MSP430f5529小车源码

ID:138313 · 发表于 2020-10-11 17:49

https://www.bilibili.com/video/BV1Jz4y1o7Lv/

单片机源程序如下:

//******************************************************************************
// Author:wwj
// Built with IAR V7.0
// Gui Lin
// IDE IAR430
/*截止当前：
功能：
本程序从平衡车程序移植出来，仍有平衡车的影子，但不影响运行。
1.硬件IIC读取6050，并在OLED上显示
2.中断测速
3.pwm电机驱动
4.循迹（由于每个人装循迹模块的位置都会有差异，需要自己调整传感器）
5.按键检测
6.蓝牙控制
7....ADD ING
勿拿本代码做交易！！！
勿拿本代码做交易！！！
勿拿本代码做交易！！！
本来只想放出来演示，突然发现有人从中谋取利益，于是决定共享源码！!!
各位朋友加油，未来的科技看你们！！！
*/
//******************************************************************************
#include <msp430.h>
#include <stdint.h>
#include <stdbool.h>
//#include "oledfont.h"
//#include "msp430f5529.h"
#include "MPU6050.h"
#include "uart.h"
#include "exter_interr.h"
#include "pwm.h"
#include "time.h"
#include "hardw_i2c_oled.h"
#include "mathfun.h"
#include "xunji.h"
void OledDisApp(void);
void delay(unsigned int z)
{
unsigned int x,y;
for(x=z;x>0;x--)
for(y=5000;y>0;y--);
}
//******************************************************************************
// Device Initialization *******************************************************
//******************************************************************************
void initClockTo16MHz()
{
UCSCTL3 |= SELREF_2; // Set DCO FLL reference = REFO
UCSCTL4 |= SELA_2; // Set ACLK = REFO
__bis_SR_register(SCG0); // Disable the FLL control loop
UCSCTL0 = 0x0000; // Set lowest possible DCOx, MODx
UCSCTL1 = DCORSEL_5; // Select DCO range 16MHz operation
UCSCTL2 = FLLD_0 + 487; // Set DCO Multiplier for 16MHz
// (N + 1) * FLLRef = Fdco
// (487 + 1) * 32768 = 16MHz
// Set FLL Div = fDCOCLK
__bic_SR_register(SCG0); // Enable the FLL control loop
// Worst-case settling time for the DCO when the DCO range bits have been
// changed is n x 32 x 32 x f_MCLK / f_FLL_reference. See UCS chapter in 5xx
// UG for optimization.
// 32 x 32 x 16 MHz / 32,768 Hz = 500000 = MCLK cycles for DCO to settle
__delay_cycles(500000);//
// Loop until XT1,XT2 & DCO fault flag is cleared
do
{
UCSCTL7 &= ~(XT2OFFG + XT1LFOFFG + DCOFFG); // Clear XT2,XT1,DCO fault flags
SFRIFG1 &= ~OFIFG; // Clear fault flags
}while (SFRIFG1&OFIFG); // Test oscillator fault flag
}
uint16_t setVCoreUp(uint8_t level){
uint32_t PMMRIE_backup, SVSMHCTL_backup, SVSMLCTL_backup;
//The code flow for increasing the Vcore has been altered to work around
//the erratum FLASH37.
//Please refer to the Errata sheet to know if a specific device is affected
//DO NOT ALTER THIS FUNCTION
//Open PMM registers for write access
PMMCTL0_H = 0xA5;
//Disable dedicated Interrupts
//Backup all registers
PMMRIE_backup = PMMRIE;
PMMRIE &= ~(SVMHVLRPE | SVSHPE | SVMLVLRPE |
SVSLPE | SVMHVLRIE | SVMHIE |
SVSMHDLYIE | SVMLVLRIE | SVMLIE |
SVSMLDLYIE
);
SVSMHCTL_backup = SVSMHCTL;
SVSMLCTL_backup = SVSMLCTL;
//Clear flags
PMMIFG = 0;
//Set SVM highside to new level and check if a VCore increase is possible
SVSMHCTL = SVMHE | SVSHE | (SVSMHRRL0 * level);
//Wait until SVM highside is settled
while((PMMIFG & SVSMHDLYIFG) == 0)
{
;
}
//Clear flag
PMMIFG &= ~SVSMHDLYIFG;
//Check if a VCore increase is possible
if((PMMIFG & SVMHIFG) == SVMHIFG)
{
//-> Vcc is too low for a Vcore increase
//recover the previous settings
PMMIFG &= ~SVSMHDLYIFG;
SVSMHCTL = SVSMHCTL_backup;
//Wait until SVM highside is settled
while((PMMIFG & SVSMHDLYIFG) == 0)
{
;
}
//Clear all Flags
PMMIFG &= ~(SVMHVLRIFG | SVMHIFG | SVSMHDLYIFG |
SVMLVLRIFG | SVMLIFG |
SVSMLDLYIFG
);
//Restore PMM interrupt enable register
PMMRIE = PMMRIE_backup;
//Lock PMM registers for write access
PMMCTL0_H = 0x00;
//return: voltage not set
return false;
}
//Set also SVS highside to new level
//Vcc is high enough for a Vcore increase
SVSMHCTL |= (SVSHRVL0 * level);
//Wait until SVM highside is settled
while((PMMIFG & SVSMHDLYIFG) == 0)
{
;
}
//Clear flag
PMMIFG &= ~SVSMHDLYIFG;
//Set VCore to new level
PMMCTL0_L = PMMCOREV0 * level;
//Set SVM, SVS low side to new level
SVSMLCTL = SVMLE | (SVSMLRRL0 * level) |
SVSLE | (SVSLRVL0 * level);
//Wait until SVM, SVS low side is settled
while((PMMIFG & SVSMLDLYIFG) == 0)
{
;
}
//Clear flag
PMMIFG &= ~SVSMLDLYIFG;
//SVS, SVM core and high side are now set to protect for the new core level
//Restore Low side settings
//Clear all other bits _except_ level settings
SVSMLCTL &= (SVSLRVL0 + SVSLRVL1 + SVSMLRRL0 +
SVSMLRRL1 + SVSMLRRL2
);
//Clear level settings in the backup register,keep all other bits
SVSMLCTL_backup &=
~(SVSLRVL0 + SVSLRVL1 + SVSMLRRL0 + SVSMLRRL1 + SVSMLRRL2);
//Restore low-side SVS monitor settings
SVSMLCTL |= SVSMLCTL_backup;
//Restore High side settings
//Clear all other bits except level settings
SVSMHCTL &= (SVSHRVL0 + SVSHRVL1 +
SVSMHRRL0 + SVSMHRRL1 +
SVSMHRRL2
);
//Clear level settings in the backup register,keep all other bits
SVSMHCTL_backup &=
~(SVSHRVL0 + SVSHRVL1 + SVSMHRRL0 + SVSMHRRL1 + SVSMHRRL2);
//Restore backup
SVSMHCTL |= SVSMHCTL_backup;
//Wait until high side, low side settled
while(((PMMIFG & SVSMLDLYIFG) == 0) &&
((PMMIFG & SVSMHDLYIFG) == 0))
{
;
}
//Clear all Flags
PMMIFG &= ~(SVMHVLRIFG | SVMHIFG | SVSMHDLYIFG |
SVMLVLRIFG | SVMLIFG | SVSMLDLYIFG
);
//Restore PMM interrupt enable register
PMMRIE = PMMRIE_backup;
//Lock PMM registers for write access
PMMCTL0_H = 0x00;
return true;
}
bool increaseVCoreToLevel2()
{
uint8_t level = 2;
uint8_t actlevel;
bool status = true;
//Set Mask for Max. level
level &= PMMCOREV_3;
//Get actual VCore
actlevel = PMMCTL0 & PMMCOREV_3;
//step by step increase or decrease
while((level != actlevel) && (status == true))
{
if(level > actlevel)
{
status = setVCoreUp(++actlevel);
}
}
return (status);
}
void initGPIO()
{
//I2C Pins
P3SEL |= BIT0 + BIT1; // P3.0,1 option select
P1DIR |=BIT0;
P4DIR |=BIT7;
//按键输入
P2DIR &=~BIT1;
P1DIR &=~BIT1;
P2REN |= BIT1;//使能上下拉
P2OUT |= BIT1;//上拉
P1REN |= BIT1;//使能上下拉
P1OUT |= BIT1;//上拉
}
void initI2C()
{
UCB0CTL1 |= UCSWRST; // Enable SW reset(复位使能)
UCB0CTL0 = UCMST + UCMODE_3 + UCSYNC; // Master, I2C,synchronous mode(同步模式)
UCB0CTL1 = UCSSEL_2 + UCSWRST; // Use SMCLK, keep SW reset
UCB0BR0 = 160; // fSCL = SMCLK/160 = ~100kHz
UCB0BR1 = 0;
UCB0CTL0 &=~UCSLA10; //7位地址模式
UCB0I2CSA = SLAVE_ADDR>>1; //SlaveAddress>>1;//SLAVE_ADDR>>1; //
UCB0CTL1 &= ~UCSWRST; // Clear SW reset, resume operation
UCB0IFG &=~UCTXIFG;
}
int num;
int main(void) {
WDTCTL = WDTPW | WDTHOLD; // Stop watchdog timer
increaseVCoreToLevel2();
initClockTo16MHz(); //配置系统时钟为16Mhz
//delay(10);
initGPIO();
initI2C();
//delay(10);
OLED_Init();
//delay(10);
UART_Init('n',8,1);
InitMPU6050();
//delay(10);
exterPin();//外部引脚中断
//MotorSpeedDetectionInit();
PWMInit();
TB6612INOUT();
time0InterInit();
xunioinit();//寻迹引脚初始化
delay(10);
//OLED_ShowChar(0,0,'A',16);
//OLED_ShowChar(16,0,'B',16);
//OLED_ShowChar(16*2,0,'C',16);
_EINT();//开启总中断
//曾经由于没开总中断，调了一下午...
while(1)
{
//按键检测
if((P2IN & BIT1) == 0)
{
delay(3);
if((P2IN & BIT1) == 0)
{
P1OUT ^= BIT0;
}
//PWM_Motor(-20,-20);
}
while(!(P2IN&BIT1));
xunjiing();//寻迹
if(count_time >=20)
{
count_time =0;
// P1OUT ^= BIT0; //形成闪灯效果
Angle = Mpu6050AccelAngle(ACCEL_XOUT,ACCEL_ZOUT);
Angle_dot = Mpu6050GyroAngle(GYRO_YOUT);
// pwm_calculate();//PWM计算输出
}
#if 1
if(count_time2 >=10)
{
count_time2 =0;
OledDisApp();
}
#endif
#if 0
if(Angle >10.0)
{
PWM_Motor(20,20);
}
else if(Angle < -10.0)
{
PWM_Motor(-20,-20);
}
else
{
Stop();
}
#endif
//printf ("Pwm = %d \r\n",Pwm);
//
// OLED_Show_Number(0,6,abs(Angle),16);
//P1OUT ^=BIT0;
//printf("angle = %1f , angle_dot = %2f \r\n",Angle,Angle_dot);
//printf("ML = %d , MR = %d \r\n",speed_mL,speed_mR);//打印编码器
//PWM_Motor(20,-20);//测试电机,应看到左轮后退，右轮前进
//TA2CCR1 = abs(-100);//L
//TA1CCR1 = abs(256/2);//R
P4OUT ^=BIT7;
// delay(10);
}
}
void OledDisApp(void)
{
#if 1
if(Angle < 0.0)
{
//sprintf
OLED_ShowChar(32, 2, '-', 16);
}
else
{
OLED_ShowChar(32, 2, ' ', 16);
}
OLED_ShowNum(32+8, 2, abs(Angle), 3, 16);
OLED_ShowNum(32+8, 5, speedcar/2, 3, 16);
#endif
//================Speed====================
#if 0
if(Speed < 0.0)
{
//sprintf
OLED_ShowChar(50, 2, '-', 16);
}
else
{
OLED_ShowChar(50, 2, ' ', 16);
}
OLED_ShowNum(50+8, 2, abs(Speed), 3, 16);
#endif
//fillRect(124, 64/2, 2, -63, 1,1);
}

复制代码

ID:138313 · 发表于 2020-10-11 22:52

使用FDC2214寻迹效果更佳

ID:828564 · 发表于 2020-10-12 01:07

开发环境是ccs吗？

ID:596548 · 发表于 2020-10-12 01:48

大佬有接线图吗，I2C不是很看得懂，不会接线？？？
ball ball you。。。。。

ID:618513 · 发表于 2020-10-12 05:51

楼主拿过来接上线就能跑哇

ID:755986 · 发表于 2020-10-12 17:20

沐浴发表于 2020-10-12 05:51
楼主拿过来接上线就能跑哇

大哥，求接线

ID:561575 · 发表于 2021-5-5 11:32

这代码不完整

ID:692345 · 发表于 2021-7-12 11:25

头文件能否分享

ID:954468 · 发表于 2021-7-18 23:30

是用keil开发的吗？

ID:954006 · 发表于 2021-7-20 09:32

大佬可以分享一下头文件嘛

ID:955079 · 发表于 2021-7-22 18:39

这代码少了个子函数啊，求完整的

ID:1039079 · 发表于 2022-7-15 11:10

求完整的代码和接线图，谢谢

ID:1039079 · 发表于 2022-7-25 10:16

这个咋接线啊，大佬

ID:1038977 · 发表于 2023-7-21 17:29

头文件里的.C文件可以分享吗，否则不能用啊

ID:1088853 · 发表于 2023-7-24 11:29

求完整代码

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