198 lines
6.7 KiB
C
198 lines
6.7 KiB
C
#include "system.h"
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//Robot software fails to flag bits
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//机器人软件失能标志位
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u8 Flag_Stop=1;
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//The ADC value is variable in segments, depending on the number of car models. Currently there are 6 car models
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//ADC值分段变量，取决于小车型号数量，目前有6种小车型号
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int Divisor_Mode;
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// Robot type variable
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//机器人型号变量
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//0=Mec_Car，1=Omni_Car，2=Akm_Car，3=Diff_Car，4=FourWheel_Car，5=Tank_Car
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u8 Car_Mode=4;
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//Servo control PWM value, Ackerman car special
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//舵机控制PWM值，阿克曼小车专用
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int Servo = SERVO_INIT;
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//Default speed of remote control car, unit: mm/s
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//遥控小车的默认速度，单位：mm/s
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float RC_Velocity=500;
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//Vehicle three-axis target moving speed, unit: m/s
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//小车三轴目标运动速度，单位：m/s
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float Move_X, Move_Y, Move_Z;
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//PID parameters of Speed control
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//速度控制PID参数
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float Velocity_KP=300,Velocity_KI=800;
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//Smooth control of intermediate variables, dedicated to omni-directional moving cars
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//平滑控制中间变量，全向移动小车专用
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Smooth_Control smooth_control;
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//The parameter structure of the motor
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//电机的参数结构体
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Motor_parameter MOTOR_A,MOTOR_B,MOTOR_C,MOTOR_D;
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/************ 小车型号相关变量 **************************/
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/************ Variables related to car model ************/
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//Encoder accuracy
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//编码器精度
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float Encoder_precision;
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//Wheel circumference, unit: m
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//轮子周长，单位：m
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float Wheel_perimeter;
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//Drive wheel base, unit: m
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//主动轮轮距，单位：m
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float Wheel_spacing;
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//The wheelbase of the front and rear axles of the trolley, unit: m
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//小车前后轴的轴距，单位：m
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float Axle_spacing;
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//All-directional wheel turning radius, unit: m
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//全向轮转弯半径，单位：m
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float Omni_turn_radiaus;
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/************ 小车型号相关变量 **************************/
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/************ Variables related to car model ************/
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//PS2 controller, Bluetooth APP, aircraft model controller, CAN communication, serial port 1, serial port 5 communication control flag bit.
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//These 6 flag bits are all 0 by default, representing the serial port 3 control mode
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//PS2手柄、蓝牙APP、航模手柄、CAN通信、串口1、串口5通信控制标志位。这6个标志位默认都为0，代表串口3控制模式
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u8 PS2_ON_Flag=0, APP_ON_Flag=0, Remote_ON_Flag=0, CAN_ON_Flag=0, Usart1_ON_Flag, Usart5_ON_Flag;
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//Bluetooth remote control associated flag bits
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//蓝牙遥控相关的标志位
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u8 Flag_Left, Flag_Right, Flag_Direction=0, Turn_Flag;
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//Sends the parameter's flag bit to the Bluetooth APP
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//向蓝牙APP发送参数的标志位
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u8 PID_Send;
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//The PS2 gamepad controls related variables
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//PS2手柄控制相关变量
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float PS2_LX,PS2_LY,PS2_RX,PS2_RY,PS2_KEY;
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//Self-check the relevant flag variables
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//自检相关标志变量
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int Check=0, Checking=0, Checked=0, CheckCount=0, CheckPhrase1=0, CheckPhrase2=0;
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//Check the result code
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//自检结果代码
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long int ErrorCode=0;
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void systemInit(void)
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{
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// //Interrupt priority group setti ng
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// //中断优先级分组设置
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
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//
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// //Delay function initialization
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// //延时函数初始化
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delay_init(168);
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//Initialize the hardware interface connected to the LED lamp
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//初始化与LED灯连接的硬件接口
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LED_Init();
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//Initialize the hardware interface connected to the buzzer
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//初始化与蜂鸣器连接的硬件接口
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Buzzer_Init();
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//Initialize the hardware interface connected to the enable switch
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//初始化与使能开关连接的硬件接口
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Enable_Pin();
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//Initialize the hardware interface connected to the OLED display
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//初始化与OLED显示屏连接的硬件接口
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OLED_Init();
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//Initialize the hardware interface connected to the user's key
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//初始化与用户按键连接的硬件接口
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KEY_Init();
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//Serial port 1 initialization, communication baud rate 115200,
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//can be used to communicate with ROS terminal
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//串口1初始化，通信波特率115200，可用于与ROS端通信
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uart1_init(115200);
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//Serial port 2 initialization, communication baud rate 9600,
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//used to communicate with Bluetooth APP terminal
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//串口2初始化，通信波特率9600，用于与蓝牙APP端通信
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uart2_init(9600);
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//Serial port 3 is initialized and the baud rate is 115200.
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//Serial port 3 is the default port used to communicate with ROS terminal
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//串口3初始化，通信波特率115200，串口3为默认用于与ROS端通信的串口
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uart3_init(115200);
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//Serial port 5 initialization, communication baud rate 115200,
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//can be used to communicate with ROS terminal
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//串口5初始化，通信波特率115200，可用于与ROS端通信
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uart5_init(115200);
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//ADC pin initialization, used to read the battery voltage and potentiometer gear,
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//potentiometer gear determines the car after the boot of the car model
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//ADC引脚初始化，用于读取电池电压与电位器档位，电位器档位决定小车开机后的小车适配型号
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Adc_Init();
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Adc_POWER_Init();
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//Initialize the CAN communication interface
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//CAN通信接口初始化
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CAN1_Mode_Init(1,7,6,3,0);
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//According to the tap position of the potentiometer, determine which type of car needs to be matched,
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//and then initialize the corresponding parameters
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//根据电位器的档位判断需要适配的是哪一种型号的小车，然后进行对应的参数初始化
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Robot_Select();
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//Encoder A is initialized to read the real time speed of motor C
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//编码器A初始化，用于读取电机C的实时速度
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Encoder_Init_TIM2();
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//Encoder B is initialized to read the real time speed of motor D
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//编码器B初始化，用于读取电机D的实时速度
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Encoder_Init_TIM3();
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//Encoder C is initialized to read the real time speed of motor B
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//编码器C初始化，用于读取电机B的实时速度
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Encoder_Init_TIM4();
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//Encoder D is initialized to read the real time speed of motor A
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//编码器D初始化，用于读取电机A的实时速度
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Encoder_Init_TIM5();
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//定时器12用作舵机的PWM接口
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TIM12_SERVO_Init(9999,84-1); //APB1的时钟频率为84M , 频率=84M/((9999+1)*(83+1))=100Hz
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//普通小车默认定时器8用作航模接口
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// TIM8_SERVO_Init(9999,168-1);//APB2的时钟频率为168M , 频率=168M/((9999+1)*(167+1))=100Hz
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//Initialize the model remote control interface
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//初始化航模遥控接口
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TIM8_Cap_Init(9999,168-1); //高级定时器TIM8的时钟频率为168M
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//Initialize motor speed control and, for controlling motor speed, PWM frequency 10kHz
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//初始化电机速度控制以及，用于控制电机速度，PWM频率10KHZ
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//APB2时钟频率为168M，满PWM为16799，频率=168M/((16799+1)*(0+1))=10k
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TIM1_PWM_Init(16799,0);
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TIM9_PWM_Init(16799,0);
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TIM10_PWM_Init(16799,0);
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TIM11_PWM_Init(16799,0);
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//IIC initialization for MPU6050
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//IIC初始化，用于MPU6050
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I2C_GPIOInit();
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//MPU6050 is initialized to read the vehicle's three-axis attitude,
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//three-axis angular velocity and three-axis acceleration information
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//MPU6050 初始化，用于读取小车三轴姿态、三轴角速度、三轴加速度信息
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MPU6050_initialize();
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//Initialize the hardware interface to the PS2 controller
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//初始化与PS2手柄连接的硬件接口
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PS2_Init();
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//PS2 gamepad configuration is initialized and configured in analog mode
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//PS2手柄配置初始化,配置为模拟量模式
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PS2_SetInit();
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}
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