;
int delay, i, j;
for(delay = -15; delay < 15; delay++) //30個互相關的值
// for(delay = -len + 1; delay < len; delay++) //len個互相關的值
{
sum1 = 0;
sum2 = 0;
// sum3 = 0;
// sum4 = 0;
for(i = 0; i < len; i++)
{
j = i + delay;
if((j < 0))
{
sum1 += 0.0001f * y0[j + len] * y1[i]; //縮小一定倍數，防止溢出
sum2 += 0.0001f * y1[j + len] * y2[i];
// sum3 += 0.0001f * y0[j + len] * y2[i];
// sum4 += 0.0001f * y1[j + len] * y3[i];
}
else if ((j >= len))
{
sum1 += 0.0001f * y0[j - len] * y1[i];
sum2 += 0.0001f * y1[j - len] * y2[i];
// sum3 += 0.0001f * y0[j - len] * y2[i];
// sum4 += 0.0001f * y1[j - len] * y3[i];
}
else
{
sum1 += 0.0001f * y0[j] * y1[i];
sum2 += 0.0001f * y1[j] * y2[i];
// sum3 += 0.0001f * y0[j] * y2[i];
// sum4 += 0.0001f * y1[j] * y3[i];
}
}
acor1[15 + delay] = (float)sum1;
acor2[15 + delay] = (float)sum2;
// acor3[15 + delay] = (float)sum3;
// acor4[15 + delay] = (float)sum4;
}
}
/*!
* @brief 得到最大相關位置
*
* @param acor1：互相關結果
* @param acor2：互相關結果
* @param acor3：互相關結果
* @param acor4：互相關結果
* @param len ：數據長度（與delay 對應）
* @param index：存放相關結果最大值下標
* @date 2020/4/28
*/
void SeekMaxAcor(float * acor1, float * acor2, int16_t len, int16_t *index)
{
int16_t i = 0;
index[0] = 0;
index[1] = 0;
// index[2] = 0;
// index[3] = 0;
for(i = 1; i < len; i++)
{
if(acor1[i] > acor1[index[0]])
{
index[0] = i;
}
if(acor2[i] > acor2[index[1]])
{
index[1] = i;
}
// if(acor3[i] > acor3[index[2]])
// {
// index[2] = i;
// }
// if(acor4[i] > acor4[index[3]])
// {
// index[3] = i;
// }
}
index[0] = len/2 - index[0]; //下標結果變成負數的關鍵！
index[1] = len/2 - index[1];
// index[2] = len/2 - index[2];
// index[3] = len/2 - index[3];
}
/*!
* @brief 麥克風數據處理獲取角度信息
*
* @param 無
*
* @return 最大相關位置
*
* @note 無
*
* @see
*
* @date 2020/4/28
*/
void VoiceProcess(void)
{
// if(AdcFinishFlag)
// {
// /* 數據處理 */
// Normal((int16_t *)g_adc0Data[AdcBuffIndex], ADC_DATA_LEN);
// Normal((int16_t *)g_adc1Data[AdcBuffIndex], ADC_DATA_LEN);
// Normal((int16_t *)g_adc2Data[AdcBuffIndex], ADC_DATA_LEN);
// Normal((int16_t *)g_adc3Data[AdcBuffIndex], ADC_DATA_LEN);
//
// for(int i = 0; i < ADC_DATA_LEN; i ++)
// {
// /* 上報匿名上位機看原始數據波形 */
// ANO_DT_send_int16(g_adc0Data[AdcBuffIndex][i], g_adc1Data[AdcBuffIndex][i], g_adc2Data[AdcBuffIndex][i], g_adc3Data[AdcBuffIndex][i], 0, 0, 0, 0);
// }
//
// AdcFinishFlag = 0;
// }
if(AdcFinishFlag)
{
//存放相關峰值下標
int16_t acorIndex[4];
// 記錄時間
// uint32_t nowTime = STM_GetNowUs(STM0);
// 數據處理
Normal((int16_t *)g_adc0Data[AdcBuffIndex], ADC_DATA_LEN);
Normal((int16_t *)g_adc1Data[AdcBuffIndex], ADC_DATA_LEN);
Normal((int16_t *)g_adc2Data[AdcBuffIndex], ADC_DATA_LEN);
// Normal((int16_t *)g_adc3Data[AdcBuffIndex], ADC_DATA_LEN);
// 互相關
Xcorr((float *)&g_acor1[AdcBuffIndex], (float *)&g_acor2[AdcBuffIndex], (int16_t *)&g_adc0Data[AdcBuffIndex], (int16_t *)&g_adc1Data[AdcBuffIndex], (int16_t *)&g_adc2Data[AdcBuffIndex], ADC_DATA_LEN);
// g_acor1：麥克風0 麥克風1 互相關結果
// g_acor2：麥克風1 麥克風2 互相關結果
// 獲取最大相關峰值
SeekMaxAcor((float *)&g_acor1[AdcBuffIndex], (float *)&g_acor2[AdcBuffIndex], 30, acorIndex);
//acorIndex[0]存放g_acor1峰值的下標
//acorIndex[1]存放g_acor1峰值的下標
//acorIndex[2]存放g_acor1峰值的下標
//acorIndex[3]存放g_acor1峰值的下標
// pidVoice_error=acorIndex[1];//下標偏差
// 四組相關數據最大最小結果下標
uint8_t IndexMax = 0, IndexMin = 0;
//找到絕對值最小和最大的值下標
uint8_t i = 0;
for(i = 1; i < 2; i++)
{
if(abs(acorIndex[i]) >= abs(acorIndex[IndexMax])) //絕對值最小
{
IndexMax = i;
}
if(abs(acorIndex[i]) <= abs(acorIndex[IndexMin]))
{
IndexMin = i;
}
}
// 判斷大致方位
if(IndexMin == 0)
{
if(acorIndex[1] > 0)
{g_Angle = 0;}
else
{g_Angle = 180;}
}
else if(IndexMin == 1)
{
if(acorIndex[0] > 0)
{g_Angle = 270 ;}
else
{g_Angle = 90;}
}
// else if(IndexMin == 2)
// {
// if(acorIndex[3] > 0)
// {g_Angle = 45;}
// else
// {g_Angle =225;}
// }
//
// else if(IndexMin == 3)
// {
// if(acorIndex[2] > 0)
// {g_Angle =315;}
// else
// {g_Angle=135;}
// }
// nowTime = STM_GetNowUs(STM0) - nowTime;
// VoiceCalculatorTime=nowTime;
// TFTLCD_ShowData(138,90,(int)g_Angle,WHITE,BLACK);//
AdcFinishFlag = 0;
}
}
/****用于聲音采集，0.1ms一次****/
void Timer2BIntHandler()
{
unsigned long Status;
TimerDisable(TIMER2_BASE, TIMER_B);
Status=TimerIntStatus(TIMER2_BASE,true);
if(Status==TIMER_TIMB_TIMEOUT)
{
VoiceGetSample();
}
TimerIntClear(TIMER2_BASE, Status);//計時清零
TimerLoadSet(TIMER2_BASE, TIMER_B, 0.1*g_ui32SysClock/1000);//控制計時器的計時長度100us,0.1ms
TimerEnable(TIMER2_BASE, TIMER_B);//定時器使能
}
void Timer3BIntHandler()
{
unsigned long Status;
TimerDisable(TIMER3_BASE, TIMER_B);
Status=TimerIntStatus(TIMER3_BASE,true);
if(Status==TIMER_TIMB_TIMEOUT)
{
if(g_Angle==0)
{
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_1,7500);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_1,36500);
……………………
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