有关自平衡车的STM32代码 -

/******************** (C) COPYRIGHT 2014 POWSOS Team **************************
* 文件名：main.c
* 描述 :
* 实验平台：STM32F103RBT6
* 库版本：ST3.5.0
* 作者 : Powsos_Team
* 版本：V2.0
* 日期：2014.8.23
* 修订历史：V2.0
******************************************************************************/
#include "stm32f10x.h"
#include "iic.h"
#include "timer.h"
#include "usart.h"
#include "mpu6050.h"
#include "filter.h"
#include "calculate.h"
#include "gpio.h"
#include "time_test.h"
#include "hc_sr04.h"
#include "delay.h"
#include <stdio.h>
#include <math.h>
//#define Debug
#define GX_OFFSET 0x01
#define AX_OFFSET 0x01
#define AY_OFFSET 0x01
#define AZ_OFFSET 0x01
#define duoji_offset 120
extern u8 duoji_flag;
extern u8 duoji_cnt;
extern u16 time;
extern u8 duoji_pwm;
u8 hcsr04_test_flag = 0;
u8 receive_data;
u8 flg_get_senor_data;
u8 out[35] ={0x5f, 0x60, 0};
u8 Duoji_direction = 1; /*1,前方,2:左边 3:右边,舵机*/
u8 Move_direcetion = 1; /*1静止 2,前方, 3,后退 4:左边 5:右边小车运行方向*/
u16 distance =0 ;
int pulsewidth;
float angle, angle_dot, f_angle, f_angle_dot;
s16 temp;
s16 gx, gy, gz, ax ,ay, az, temperature;
#define FILTER_COUNT 16
s16 gx_buf[FILTER_COUNT], ax_buf[FILTER_COUNT], ay_buf[FILTER_COUNT],az_buf[FILTER_COUNT];
/******************************************************************************/
void delay(u32 count)
{
for(; count != 0; count--);
}
/*************************************************
名称：void acc_filter(void)
功能：加速度计数据滤波
输入参数：据滤波后的数据
输出参数：无
返回值：无
**************************************************/
void acc_filter(void)
{
u8 i;
s32 ax_sum = 0, ay_sum = 0, az_sum = 0;
for(i = 1 ; i < FILTER_COUNT; i++)
{
ax_buf[i - 1] = ax_buf[i];
ay_buf[i - 1] = ay_buf[i];
az_buf[i - 1] = az_buf[i];
}
ax_buf[FILTER_COUNT - 1] = ax;
ay_buf[FILTER_COUNT - 1] = ay;
az_buf[FILTER_COUNT - 1] = az;
for(i = 0 ; i < FILTER_COUNT; i++)
{
ax_sum += ax_buf[i];
ay_sum += ay_buf[i];
az_sum += az_buf[i];
}
ax = (s16)(ax_sum / FILTER_COUNT);
ay = (s16)(ay_sum / FILTER_COUNT);
az = (s16)(az_sum / FILTER_COUNT);
}
/* I/O口模拟输出PWM控制舵机,50hz */
void servopulse(int myangle)//定义一个脉冲函数
{
// EA = 0;
// pulsewidth = (((myangle+duoji_offset)*25)+500)/1000;;// 舵机中心值可能会偏，修改20,做调整
pulsewidth =myangle;
}
/*****************************************************************************/
int main(void)
{
SystemInit();
delay_init(72);
gpio_init();
delay(0x80000);
usart_init();
iic_init();
timer_init();
TIM1_Configuration();
HCSR04_Init();
motor_init();
mpu6050_init();
STOP_TIME;
duoji_flag =1;
duoji_cnt = 0;
servopulse(3);/*上电将舵机放至中间*/
while (1)
{
if(flg_get_senor_data)
{
flg_get_senor_data = 0;
mpu6050_get_data(&gx, &gy, &gz, &ax, &ay , &az, &temperature);
acc_filter();
gx-= GX_OFFSET;
ax -= AX_OFFSET;
ay -= AY_OFFSET;
az -= AZ_OFFSET;
angle_dot = gx * GYRO_SCALE; //+-2000 0.060975 °/LSB //陀螺仪
angle = atan(ay / sqrt(ax * ax + az * az ));
angle = angle * 57.295780; //180/pi
kalman_filter(angle, angle_dot, &f_angle, &f_angle_dot);// 加速度计计算的角度, 陀螺仪角速度 , 融合后的角度, 融合后的角速度
receive_parameter(receive_data);
pid(f_angle, f_angle_dot);
#ifdef Debug
temp = (s16)(f_angle * 100);
out[2] = (u8)(gx >> 8);
out[3] = (u8)(gx);
out[4] = (u8)(gy >> 8);
out[5] = (u8)(gy);
out[6] = (u8)(gz >> 8);
out[7] = (u8)(gz);
out[8] = (u8)(ax >> 8);
out[9] = (u8)(ax);
out[10] = (u8)(ay >> 8);
out[11] = (u8)(ay);
out[12] = (u8)(az >> 8);
out[13] = (u8)(az);
out[14] = (u8)(temp >> 8);
out[15] = (u8)(temp);
USART_SendStringData(USART1,&out[0],16);
#endif
} //end if
if(hcsr04_test_flag)
{
hcsr04_test_flag=0;
measure_distance(receive_data);
switch(Duoji_direction)
{
case Duoji_Front: USART_printf(USART2,"Front_distance: %d cm\r\n",distance);break;
case Duoji_Left: USART_printf(USART2,"Left_distance: %d cm\r\n",distance);break;
case Duoji_Right: USART_printf(USART2,"Right_distance: %d cm\r\n",distance);break;
}
}
#if 0
/*若前方距离小于100,并且小车行驶方向是往前的，此时小车需要停止*/
if((distance<50)&&(Move_direcetion==Move_front))
{
receive_data ='s';
}
#endif
}
}
/*****************END OF FILE************************************************************/

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