舵机控制器STM32源程序 - - Powered by Discuz!

#include <stdlib.h>
#include <string.h>
#include "stm32f10x.h" //包含stm32库系统头文件
#include "servor.h" //包含GPIO库头文件
#include "usart.h" //包含串口通信设置头文件
#include "delay.h" //包含系统定时器库头文件
#include "timer.h" //包含定时器设置头文件
#include "PS2.h"
#include "key.h"
#include "led.h"
#include "beep.h"
#include "flash.h"
#include "common.h"
#include "adc.h"
const u8 TEXT_Buffer[]={"Flash SPI TEST"};
#define SIZE sizeof(TEXT_Buffer)
u8 datatemp[SIZE];
u32 FLASH_SIZE;
u8 date[3]; //该变量用来存储安卓终端发来的数据
u32 value;
u32 key, key_bak;
extern u32 a; //a用来计数，配合系统滴答定时器可检测代码运行时间
extern uint8 flag_RecFul;
uint16 pos[7][MOTOR_NUM]={ {1000,1500,1500,1500,1500,1500,1500,1500,1500},
{1000,1500,1500,1500,1500,1500,1500,1500,1500},
{1000,1500,1500,1500,1500,1500,1500,1500,1500},
{1000,500,500,500,500,500,500,500,500},
{1000,1500,1500,1500,1500,1500,1500,1500,1500},
{1000,500,500,500,500,500,500,500,500},
{1000,1500,1500,1500,1500,1500,1500,1500,1500}
}; //位置
uint16 CPWM[MOTOR_NUM]= {1500,1500,1500,1500,1500,1500,1500,1500,1500};
uint16 UartRec[MOTOR_NUM]={1500,1500,1500,1500,1500,1500,1500,1500,1500};
unsigned int dj1=1500;
unsigned int dj2=1500;
unsigned int dj3=1500;
unsigned int dj4=1500;
unsigned int dj5=1500;
unsigned int dj6=1600;
unsigned char buf[30];
uint8 line=0; //缓存存入口与出口之间的距离，即当前缓存中有多少个没有执行的数据
char point_now=0; //与point_aim一起标记缓存出口位置，即取数位置
char point_aim=1;
char point_in=1; //标记缓存入口位置，即上一行数据存放位置
uint8 flag_connect = 0;
uint8 flag_stop=1; //表示一行执行结束
uint8 flag_vpwm=0; //表示到达了该更新pwm[]的时间
uint8 flag_in=1; //表示缓存中有空闲空间
uint8 flag_out=0; //表示缓存中有可执行数据的标志位
uint8 flag_run_ready=0; //表示有要要放入缓存的EErom数据
uint16 n=1000; //用来计算需要建立多少个中间数据
uint16 m=1; //用来累计已经执行了多少中间数据
double dp;
double dp0[MOTOR_NUM] = {0}; //插补增量
uint8 flag_download = 0;//判断是否下载
uint8 flag_read = 0;// 读取flash内容，发送上位机
uint8 flag_connect_run = 0;//连接上位机的执行flash保存的命令
uint8 flag_stop_download = 0;//停止下载
uint8 flag_online_run = 0;
uint8 flag_uart2_rev = 0;
uint8 flag_uart2_rev_time_out = 0;
uint8 flag_ps2_rev = 0;
char redata[257] = {0}; // 定义接收数据变量数组
//uint8 flag_read_adc = 0;
unsigned long send_mode = 0;//当前串口接收到命令状态存储
MotorData motor_data;//舵机总信息
MotorOneCmd motor_one_cmd;//单个命令
CurrentItem cur_item;
uint16 tuoji_count = 0;//脱机执行次数
unsigned char flag_scan_ps2 = 0;
uint8 flag_adc=0;
uint8 error = 0;
uint8 file_list[MAX_SUPPORT_FILE_SAVE] = {0};
int file_list_count = 0;
int file_last_num = 0;
unsigned char ps2_buf[120] = {0};
char uart2_buf[50] = {0};
uint16 cur_count = 0;
uint16 adc_value=0;
//uchar ad_value = 0;
//uchar beep_mode = 0;
u8 ps2_mode=0;
void SerVor_Test(void);
void Ps2_Test(void);
void Flash_Test(void);
void updata_file_list(void);
void InitMotor(void);
void vpwm(void);
void scan_ps2(void);
void Check_Power(void);
/**********************************************************************************/
/*****************************主函数***********************************************/
int main(void)
{
SysTick_Init(); //系统滴答定时器初始化
Servor_GPIO_Config(); //GPIO初始化
Uart_Init(1);
Uart_Init(2);
Timer_Init(); //定时器初始化
Timer_ON(); //开启定时器
LED_Init();
Beep_Init();
PS2_Init();
Adc_Init();
USART_Config(USART1,115200);
USART_Config(USART2,115200);
SpiFlashInit(); //初始化flash
Led_Test();
Beep_Test();
while(SpiFlashReadID()!=W25Q64) //检测不到W25Q64
{
UART_PutStr (USART1,"Not Found W25Q64\r\n");
}
while (1)
{
// Flash_Test();
//UART_PutStr (USART2,"uart2 test\r\n");
if(flag_vpwm==1)
{
vpwm(); //更新pwm[]数组
flag_vpwm=0;
}
if( flag_RecFul==1) //串口接受完一条指令
{
//LED3_ON();
DealRec(); //处理串口缓存中的数据
flag_RecFul=0;
//LED3_OFF();
}
GetOneMotorCMD();//获取一个命令
SendUartState();//发送状态信息
#if PS_SUPPORT
scan_ps2();
#endif
// LED_State();
Check_Power();
//cur_count++;
}
}
void updata_file_list(void)
{
unsigned char i = 0;
unsigned char j = 0;
file_last_num = -1;
ReadMoterInfor();
for (i = 0; i < motor_data.filecount; i++)
{
if (motor_data.file_flag[i] == 1)
{
file_list[j] = i;
j++;
file_last_num = i;
}
}
file_list_count = j;
}
void InitMotor(void)
{
ReadMoterInfor();//读取舵机控制信息
updata_file_list();
memset(&cur_item,0,sizeof(cur_item));
//beep_mode = motor_data.beep_mode;
}
void Check_Power(void)
{
if(flag_adc==1)
{
flag_adc=0;
adc_value=Get_Adc(0);
if(adc_value>=2100 && adc_value<=2481) //电池电量低 7.4V锂电池这里当电池电压低于6V就算没电　>2100是为了防止没接电池误报
{
Beep=~Beep;
}
else
{
BEEP(OFF);
}
//UART_Put_Inf("adc:",adc_value); //将读取到ADC1 通道0的ADC值打印出来
}
}
void scan_ps2(void)
{
int kind = 0;
char *p = NULL;
char buf[15] = {0};
char i = 0;
if (flag_scan_ps2)//
{
flag_scan_ps2 = 0;
key = PS2_DataKey();
ps2_mode=PS2_RedLight();
if(ps2_mode==0)
{
if(key_bak == key)return;
key_bak=key;
Beep=~Beep;
switch(key)
{
case PSB_PAD_UP:kind = 1;break;
case PSB_PAD_DOWN:kind = 2;break;
case PSB_PAD_LEFT:kind = 3;break;
case PSB_PAD_RIGHT:kind = 4;break;
case PSB_TRIANGLE:kind = 7;break;
case PSB_CROSS:kind = 8;break;
case PSB_PINK:kind = 9;break;
case PSB_CIRCLE:kind = 10;break;
case PSB_L1:kind = 6;break;
case PSB_L2:kind = 5;break;
case PSB_R1:kind = 12;break;
case PSB_R2:kind = 11;break;
default:break;
}
if (kind != 0)
{
flag_ps2_rev = 1;
flag_connect = 1;
SpiFlashRead(ps2_buf,(PS2_FLASH_ADDR)<<WRITE_BIT_DEPTH,sizeof(ps2_buf));
sprintf(buf,"%dK",kind);
UART_PutStr(USART1,buf);
p = strstr(ps2_buf,buf);
if (p != NULL)
{
p = p + strlen(buf);
while(i < 14 && *p != 0)
{
buf[i] = *p++;
i++;
if (*p == '#')
break;
}
if (i < 12)
{
buf[i] = '\r';
buf[i+1] = '\n';
memcpy(redata,buf,sizeof(buf));
flag_RecFul = 1;
}
UART_PutStr(USART1,redata);
}
}
}
else if(ps2_mode==1)
{
switch(key)
{
case PSB_PAD_UP:CPWM[1]+=10;if(CPWM[1]>=2300) CPWM[1]=2300;dj1+=10;if(dj1>=2200)dj1=2200;sprintf(buf,"#1P%dT1\r\n",dj1);UART_PutStr(USART2,buf);break;
case PSB_PAD_DOWN:CPWM[1]-=10;if(CPWM[1]<=700) CPWM[1]=700;dj1-=10;if(dj1<=700)dj1=700;sprintf(buf,"#1P%dT1\r\n",dj1);UART_PutStr(USART2,buf);break;
case PSB_PAD_LEFT:CPWM[2]+=10;if(CPWM[2]>=2300) CPWM[2]=2300;dj2+=10;if(dj2>=2200)dj2=2200;sprintf(buf,"#2P%dT1\r\n",dj2);UART_PutStr(USART2,buf);break;
case PSB_PAD_RIGHT:CPWM[2]-=10;if(CPWM[2]<=700) CPWM[2]=700;dj2-=10;if(dj2<=700)dj2=700;sprintf(buf,"#2P%dT1\r\n",dj2);UART_PutStr(USART2,buf);break;
case PSB_TRIANGLE:CPWM[3]+=10;if(CPWM[3]>=2300) CPWM[3]=2300;dj3+=10;if(dj3>=2200)dj3=2200;sprintf(buf,"#3P%dT1\r\n",dj3);UART_PutStr(USART2,buf);break;
case PSB_CROSS:CPWM[3]-=10;if(CPWM[3]<=700) CPWM[3]=700;dj3-=10;if(dj3<=700)dj3=700;sprintf(buf,"#3P%dT1\r\n",dj3);UART_PutStr(USART2,buf);break;
case PSB_PINK:CPWM[4]+=10;if(CPWM[4]>=2300) CPWM[4]=2300;dj4+=10;if(dj4>=2300)dj4=2300;sprintf(buf,"#4P%dT1\r\n",dj4);UART_PutStr(USART2,buf);break;
case PSB_CIRCLE:CPWM[4]-=10;if(CPWM[4]<=700) CPWM[4]=700;dj4-=10;if(dj4<=700)dj4=700;sprintf(buf,"#4P%dT1\r\n",dj4);UART_PutStr(USART2,buf);break;
case PSB_L1:CPWM[5]+=10;if(CPWM[5]>=2300) CPWM[5]=2300;dj5+=10;if(dj5>=2200)dj5=2200;sprintf(buf,"#5P%dT1\r\n",dj5);UART_PutStr(USART2,buf);break;
case PSB_L2:CPWM[5]-=10;if(CPWM[5]<=700) CPWM[5]=700;dj5-=10;if(dj5<=700)dj5=700;sprintf(buf,"#5P%dT1\r\n",dj5);UART_PutStr(USART2,buf);break;
case PSB_R1:CPWM[6]+=10;if(CPWM[6]>=2300) CPWM[6]=2300;dj6+=10;if(dj6>=2300)dj6=2300;sprintf(buf,"#6P%dT1\r\n",dj6);UART_PutStr(USART2,buf);break;
case PSB_R2:CPWM[6]-=10;if(CPWM[6]<=700) CPWM[6]=700;dj6-=10;if(dj6<=700)dj6=700;sprintf(buf,"#6P%dT1\r\n",dj6);UART_PutStr(USART2,buf);break;
default:break;
}
}
}
}
/***************************************************************************************************************
函数名：从flash读取舵机总的信息
功能描述：初始化舵机控制信息
输入参数：无
返回值：无
备注：
****************************************************************************************************************/
void ReadMoterInfor(void)
{
memset(&motor_data,0,sizeof(motor_data));//清 0
SpiFlashRead((unsigned char *)&motor_data,(CMD_FLASH_ADDR)<<WRITE_BIT_DEPTH,sizeof(motor_data));//读取信息
if (motor_data.CRC1 != 0x12345678 || motor_data.sum < 0 || motor_data.duoji_count > MOTOR_NUM)//判断信息存储是否有错
{
memset(&motor_data,0,sizeof(motor_data));
//memset(&cur_item,0,sizeof(cur_item));
}
else//正常信息
{
// UART1_SendOneChar(motor_data.sum + 0x30);
//cur_item.tuoji_count = motor_one_cmd.tuoji_count;//脱机运行次数
//cur_item.cur_num = 0;//清 0
}
}
void ReadOneCmdInfor(unsigned int addr)
{
memset(&motor_one_cmd,0,sizeof(motor_one_cmd));//清 0
SpiFlashRead((unsigned char *)&motor_one_cmd,((((unsigned long)addr)<<4) + FILE_FLASH_ADDR)<<WRITE_BIT_DEPTH,sizeof(motor_one_cmd));//读取信息
if (motor_one_cmd.start >= motor_one_cmd.end || motor_one_cmd.cur_file_num != (addr) || motor_data.file_flag[motor_one_cmd.cur_file_num] == 0)//判断信息存储是否有错
{
memset(&motor_one_cmd,0,sizeof(motor_one_cmd));
}
else//正常信息,以后留着验证用的
{
cur_item.tuoji_count = motor_one_cmd.tuoji_count;//脱机运行次数
cur_item.cur_num = motor_one_cmd.start;
// UART1_SendOneChar(motor_one_cmd.tuoji_count + 0x30);
// cur_item.cur_num = 0;//清 0
}
}
/***************************************************************************************************************
函数名：把舵机信息写到flash中
功能描述：把舵机信息写到flahs中
输入参数：无
返回值：无
备注：
****************************************************************************************************************/
void WriteMoterInfor(void)
{
unsigned char temp =0;
motor_data.CRC1 = 0x12345678;//校验码
motor_data.duoji_count = MOTOR_NUM-1;
temp = motor_data.filecount;
SpiFlashEraseSector(CMD_FLASH_ADDR >> 4);//擦除以前存储的信息
SpiFlashWrite((unsigned char *)&motor_data,CMD_FLASH_ADDR<<WRITE_BIT_DEPTH,sizeof(motor_data)); //写入flash
ReadMoterInfor();
if (temp != motor_data.filecount)
{
error |= ERROR_FLASH_WRITE;
}
else
{
error &= ~ERROR_FLASH_WRITE;
}
}
void WriteOneCmdInfor(unsigned int addr)
{
unsigned char temp = 0;
temp = motor_one_cmd.end;
if (((((unsigned long)addr)<<4) + FILE_FLASH_ADDR) % 16 == 0)
SpiFlashEraseSector(((((unsigned long)addr)<<4) + FILE_FLASH_ADDR) >> 4);//擦除以前存储的信息
SpiFlashWrite((unsigned char *)&motor_one_cmd,((((unsigned long)addr)<<4) + FILE_FLASH_ADDR)<<WRITE_BIT_DEPTH,sizeof(motor_one_cmd)); //写入flash
ReadOneCmdInfor(addr);
if (temp != motor_one_cmd.end)
{
error |= ERROR_FLASH_WRITE1;
}
else
{
error &= ~ERROR_FLASH_WRITE1;
}
}
/***************************************************************************************************************
函数名：获取一串舵机的控制字符串
功能描述：处理从flash读取的舵机控制字符串处理
输入参数：无
返回值：无
备注：
****************************************************************************************************************/
void GetOneMotorCMD(void)
{
#if DEBUG
uchar buf[20] = {0};
#endif
if (flag_stop_download)//接收到了上位机的停止下载的命令
{
flag_download = 0;//清楚下载状态标志位
flag_stop_download = 0;
flag_read = 0;
if (motor_data.filecount < MAX_SUPPORT_FILE_SAVE)
{
updata_file_list();
motor_data.sum = motor_one_cmd.end;
motor_data.file_flag[motor_data.filecount] = 1;
motor_one_cmd.cur_file_num = file_last_num + 1;
motor_data.filecount = motor_one_cmd.cur_file_num + 1;
error &= ~MAX_SUPPORT_FILE_SAVE;
#if DEBUG
sprintf(buf,"%d %d\r\n",(uint)motor_data.filecount,(uint)motor_data.file_flag[motor_data.filecount-1]);
UART_PutStr(USART1,buf);
#endif
WriteMoterInfor();
WriteOneCmdInfor(motor_one_cmd.cur_file_num);
updata_file_list();
#if DEBUG
sprintf(buf,"%d %d\r\n",(uint)motor_data.filecount,(uint)motor_data.file_flag[motor_data.filecount-1]);
UART_PutStr(USART1,buf);
#endif
}
else
{
error |= MAX_SUPPORT_FILE_SAVE;
}
if (!(error &(MAX_SUPPORT_FILE_SAVE | ERROR_FLASH_FULL)))
send_mode |= SEND_DOWN_OK;//状态位置为
}
if (flag_connect)//如果当前跟上位机联机状态
{
if (flag_read)//如果上位机读取flash内存储的信息
{
if (cur_item.cur_num < motor_one_cmd.end)//判断是否超过之前存储的数
{
if ((send_mode & SEND_SEND_FILE))//开始接收到读取命令需要先发送个start
{
UART_PutStr(USART1,"#Start\r\n");
send_mode &= ~SEND_READ_FILE;
}
memset(redata,0,WRITE_SIZE);//清 0
SpiFlashRead((unsigned char *)redata,(((long)cur_item.cur_num)<<WRITE_BIT_DEPTH),WRITE_SIZE);//读取信息
#if DEBUG
sprintf(buf,"%d\r\n",cur_item.cur_num);
UART_PutStr(USART1,buf);
#endif
UART_PutStr(USART1,redata);//发送
cur_item.cur_num++;
}
else//否则
{
if (cur_item.cur_num > 0)
UART_PutStr(USART1,"#End\r\n");//发送结束字符串
flag_read = 0;
}
send_mode = 0;//请 0
}
if (flag_online_run)
{
if ((send_mode & SEND_CC) != 0 || cur_item.cur_num == motor_one_cmd.start)//如果当前需要更新舵机命令
{
if (cur_item.tuoji_count > 0)//脱机次数没结束
{
if (cur_item.cur_num < motor_one_cmd.end)//判断是否读取结束
{
SpiFlashRead((unsigned char *)redata,((long)cur_item.cur_num)<<WRITE_BIT_DEPTH,WRITE_SIZE);//读取命令
flag_RecFul = 1;//标志位为1，
cur_item.cur_num++;//
}
else//执行玩一遍
{
cur_item.cur_num = motor_one_cmd.start;
cur_item.tuoji_count--;//减一
}
}
else//执行完成
{
flag_online_run = 0;
if (flag_connect_run)//如果上位机选择执行的功能，需要发送 AGF作为结束
{
UART_PutStr(USART1,"#AGF\r\n");
flag_connect_run = 0;
}
}
//读取数据
}
}
}
else//脱机
{
if (file_list_count < 0)
{
return;
}
if (cur_item.tuoji_count > 0)
{
if ((send_mode & SEND_CC) != 0 || cur_item.cur_num == motor_one_cmd.start)//如果当前需要更新舵机命令
{
if (cur_item.cur_num < motor_one_cmd.end)//判断是否读取结束
{
SpiFlashRead((unsigned char *)redata,((long)cur_item.cur_num)<<WRITE_BIT_DEPTH,WRITE_SIZE);//读取命令
flag_RecFul = 1;//标志位为1，
cur_item.cur_num++;//
}
else//执行玩一遍
{
cur_item.cur_num = motor_one_cmd.start;
cur_item.tuoji_count--;//减一
}
//读取数据
}
}
else
{
ReadOneCmdInfor(file_list[cur_item.file_num]);
file_list_count--;
cur_item.file_num++;
}
}
}
/***************************************************************************************************************
函数名：发送串口状态信息
功能描述：根据状态标志位发送相应的信息
输入参数：无
返回值：无
备注：
****************************************************************************************************************/
void SendUartState(void)
{
char buf[40] = {0};
unsigned char read_motor_num = 0;
unsigned int i = 0;
static int count = 0;
if (send_mode)//如果有状态需要发送
{
if (send_mode & SEND_A) //发送A
{
UART_PutChar(USART1,'A');
send_mode &= ~SEND_A;//清状态
}
if (send_mode & SEND_CC) //发送CC
{
UART_PutStr(USART1,"#CC\r\n");
send_mode &= ~SEND_CC;
}
if (send_mode & SEND_DOWN_OK)//发送下载ok的状态字符串
{
sprintf(buf,"#Down+OK+%d\r\n",(int)motor_data.filecount-1);
UART_PutStr(USART1,buf);
send_mode &= ~SEND_DOWN_OK;
#if DEBUG
sprintf(buf,"%d\r\n",(uint)motor_data.filecount);
UART_PutStr(USART1,buf);
#endif
}
if (send_mode & SEND_START_OK)//发送连接时候的字符串
{
UART_PutStr(USART1,"#Veri+UART+OK+20160906+176\r\n");
send_mode &= ~SEND_START_OK;
}
if (send_mode & SEND_READ_FILE)//发送读取文件的时候字符串
{
if (motor_data.filecount > 0)//如果保存的有舵机命令
{
//#Name:1.txt--Size:48--Name:2.txt--Size:190--Name:desktop.ini--Size:531--
UART_PutStr(USART1,"#");//发送
for (i = 0; i < motor_data.filecount;i++)
{
if (motor_data.file_flag[i] == 1)
{
ReadOneCmdInfor(i);
if (motor_one_cmd.end - motor_one_cmd.start <= 0)
{
motor_data.file_flag[i] = 0;
WriteMoterInfor();
#if DEBUG
sprintf(buf,"E=%d S=%d",motor_one_cmd.end, motor_one_cmd.start);
#endif
}
else
{
sprintf(buf,"Name:%d.txt--Size:%d--",i,motor_one_cmd.end - motor_one_cmd.start);//获取命令个数
UART_PutStr(USART1,buf);//发送
}
}
}
UART_PutStr(USART1,"\r\n");
}
else
{
sprintf(buf,"#\r\n",motor_data.sum);
UART_PutStr(USART1,buf);
}
send_mode &= ~SEND_READ_FILE;
}
if (send_mode & SEND_SET_OFFLINE_OK)//设置脱机运行次数
{
WriteOneCmdInfor(motor_one_cmd.cur_file_num);//保存
UART_PutStr(USART1,"#Enable+OK...\r\n");
send_mode &= ~SEND_SET_OFFLINE_OK;
}
if (send_mode & SEND_SET_DISABLEOFFLINE_OK)//禁止脱机运行
{
for (i = 0; i < motor_data.filecount;i++)
{
if (motor_data.file_flag[i] == 1)
{
ReadOneCmdInfor(i);
motor_one_cmd.tuoji_count = 0;
WriteOneCmdInfor(i);
}
}
WriteMoterInfor();
UART_PutStr(USART1,"#Disable+OK...\r\n");
send_mode &= ~SEND_SET_DISABLEOFFLINE_OK;
}
if (send_mode & SEND_SET_ONLINE_OK)//发送联机运行状态
{
UART_PutStr(USART1,"#OK\r\n");
sprintf(buf,"#1GC%d\r\n",tuoji_count);
UART_PutStr(USART1,buf);
UART_PutStr(USART1,"#LP=0\r\n");
send_mode &= ~SEND_SET_ONLINE_OK;
flag_connect_run = 1;
}
if (send_mode & SEND_SET_DELETE_ONE_FILE_OK)//发送删除文件命令
{
//cur_item.tuoji_count = 0;
if (cur_item.delete_num < motor_data.filecount)
{
motor_data.file_flag[cur_item.delete_num] = 0;
WriteMoterInfor();
updata_file_list();
if (cur_item.delete_num == motor_data.filecount-1)
{
motor_data.filecount = file_last_num + 1;
if (file_last_num == -1)
{
motor_data.sum = 0;
}
else
{
ReadOneCmdInfor(file_last_num);
motor_data.sum = motor_one_cmd.end;
motor_data.sum = (((long int)(motor_data.sum) >>4)<<4) + (1<<4);
}
WriteMoterInfor();
}
updata_file_list();
UART_PutStr(USART1,"#FDel+OK\r\n");
}
send_mode &= ~SEND_SET_DELETE_ONE_FILE_OK;
}
if (send_mode & SEND_SET_DELETE_ALL_FILE_OK)//发送擦除所有文件的命令
{
UART_PutStr(USART1,"#Format+Start\r\n");
SpiFlashEraseChip();
cur_item.tuoji_count = 0;
motor_data.sum = 0;
motor_data.filecount = 0;
memset(motor_data.file_flag,0,sizeof(motor_data.file_flag));
WriteMoterInfor();
UART_PutStr(USART1,"#Format+OK\r\n");
send_mode &= ~SEND_SET_DELETE_ALL_FILE_OK;
updata_file_list();
}
if (send_mode & SEND_SET_PS2_OK)
{
UART_PutStr(USART1,"#PS2+OK...\r\n");
send_mode &= ~SEND_SET_PS2_OK;
}
#define MATHION_HAND_NUM 20
if (send_mode & SEND_SET_READ_UART_MOTOR_ANGLE)
{
UART_PutStr(USART1,"\r\n");
if (cur_item.read_num < MATHION_HAND_NUM)
{
if (flag_uart2_rev)
{
read_motor_num = atoi(uart2_buf + 1);
if (read_motor_num == cur_item.read_num)
{
i = atoi(uart2_buf+5);
sprintf(uart2_buf,"#%dP%d",(int)read_motor_num,i);
UART_PutStr(USART1,uart2_buf);
cur_item.read_num++;
buf[0] = '#';
buf[1] = cur_item.read_num / 100 % 10 + 0x30;
buf[2] = cur_item.read_num / 10 % 10 + 0x30;
buf[3] = cur_item.read_num % 10 + 0x30;
buf[4] = 'P';buf[5] = 'R';buf[6] = 'A';buf[7] = 'D';buf[8] = '\r';buf[9] = '\n';
UART_PutStr(USART2,buf);
}
flag_uart2_rev = 0;
count = 0;
}
else
{
count++;
if (count >= 10)
{
cur_item.read_num++;
buf[0] = '#';
buf[1] = cur_item.read_num / 100 % 10 + 0x30;
buf[2] = cur_item.read_num / 10 % 10 + 0x30;
buf[3] = cur_item.read_num % 10 + 0x30;
buf[4] = 'P';buf[5] = 'R';buf[6] = 'A';buf[7] = 'D';buf[8] = '\r';buf[9] = '\n';
UART_PutStr(USART2,buf);
flag_uart2_rev = 0;
flag_uart2_rev_time_out = 0;
count = 0;
}
}
}
else
{
send_mode &= ~SEND_SET_READ_UART_MOTOR_ANGLE;
cur_item.read_num= 0;
UART_PutStr(USART1,"\r\n");
}
}
}
if (send_mode & SEND_SET_SET_UART_MOTOR_PULK)
{
if (cur_item.pulk_num < MATHION_HAND_NUM)
{
count++;
if (count >= 20)
{
sprintf(uart2_buf,"#%dPULK\r\n",(int)cur_item.pulk_num);
UART_PutStr(USART2,uart2_buf);
#if DEBUG
UART_PutStr(USART1,uart2_buf);
#endif
cur_item.pulk_num++;
count = 0;
}
}
else
{
send_mode &= ~SEND_SET_SET_UART_MOTOR_PULK;
}
}
if (send_mode & SEND_SET_SET_UART_MOTOR_ANGLE)
{
if (cur_item.pulk_num < MATHION_HAND_NUM)
{
count++;
if (count >= 5)
{
sprintf(uart2_buf,"#%dPMOD%d\r\n",(int)cur_item.pulk_num,(int)cur_item.angle_mode);
UART_PutStr(USART2,uart2_buf);
#if DEBUG
UART_PutStr(USART1,uart2_buf);
#endif
cur_item.pulk_num++;
count = 0;
}
}
else
{
sprintf(buf,"#255PMOD%d+0K...\r\n",(int)cur_item.angle_mode);
UART_PutStr(USART1,buf);
send_mode &= ~SEND_SET_SET_UART_MOTOR_ANGLE;
flag_uart2_rev = 0;
}
}
if (send_mode & SEND_SET_BEEP_ON)
{
ReadMoterInfor();
motor_data.beep_mode = 1;
//beep_mode = 1;
WriteMoterInfor();
UART_PutStr(USART1,"#FMQENABLE+OK...\r\n");
send_mode &= ~SEND_SET_BEEP_ON;
}
if (send_mode & SEND_SET_BEEP_OFF)
{
ReadMoterInfor();
motor_data.beep_mode = 0;
//beep_mode = 0;
WriteMoterInfor();
UART_PutStr(USART1,"#FMQDISABLE+OK...\r\n");
send_mode &= ~SEND_SET_BEEP_OFF;
}
}
/***************************************************************************************************************
函数名：作业初位置，末尾置更新函数
功能描述：从缓存中取一个新的目标位置替换原来的目标位置，原来的目标位置变为新的初位置，一次更替
：有效的数据是插补增量，和插补次数，知道这两个量，和当前初位置即可
备注：先进先出，循环访问
****************************************************************************************************************/
void change(void)
{
unsigned char s;
if(line>0) //缓存中有数据
{
line--; //执行一行
if(line<5) //缓存允许放入新的数据
flag_in=1;
point_now++; //取数位置更新
point_aim++;
if(point_aim==7)
point_aim=0;
if(point_now==7)
point_now=0;
n=pos[point_aim][0]*4/8; //计算新的插补次数
for(s=1;s<MOTOR_NUM;s++) //计算新的插补增量
{
if(pos[point_aim][s]>pos[point_now][s])
{
dp=pos[point_aim][s]-pos[point_now][s];
dp0[s]=dp/n;
}
if(pos[point_aim][s]<=pos[point_now][s])
{
dp=pos[point_now][s]-pos[point_aim][s];
dp0[s]=dp/n;
dp0[s]=-dp0[s];
}
//UART_Put_Inf("dp:",dp);
// UART_Put_Inf("n",n);
}
m=0; //m清0
flag_stop=0; //产生了新的目标位置，停止标志清零
}
else //没有缓存数据，即line==0
{
flag_out=0; //缓存中没有数据
}
}
/***************************************************************************************************************
函数名：vpwm()
功能描述：数据插补，插补时间间隔为20/12ms，由timer0控制，使舵机平滑实现速度控制
：另一个功能是执行完一行后去更新下一行数据，即调用change()
备注：
****************************************************************************************************************/
void vpwm(void)
{
unsigned char j=0;
unsigned char how=0;
static unsigned char flag_how;
static unsigned char flag_Tover;
if(flag_stop==1) //一行作业全部完成
{
if(flag_out==1) //缓冲数组中有数据
{
change(); //更新行
}
}
else //不是一行数据全部完成，处于中间插补阶段
{
m++; //用来累加插补过的次数
if(m==n) //n是本行作业要插补的总次数
{
flag_Tover=1; //一行数据的执行时间已经完成
send_mode |= SEND_CC;
}
for(j=1;j<MOTOR_NUM;j++)
{
if(abs(CPWM[j]-pos[point_aim][j])<5)
{ //检测靠近终点位置
how++; //是，则累加一个
CPWM[j]=pos[point_aim][j];//并且直接过度到终点位置
}
else //不靠近终点，继续插补
{
CPWM[j]=pos[point_now][j]+m*dp0[j];
}
}
if(how==MOTOR_NUM-1)
flag_how=1; //16个舵机都到达终点
how=0;
if((flag_Tover==1)&&(flag_how==1))
{ //从插补次数，和脉宽宽度两方面都到达终点，本作业行完成
flag_Tover=0;
flag_how=0;
flag_stop=1;
}
}
return;
}
/************************************************************************/
#if 0
void SerVor_Test(void)
{
CPWM[0]=700;CPWM[1]=700;CPWM[2]=700;CPWM[3]=700;CPWM[4]=700;CPWM[5]=700;
Delay_ms(2000);
CPWM[0]=2300;CPWM[1]=2300;CPWM[2]=2300;CPWM[3]=2300;CPWM[4]=2300;CPWM[5]=2300;
Delay_ms(2000);
}
#endif
#if 0
void Ps2_Test(void)
{
key = PS2_DataKey();
if(key!=0)
{
printf(" \r\n %d is pressed \r\n",key);
}
printf(" %5d %5d %5d %5d\r\n",PS2_AnologData(PSS_LX),PS2_AnologData(PSS_LY),
PS2_AnologData(PSS_RX),PS2_AnologData(PSS_RY) );
Delay_ms(1000);
}
#endif
#if 1
void Flash_Test(void)
{
while(SpiFlashReadID()!=W25Q64) //检测不到W25Q64
{
UART_PutStr (USART1,"Not Found W25Q64\r\n");
}
UART_PutStr (USART1," Found W25Q64\r\n");
SpiFlashWrite((u8*)TEXT_Buffer,FLASH_SIZE-100,SIZE); //从倒数第100个地址写入数据
UART_PutStr (USART1,"Flash Write Success\r\n");
SpiFlashRead(datatemp,FLASH_SIZE-100,SIZE); //读取写入flash中的数据
UART_PutStr (USART1,datatemp);
UART_PutStr (USART1,"\r\n Flash Read Success\r\n");
while(1);
}
#endif

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