IAP15L2K61S2单片机开发板 PCB+源代码+电路原理图 -

/**************************************************************************************
注意事项：按ALT+F7 配置->Target->Memory Mode->Large:variables in XDATA,如果需要用到仿真
Debug中设置好仿真和串口号；
初始化有液晶背光调节演示，需要把P19的跳线帽插到上面，使LCD背光引脚与P26相连,使
用PWM1来调节液晶背光亮度;
使用串口1的1通道发送数据打游戏：在lkb.h中增加了KEYMSG结构体
mpu6050.c中Accel_x、Accel_y、Accel_z升为全局变量，增加;
Accel_y = (float)GetData(ACCEL_YOUT_H)/286.0f; //读取Y轴加速度
ADC初始化把AD采样时间改小了
// *************************************************************************************
#include "config0.h"
#include "delay.h"
#include "lkb.h"
#include "timer.h"
#include "uart.h"
#include <stdio.h>
#include "lcd.h"
#include "adc.h"
#include "mpu6050.h"
#include "image0.h"
#include "pca_pwm.h"
#include "hmc5883l.h"
#include "nrf24l01.h"
#include <math.h>
#include "int.h"
unsigned int adc0,adc1,adc2,adc3,adc4;
float li_voltage=0;
KEYMSG left;
KEYMSG right;
KEYMSG up;
KEYMSG down;
KEYMSG kb;
KEYMSG a_jump; //跳跃
KEYMSG a_shoot;//射击
KEYMSG a_left;
KEYMSG a_right;
void Encoder_Task();
void MPU6050_Task();
void HMC5883_Task();
void KEY_Task();
void ADC_Task();
void Encoder_Task()
{
LCD_Show2Num(0,112,Freq,6);
printf("%d\n",Cnt_Now);
}
void MPU6050_Task()
{
static unsigned int j=0;
Angle_Calcu(); //倾角计算将得到下面两个全局变量,使用了网上摘抄的卡尔曼滤波
//float Angle; //最终倾斜角度
//float Gyro_y; //Y轴角速度
if(Accel_x >=20 && Accel_x<=90)
{
sendMsg(&a_jump, 7, 1);
}
else if(Accel_x >=-90 && Accel_x<=-20)
{
sendMsg(&a_shoot, 6, 1);
}
else
{
if(a_jump.msg == 1)
{
sendMsg(&a_jump, 7, 0);
}
else if(a_shoot.msg == 1)
{
sendMsg(&a_shoot, 6, 0);
}
}
if(Accel_y >=20 && Accel_y<=90)
{
sendMsg(&a_right, 3, 1);
}
else if(Accel_y >=-90 && Accel_y<=-20)
{
sendMsg(&a_left, 2, 1);
}
else
{
if(a_right.msg == 1)
{
sendMsg(&a_right, 3, 0);
}
else if(a_left.msg == 1)
{
sendMsg(&a_left, 2, 0);
}
}
//printf("%.2f,%.2f\n",Angle,Gyro_y);
j++;
if(j>=240)
{
j=0;
LCD_Fill(0,140,239,318,Black);
POINT_COLOR = Red;
BACK_COLOR=Black;
LCD_DrawLine(0,229,239,229);
POINT_COLOR = Green;
}
if((int)Angle>-90 && (int)Angle<90 ) //排除初始不稳定杂波
{
LCD_DrawPoint(j,229-(int)Angle);
//通过NRF24L01发送出去
if(Angle>=0)
{
Tx_Buf[2] = '+';
Tx_Buf[3] =(unsigned char)Angle;
}
else
{
Tx_Buf[2] = '-';
Tx_Buf[3] = (unsigned char)(Angle*(-1));
}
Transmit(Tx_Buf); //24L01发送缓冲数组
sta=SPI_Read(READ_REG + STATUS); //读24L01的状态寄存器
if(TX_DS) //sbit TX_DS =sta^5;数据发送完成中断，接收到应答信号时此位置1，写1清除中断
{
//Delay_ms(5);
SPI_RW_Reg(WRITE_REG + STATUS,sta); //写状态寄存器，清除中断
}
if(MAX_RT) //如果是发送超时 sbit MAX_RT =sta^4;
{ //达到最多次重发中断，MAX_RT中断产生则必须清除后系统才能进行通讯，写1清除中断
//Delay_ms(5);
SPI_RW_Reg(WRITE_REG + STATUS,sta);
}
}
}
void HMC5883_Task()
{
//static unsigned int m=0;
static float Last_HMC5883_Angle=0;
// float Avg_HMC5883_Angle=0;
// float Last_Avg_HMC5883_Angle=0;
// float temp_HMC5883_Angle=0;
Multiple_Read_HMC5883(); //角度的变化似乎并不是线性的
LCD_Show2Num(32,80,(int)HMC5883_Angle,3);
POINT_COLOR=BACK_COLOR; //三角函数使用弧度而不是度!
LCD_DrawLine(120,100,120+(int)(28.0*cos((Last_HMC5883_Angle-180.0)/57.3)),100+(int)(28.0*sin((Last_HMC5883_Angle-180.0)/57.3)));
POINT_COLOR=Yellow;
LCD_DrawLine(120,100,120+(int)(28.0*cos((HMC5883_Angle-180.0)/57.3)),100+(int)(28.0*sin((HMC5883_Angle-180.0)/57.3)));
Last_HMC5883_Angle=HMC5883_Angle;
// //平均值滤波
// m++;
// temp_HMC5883_Angle+=HMC5883_Angle;
// if(m==5)
// {
// m=0;
// Avg_HMC5883_Angle=temp_HMC5883_Angle/5.0; //与前面四个值相关联
// //printf("\n\n%.2f\n\n",HMC5883_Angle); //HMC5883_Angle: float型，0~360
// LCD_Show2Num(32,80,(int)Avg_HMC5883_Angle,3);
// POINT_COLOR=BACK_COLOR;
// LCD_DrawLine(120,100,120+28*cos((Last_Avg_HMC5883_Angle-180.0)/57.3),100+28*sin((Last_Avg_HMC5883_Angle-180.0)/57.3));
// POINT_COLOR=Yellow;
// LCD_DrawLine(120,100,120+28*cos((Avg_HMC5883_Angle-180.0)/57.3),100+28*sin((Avg_HMC5883_Angle-180.0)/57.3));
// Last_Avg_HMC5883_Angle=Avg_HMC5883_Angle;
// }
}
void ADC_Task()
{
static unsigned int i=0;
static unsigned int k=0;
POINT_COLOR= Green;
i++;
switch(i)
{
case 1: adc0=(int)ADC_GetResult(0);LCD_Show2Num(48,0,adc0,3); break;
case 2: adc1=(int)ADC_GetResult(1);LCD_Show2Num(48,16,adc1,3); break;
case 3: adc2=(int)ADC_GetResult(2);LCD_Show2Num(168,0,adc2,3); break;
case 4: adc3=(int)ADC_GetResult(3);LCD_Show2Num(168,16,adc3,3); break;
case 5: li_voltage=(float)ADC_GetResult(4)*0.019f; break; //adc4*3.3/256*(6.8+3.3)/6.8=adc4*0.019
default:
i=0;
LCD_Show2Num(96,32,(int)li_voltage,1); //显示整数部分
LCD_Show2Num(112,32,((int)(li_voltage*100))%100,2); //显示小数部分
//printf("%d,%d,%d,%d,%.2f\n",adc0,adc1,adc2,adc3,li_voltage);
}//switch 结束
k++;
//printf("%d,%d,", adc1, adc0);
if(k%2)
{
if(adc1>=0 && adc1<=80)
{
sendMsg(&up, 1, 1);
}
else if(adc1>=170 && adc1<=255)
{
sendMsg(&down, 4, 1);
}
else
{
if(up.msg == 1)
{
sendMsg(&up, 1, 0);
}
else if(down.msg == 1)
{
sendMsg(&down, 4, 0);
}
}
}
else
{
if(adc0>=0 && adc0<=80)
{
sendMsg(&left, 3, 1);
}
else if(adc0>=170 && adc0<=255)
{
sendMsg(&right, 2, 1);
}
else
{
if(left.msg == 1)
{
sendMsg(&left, 3, 0);
}
else if(right.msg == 1)
{
sendMsg(&right, 2, 0);
}
}
}
}
//void KEY_Task()
//{
// if (key_up==0)
// {
// sendMsg(&kb, Key_Num, 1); //sendMsg()函数里面有printf
// }
// else //if(key_up == 1)
// {
//
// if (kb.msg == 1) ;
// sendMsg(&kb, kb.key, 0);
// }
// //printf("%d\n",Key_Num);
//}
/*可以使用单步仿真一步步查看效果*/
void main()
{
unsigned int i;
Delay_ms(10);
Delay_us(10);
PWM2=0; //电机制动，可以下拉10k设置引脚为推挽制动
/*2.2寸、320*240分辨率、SPI接口的LCD初始化,使用STC的硬件SPI,LCD驱动芯片为ILI9340C*/
LCD_LED=0; //LCD背光最亮
SPI_Init(); //IAP15硬件SPI初始化,切换到了SPI的第二通道:SS/P24、MOSI/P23、MISO/P22、SCK/P21
LCD_Init(); //LCD初始化，厂家提供
/*LCD休眠演示*/
LCD_Sleep(); //LCD进入休眠状态
Delay_ms(100);
LCD_ExitSleep();//LCD退出休眠状态
/*LCD刷屏演示：红橙黄绿青蓝紫白黑*/
LCD_Clear(Red);
LCD_Clear(Orange);
LCD_Clear(Yellow);
LCD_Clear(Green);
LCD_Clear(Cyan);
LCD_Clear(Blue);
LCD_Clear(Purple);
LCD_Clear(White);
LCD_Clear(Black);
/*LCD画线、英文、汉字、数字显示测试*/
/*液晶屏左上角坐标为(0,0),右下角坐标为(239,319)*/
POINT_COLOR=Green; //全局变量
BACK_COLOR=Black; //前景色类似于在黑板写字的各种颜色的粉笔，黑板的颜色就是背景色
LCD_ShowString(0,0,"Hello,world!"); //从(0,0)坐标开始显示字符串“Hello,World!”
POINT_COLOR=Blue; //可以随时更改画笔颜色，显示不同颜色的数字
LCD_DrawLine(100,0,240,15); //画一条线段，起始坐标(100,0),终点坐标(240,15)
LCD_Show2Num(0,16,65535,5); //从(0,16)坐标开始显示0~65535的数字，5为数字位数，即显示5位数字
LCD_ShowNum(100,16,987654321,9); //从(100,16)坐标开始显示unsigned long型数字(0~4294967295),10为数字位数，即10位数字
POINT_COLOR=Yellow;
for(i=32;i<320;i+=16)
{
LCD_ShowString(0,i,"abcdefghijklmnopqrstuvwxyz!");
}
LCD_LED=1; //LCD背光关闭
Delay_ms(500);
LCD_LED=0; //LCD背光最亮
Delay_ms(500);
LCD_Clear(Black); //清屏：黑色
//LCD_Fill(120,120,160,160,Yellow); //在矩形区域填充色块，在函数处按F12可以查看函数原型
LCD_ShowImage(gImage_musi,80,120,78,80);//显示彩色图像：慕司LOGO
Delay_ms(2000);
LCD_Clear(Black);
POINT_COLOR=Red;
LCD_DrawRectangle(0,0,239,60); //画矩形：对角坐标(左上、右下)为(0,0),(239,60)
POINT_COLOR=Purple;
LCD_ShowString(80,2,"慕司"); //显示16*16汉字
LCD_ShowString(16,22,"为一线微茫憧憬一意孤行，");
LCD_ShowString(8,42,"这众生芸芸谁不曾如此任性！");
POINT_COLOR=Cyan;
LCD_ShowGB3232(80,160,"青春");
POINT_COLOR=Green;
LCD_DrawCircle(112,176,48);
Delay_ms(500);
PCA_PWM_Init(); //PWM初始化，切换到PWM的第三通道P25/P26/P27，这里仅使用了PWM1(P26,即LCD_LED引脚)
LCD_LED=0; //LCD背光最亮
for(i=255;i<=0;i--) //液晶背光256级亮度调节演示:由亮到暗
{
CCAP1H = CCAP1L = i; //通过调节占空比来调节屏幕亮度
Delay_ms(20);
}
LCD_LED=1; //LCD背光关闭
for(i=0;i<255;i++) //液晶背光256级亮度调节演示:由暗到亮
{
CCAP1H = CCAP1L = i; //通过调节占空比来调节屏幕亮度
Delay_ms(20);
}
Delay_ms(1000);
LCD_Clear(Black);
LKB_Init(); //LED Key Buzzer：LED、按键、蜂鸣器初始化(设置蜂鸣器端口为推挽输出)
Buzzer_Func(500,1000); //蜂鸣器500Hz@1000ms
ADC_Init(); //AD初始化：设置P1的0 1 2 3(摇杆)4(锂电池电压)口为AD口，
POINT_COLOR = Green; //液晶屏画笔颜色
BACK_COLOR=Black; //背景色
LCD_ShowString(0,0 ,"adc0: ");
LCD_ShowString(0,16,"adc1: ");
LCD_ShowString(120,0,"adc2: ");
LCD_ShowString(120,16,"adc3: ");
LCD_ShowString(0,32,"li_voltage: V");
LCD_ShowString(104,32,".");
NRF24L01_Init();
TX_Mode(); //发送模式
LCD_ShowString(0,48,"NRF24L01_State: Tx_Mode");
MPU6050_Init();
Delay_ms(100);
POINT_COLOR = Red;
LCD_DrawLine(0,319,239,319);
LCD_DrawLine(0,139,239,139);
LCD_DrawLine(0,229,239,229);
HMC5883_Init();
Delay_ms(100);
POINT_COLOR = Green;
LCD_DrawCircle(120,100,31);
LCD_ShowString(0,64,"direction：");
LCD_ShowString(0,96,"speed：");
Timer_Init(100); //每10ms中断一次,参数为百us：100*100us = 10ms
UART_Init(115200); //串口初始化，使用了串口1的第一通道，设置波特率115200，用于仿真时可以切换到第二通道P36/P37
TI=1;
SBUF=0; //这一句使用printf有时是必须的
INT_Init();
while(1)
{
if(LED_flag) //每1s切换一次LED的状态
{LED_flag=0;LED1 = ~LED1;}
if(ADC_flag)
{ADC_flag=0;ADC_Task();}
if(adc2 >=80 && Encoder_flag) //使用adc2作开关
{
Encoder_flag=0;
CCAP2H = CCAP2L = (adc3 - 10)*2; //使用摇杆的ADC3调节电机转速
Encoder_Task();
}
else if(adc2 <=70)
{
if(MPU6050_flag) //MPU6050的几个函数使用了Delay_us(5)
{MPU6050_flag=0;MPU6050_Task();}
if(HMC5883_flag)
{HMC5883_flag=0;HMC5883_Task();}
//interrupt.c中把Key_Scan()改成支持连按
//uart.c中把串口1切换回P30/P31
if(KEY_flag)
{
// KEY_Task();
if (key_up==0)
{
sendMsg(&kb, Key_Num, 1); //sendMsg()函数里面有printf
}
else //if(key_up == 1)
{
KEY_flag=0;
if (kb.msg == 1) ;
sendMsg(&kb, kb.key, 0);
}
//printf("%d\n",Key_Num);
}
}
else
{;}
}
}

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