m_delay_motor
(int t,int f1,int f
2)语句else if
(read_a[
2]|read_a[3]|read_a[4]|read_a[5]
)存在问题，需要完成的步骤是在八路巡线中，中间四路只要有一个寻到了就立即执行限时巡线的操作
(flag_r1 == 8
)。修改代码#include "ti_msp_dl_config
.h"
#include "
headfile
.h"
void usart0_send_bytes
(unsigned char *buf, int len
);
void usart1_send_bytes
(unsigned char *buf, int len
);
void usart
2_send_bytes
(unsigned char *buf, int len
);
void usart3_send_bytes
(unsigned char *buf, int len
);
void sent_num
(UART_Regs *port,int num,int len
);
#define M1_0 DL_GPIO_clearPins
(PORTB_PORT, DL_GPIO_PIN_6
)
#define M1_1 DL_GPIO_setPins
(PORTB_PORT, DL_GPIO_PIN_6
)
#define M
2_0 DL_GPIO_clearPins
(PORTB_PORT, DL_GPIO_PIN_7
)
#define M
2_1 DL_GPIO_setPins
(PORTB_PORT, DL_GPIO_PIN_7
)
#define M3_0 DL_GPIO_clearPins
(PORTB_PORT, DL_GPIO_PIN_8
)
#define M3_1 DL_GPIO_setPins
(PORTB_PORT, DL_GPIO_PIN_8
)
#define M4_0 DL_GPIO_clearPins
(PORTB_PORT, DL_GPIO_PIN_9
)
#define M4_1 DL_GPIO_setPins
(PORTB_PORT, DL_GPIO_PIN_9
)
#define BEEP_0 DL_GPIO_clearPins
(PORTB_PORT, DL_GPIO_PIN_11
)
#define BEEP_1 DL_GPIO_setPins
(PORTB_PORT, DL_GPIO_PIN_11
)
#define BEEP_OFF DL_GPIO_clearPins
(PORTB_PORT, DL_GPIO_PIN_1
2)
#define BEEP_ON DL_GPIO_setPins
(PORTB_PORT, DL_GPIO_PIN_1
2)
#define LED_OFF DL_GPIO_clearPins
(PORTB_PORT, DL_GPIO_PIN_13
)
#define LED_ON DL_GPIO_setPins
(PORTB_PORT, DL_GPIO_PIN_13
)
int speed_s=300,speed_q=0, angle_t=100;;
int suA=0,suB=0,duo=0,su_TA=0,su_TB=100;
int pid_pwm1=0,pid_l=0,pid_r=0;
volatile uint3
2_t gpioA,gpioB;
volatile int3
2_t gEncoderCount = 0,gEncoderCountB = 0;
volatile int flag_delay_motor = 500; // 专用于电机延时（直行）
volatile int flag_delay_angle = 0; // 专用于电机延时（转向）
float speed = 0;
float Kp=0
.05,Ki=0,Kd=0;
float Kp_1=0
.06,Ki_1=0
.00005,Kd_1=0
.8;
float Kp_
2=0
.1,Ki_
2=0
.00006,Kd_
2=0
.8;
//float Kp_1=0
.05,Ki_1=0,Kd_1=0;
//float Kp_
2=0
.0
25,Ki_
2=0
.00004,Kd_
2=0;//float Kp_
2=0
.05,Ki_
2=0
.0001,Kd_
2=
-0
.03; // Kp_
2=0
.05,Ki_
2=0
.0001,Kd_
2=0;
float Kp_3=0
.0005,Ki_3=0,Kd_3=0;//Kp_3=0
.0005,Ki_3=0,Kd_3=0;
int pwm_1,pwm_
2,num_L=0,target_speed=
200;int su_jA=0,su_jB=0;
int flag_r1=0,flag_r
2=0,flag_r3=0,flag_r4=0;
int suK=10,suJ=100,suJ
2=100;
int read_a[1
2];
uint3
2_t read_all = 0;
int angle_mpu=0;
int str_angle
(int angle
);
int flag_delay=0;
int counter = 1;
int delay_active = 0;
void read
(void
);
void maple_duty_
200hz
(void
);
void beep_led
(void
);
void left_1
(void
);
void jichu_1
(void
);
void jichu_
2(void
);
void jichu_3
(void
);
void jichu_4
(void
);
void pailei
(void
);
int beep_led_new
(int t
);
int m_delay
(int t
);
int m_delay_motor
(int t,int f1,int f
2);
int m_delay_angle
(int t,int a1,int a
2);
int str_angle_0
(int angle
);
int turn_angle
(int angle
);
int pid_js_l=300,pid_js_r=300,dj_dj=800,dj_1=0;
int go=0;
int main
(void
)
{
usart_irq_config
(); //串口中断
配置
SYSCFG_DL_init
(); //系统资源
配置初始化
rgb_init
(); //RGB灯初始化
timer_irq_config
();
NVIC_EnableIRQ
(PORTB_INT_IRQN
);
PWM_Output
(500,500,500,500
);
M1_1,M
2_0,M3_1,M4_0; //0101后转
LED_OFF,BEEP_1,BEEP_OFF;
// Reserved_PWM6_Output
(dj_dj
);
// Reserved_PWM7_Output
(dj_dj
);
// Reserved_PWM8_Output
(dj_dj
);
while
(1
)
{
if
(flag_r1==1
)HMI_SendNum
(UART_1_INST,"n5
.val=",7,1,5
),flag_r1=1;
if
(flag_r1==
2)HMI_SendNum
(UART_1_INST,"n5
.val=",7,
2,5
),flag_r1=
2;
if
(flag_r1==3
)HMI_SendNum
(UART_1_INST,"n5
.val=",7,3,5
),flag_r1=3;
if
(flag_r1==4
)HMI_SendNum
(UART_1_INST,"n5
.val=",7,4,5
),flag_r1=4;
// if
(flag_r1==4
)HMI_SendNum
(UART_1_INST,"n5
.val=",7,4,5
),dj_dj=1300,flag_r1=0; //舵机
// if
(flag_r1==5
)HMI_SendNum
(UART_1_INST,"n5
.val=",7,5,5
),dj_dj=1900,flag_r1=0;
// if
(flag_r1==6
)HMI_SendNum
(UART_1_INST,"n5
.val=",7,6,5
),dj_dj=
2600,flag_r1=0;
if
(flag_r1==7
)HMI_SendNum
(UART_1_INST,"n5
.val=",7,7,5
),flag_r1=7;
if
(flag_r1==8
)HMI_SendNum
(UART_1_INST,"n5
.val=",7,8,5
),flag_r1=8;
HMI_SendNum
(UART_1_INST,"n1
.val=",7,suA,3
);
HMI_SendNum
(UART_1_INST,"n7
.val=",7,suB,3
);
HMI_SendNum
(UART_1_INST,"n0
.val=",7,su_jA,6
);
Reserved_PWM5_Output
(dj_dj
);
}
}
void GROUP1_IRQHandler
(void
)
{
gpioA = DL_GPIO_getEnabledInterruptStatus
(GPIOB, PORTB_PIN_11_PIN
);
gpioB = DL_GPIO_getEnabledInterruptStatus
(GPIOB, PORTB_PIN_9_PIN
);
if
(gpioA>0
) gEncoderCount++;
if
(gpioB>0
) gEncoderCountB++;
DL_GPIO_clearInterruptStatus
(GPIOB, PORTB_PIN_11_PIN
);
DL_GPIO_clearInterruptStatus
(GPIOB, PORTB_PIN_9_PIN
);
}
int i;
int suA_P,suB_P;
void maple_duty_
200hz
(void
)
{
static int motor_state = 1;
static int delay_active = 0; // 新增：延时激活标志
static int saved_f1 = 0, saved_f
2 = 0; // 保存PID输出值
i++;
if
(i==5
)
{
suA = gEncoderCount;
su_jA=su_jA+suA;
gEncoderCount = 0;
suB = gEncoderCountB;
su_jB=su_jB+suB;
gEncoderCountB = 0;
read
();
i=0;
}
read
();
if
(flag_r1 == 0
) // 停止模式
{
PWM_Output
(0, 0, 0, 0
);
}
// 模式选择
if
(flag_r1 == 1
) { // 直行模式
suA_P = contorl_PID
(suA, 10
);
suB_P = contorl_PID
2(suB, 10
);
PWM_Output
(0, 0, 100, 100
);
}
else if
(flag_r1 ==
2) { // 巡线模式
read
(); // 更新传感器数据
PWM_Output
(0, 0, su_TA, su_TB
);
}
else if
(flag_r1 == 3
) { // 直行+巡线模式
if
(!delay_active
) { // 首次进入：计算并保存PID值
suA_P = pid_r;
suB_P = pid_l;
saved_f1 = 100;
saved_f
2 = suA_P;
delay_active = 1; // 激活延时
flag_delay_motor = 0; // 重置专用计数器
}
// 执行延时控制
if
(m_delay_motor
(2000, 100, 100
)) {
delay_active = 0; // 延时完成
flag_r1 = 8; // 进入巡线状态
}
}
else if
(flag_r1 == 4
) { // 旋转模式
int target_angle = 9000; // 目标角度90度
int error_threshold = 50; // 允许误差0
.5度
str_angle
(target_angle
); // 实时计算PID
//动态设置电机方向（根据PID输出正负）
if
(pid_pwm1 > 0
) {
M1_0,M
2_1,M3_1,M4_0; // 正旋
} else {
M1_1,M
2_0,M3_0,M4_1; // 反旋
}
PWM_Output
(0, 0, abs
(pid_l
), abs
(pid_r
)); // 输出PID计算值
int current_error = target_angle
- angle_mpu; // 检查是否到达目标角度
if
(abs
(current_error
) < error_threshold
) {
PWM_Output
(0, 0, 0, 0
); // 停止电机
flag_r1 = 7; // 进入停止状态
}
// if
(!delay_active
) {
// str_angle
(9000
); // 首次进入：计算并保存PID值
// saved_f1 = pid_r;
// saved_f
2 = pid_l;
// delay_active = 1; // 激活延时
// flag_delay_motor = 0; // 重置专用计数器
// }
// // 执行延时控制
// if
(m_delay_angle
(20, saved_f
2, saved_f1
)) {
// delay_active = 0; // 延时完成
// flag_r1 = 7; // 进入停止状态
// }
}
else if
(flag_r1 == 7
)
{
PWM_Output
(0, 0, 0, 0
); // 停止模式
}
else if
(flag_r1 == 8
) { // 巡线延时模式
if
(!delay_active
) {
// 首次进入：计算并保存PID值
read
();
delay_active = 1; // 激活延时
flag_delay_motor = 0; // 重置专用计数器
}
// 执行延时控制
if
(m_delay_motor
(500*4, su_TA, su_TB
)) {
delay_active = 0; // 延时完成
flag_r1 = 7; // 进入停止状态
}
}
// suA_P = contorl_PID
(suA, 10
);
// if
( counter >=0
)
// {
// counter = m_delay_motor
(50, 100, suA_P
); // 只有运行状态下才调用延时函数
// }
// suA_P=contorl_PID
(suA,10
); //PID计算函数
// suB_P=contorl_PID
2(suB,10
); //PID计算函数
// PWM_Output
(0,0,100,suA_P
); //PID运算后输出
//PWM_Output
(0,0,su_TA,su_TB
); //PID运算后输出
}
void read
(void
)
{
if
(DL_GPIO_readPins
(PORTB_PORT, XUN_XUN_1_PIN
) > 0
) read_a[0]=1;else read_a[0]=0;
if
(DL_GPIO_readPins
(PORTB_PORT, XUN_XUN_
2_PIN
) > 0
) read_a[1]=1;else read_a[1]=0;
if
(DL_GPIO_readPins
(PORTB_PORT, XUN_XUN_3_PIN
) > 0
) read_a[
2]=1;else read_a[
2]=0;
if
(DL_GPIO_readPins
(PORTB_PORT, XUN_XUN_4_PIN
) > 0
) read_a[3]=1;else read_a[3]=0;
if
(DL_GPIO_readPins
(PORTB_PORT, XUN_XUN_5_PIN
) > 0
) read_a[4]=1;else read_a[4]=0;
if
(DL_GPIO_readPins
(PORTB_PORT, XUN_XUN_6_PIN
) > 0
) read_a[5]=1;else read_a[5]=0;
if
(DL_GPIO_readPins
(PORTA_PORT, XUN_XUN_10_PIN
) > 0
) read_a[6]=1;else read_a[6]=0;
if
(DL_GPIO_readPins
(PORTA_PORT, XUN_XUN_8_PIN
) > 0
) read_a[7]=1;else read_a[7]=0;
read_all= read_a[0]*10000000+read_a[1]*1000000+read_a[
2]*100000+read_a[3]*10000+read_a[4]*1000+read_a[5]*100+read_a[6]*10+read_a[7];//+read_a[8]*10;//+read_a[9];
HMI_SendNum
(UART_1_INST,"n
2.val=",7,read_all,8
);
switch
(read_all
)
{
case 0
: su_TA=suJ, su_TB=suJ
2;flag_r
2=
2;break;
case 1
: su_TA=suJ
-suK*7, su_TB=suJ
2+suK*7; flag_r
2=
2;break;
case 11
: su_TA=suJ
-suK*6, su_TB=suJ
2+suK*6; flag_r
2=
2;break;
case 10
: su_TA=suJ
-suK*5, su_TB=suJ
2+suK*5; flag_r
2=
2;break;
case 110
: su_TA=suJ
-suK*4, su_TB=suJ
2+suK*4; flag_r
2=
2;break;
case 100
: su_TA=suJ
-suK*3, su_TB=suJ
2+suK*3; flag_r
2=
2;break;
case 1100
: su_TA=suJ
-suK*
2, su_TB=suJ
2+suK*
2; flag_r
2=
2;break;
case 1000
: su_TA=suJ
-suK*1, su_TB=suJ
2+suK*1; flag_r
2=
2;break;
case 11000
: su_TA=suJ, su_TB=suJ
2; flag_r
2=
2;break;
case 10000
: su_TA=suJ+suK*1, su_TB=suJ
2-suK*1; flag_r
2=
2;break;
case 110000
: su_TA=suJ+suK*
2, su_TB=suJ
2-suK*
2; flag_r
2=
2;break;
case 100000
: su_TA=suJ+suK*3, su_TB=suJ
2-suK*3; flag_r
2=
2;break;
case 1100000
: su_TA=suJ+suK*4, su_TB=suJ
2-suK*4; flag_r
2=
2;break;
case 1000000
: su_TA=suJ+suK*5, su_TB=suJ
2-suK*5; flag_r
2=
2;break;
case 11000000
: su_TA=suJ+suK*6, su_TB=suJ
2-suK*6; flag_r
2=
2;break;
case 10000000
: su_TA=suJ+suK*7, su_TB=suJ
2-suK*7; flag_r
2=
2;break;
default
:break;
}
}
void beep_led
(void
)
{
for
(i=0;i<10;i++
)
{
BEEP_ON;LED_ON;HMI_SendNum
(UART_3_INST,"n0
.val=",7,111,5
);
}
BEEP_OFF;LED_OFF;
}
void left_1
(void
)
{
for
(i=0;i<10;i++
)
{
PWM_Output
(0,0,50,100
),
M1_1,M
2_0,M3_1,M4_0;HMI_SendNum
(UART_3_INST,"n0
.val=",7,111,5
);
}
for
(i=0;i<10;i++
)
{
PWM_Output
(0,0,0,0
),
M1_1,M
2_0,M3_1,M4_0;HMI_SendNum
(UART_3_INST,"n0
.val=",7,111,5
);
}
}
int turn_angle
(int angle
)
{
if
(0<angle
)
{
pwm_1=contorl_PID
(suB,50
),
pwm_
2=contorl_PID
2(suA,50
),
PWM_Output
(0,0,pwm_1,pwm_
2),
M1_0,M
2_1,M3_1,M4_0;
}
else
{
PWM_Output
(0,0,0,0
);
flag_r1=0;
beep_led
();
M1_1,M
2_0,M3_1,M4_0;
}
if
(0>angle
) return 1 ;
}
int str_angle
(int angle
)
{
if
(angle==36000
)
{
if
(angle_mpu<18000
) angle_mpu=angle_mpu+36000;
}
pid_pwm1= contorl_PID3
(angle_mpu,angle
);
if
((pid_js_l
-pid_pwm1
)<0
)
pid_l=
-(pid_js_l
-pid_pwm1
),M1_1,M
2_0;
else pid_l=
(pid_js_l
-pid_pwm1
),M1_0,M
2_1;
if
((pid_js_r
-pid_pwm1
)<0
)
pid_r=
-(pid_js_r+pid_pwm1
),M1_1,M
2_0;
else pid_r=
(pid_js_r+pid_pwm1
),M1_0,M
2_1;
//PWM_Output
(0,0,pid_l,pid_r
);
}
int str_angle_0
(int angle
)
{
pid_pwm1= contorl_PID4
(angle_mpu,angle
);
if
((pid_js_l
-pid_pwm1
)<0
)
pid_l=
-(pid_js_l
-pid_pwm1
),M1_1,M
2_0;
else pid_l=
(pid_js_l
-pid_pwm1
),M1_0,M
2_1;
if
((pid_js_r
-pid_pwm1
)<0
)
pid_r=
-(pid_js_r+pid_pwm1
),M1_1,M
2_0;
else pid_r=
(pid_js_r+pid_pwm1
),M1_0,M
2_1;
PWM_Output
(0,0,pid_l,pid_r
);
}
int m_delay
(int t
)
{ flag_delay++;
if
(flag_delay<t
)
{
PWM_Output
(0,0,0,0
);
return
2;
}
if
(flag_delay>=t
)
{
flag_delay=0;
return
2;
}
}
int m_delay_motor
(int t,int f1,int f
2)
{
if
(flag_delay_motor < t
) {
read
();
PWM_Output
(0, 0, f1, f
2); // 持续输出PWM
flag_delay_motor++;
return 0; // 延时未完成
} else if
(read_a[
2]|read_a[3]|read_a[4]|read_a[5]
)//else if
((read_a[
2]|read_a[3]|read_a[4]|read_a[5]
)&&
(t>500
))
{
PWM_Output
(0, 0, 0, 0
); // 停止输出
flag_delay_motor = 0;
return 1; // 延时完成
}
}
int m_delay_angle
(int t,int a1,int a
2)
{
if
(flag_delay_angle < t
) {
M1_0,M
2_1,M3_1,M4_0;
PWM_Output
(0,0,a1,a
2);
flag_delay_angle++;
return 0; // 延时未完成
} else {
M1_1,M
2_0,M3_1,M4_0;
PWM_Output
(0, 0, 0, 0
); // 停止输出
flag_delay_angle = 0;
return 1; // 延时完成
}
}
// flag_delay++;
// if
(flag_delay<t
) PWM_Output
(0,0,f1,f
2);
//
// if
(flag_delay>=t
)
// {
// flag_delay=0;PWM_Output
(0,0,0,0
);
// return
2;
// }
int beep_led_new
(int t
)
{
BEEP_ON;LED_ON;
flag_delay++;
if
(flag_delay<t
) BEEP_OFF,LED_OFF;
if
(flag_delay>=t
)
{
flag_delay=0;
return
2;
}
}
/****************************************************************************************
MSPM0G3507电赛小车开源方案资源分配表
--MSPM0学习中心交流群8
28746
221
功能 单片机端口 外设端口
无名创新地面站通讯
PA10
-->UART0
-TXD USB转TTL
-RXD
PA11
-->UART0
-RXD USB转TTL
-TXD
机器视觉OPENMV4 MINI
PA8
-UART1
-TXD UART3
-RXD
PA9
-->UART1
-RXD UART3
-TXD·
手机蓝牙APP地面站
PA
21
-UART
2-TXD 蓝牙串口模块RXD
PA
22-->UART
2-RXD 蓝牙串口模块TXD
US100超声波模块
PB
2-UART3
-TXD US100
-TX/TRIG
PB3
-->UART3
-RXD US100
-RX/ECHO
1
2路灰度传感器FPC
PA31
-->P1
PA
28
-->P
2
PA1
-->P3
PA0
-->P4
PA
25
-->P5
PA
24
-->P6
PB
24
-->P7
PB
23
-->P8
PB19
-->P9
PB18
-->P10
PA16
-->P11
PB13
-->P1
2
电机控制MPWM
PA4
-A0
-PWM
-CH3 右边电机调速INA1
PA7
-->A0
-PWM
-CH
2 右边电机调速INA
2
PA3
-->A0
-PWM
-CH1 左边电机调速INB1
PB14
-->A0
-PWM
-CH0 左边电机调速INB
2
舵机控制SPWM
PA15
-A1
-PWM
-CH0 预留1
PB1
-->A1
-PWM
-CH1 预留
2
PA
23
-->G7
-PWM
-CH0 预留3
PA
2-->G7
-PWM
-CH1 前轮舵机转向控制PWM
编码器测速ENC
PB4
-RIGHT
-PULSE 右边电机脉冲倍频输出P1
PB5
-->LEFT
-PULSE 左边电机脉冲倍频输出P
2
PB6
-->RIGHT
-DIR 右边电机脉冲鉴相输出D1
PB7
-->LEFT
-DIR 左边电机脉冲鉴相输出D
2
外置IMU接口IMU
PA
29
-I
2C
-SCL MPU6050
-SCL
PA30
-->I
2C
-SDA MPU6050
-SDA
PB0
-->HEATER 温控IO可选
电池电压采集
PA
26
-ADC
-VBAT· 需要外部分压后才允许接入
****************************************************************************************/
本文介绍如何在ADI BF561 DSP上配置和使用Cycle Counter进行性能统计。通过对SYSCFG寄存器的设置，启用64位周期计数器，并详细解释了CYCLES和CYCLES2寄存器的功能及读取方法。
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