C++ÖÐextern ¡°C¡±º¬ÒåÉî²ã̽Ë÷

////////////////////////////////////////////////////////////////////////////////// //±¾³ÌÐòÖ»¹©Ñ§Ï°Ê¹Óã¬Î´¾­×÷ÕßÐí¿É£¬&sup2;»µÃÓÃÓÚÆäËüÈκÎÓÃ; //ÐÀÞ±µç×Ó // // ÎÄ ¼þ Ãû :yanwu.c // °æ ±¾ ºÅ : v1.0 // ×÷ Õß : ÐÀÞ±µç×Ó // Éú³ÉÈÕÆÚ : 20200101 // ×î&frac12;üÐÞ¸Ä : // ¹¦ÄÜÃèÊö :Ö÷º¯Êý // ÐÞ¸ÄÀúÊ· : // ÈÕ ÆÚ : // ×÷ Õß : ÐÀÞ±µç×Ó // ÐÞ¸ÄÄÚÈÝ : ´´&frac12;¨Îļþ //°æȨËùÓУ¬µÁ°æ±Ø¾¿¡£ //Copyright(C) ÐÀÞ±µç×Ó2020/3/16 //All rights reserved //******************************************************************************/. //³ÌÐòÍ·º¯Êý #include <reg52.h> #include <intrins.h> //°üº¬Í·Îļþ //ÏÔʾº¯Êý #include <display.h> //ºê¶¨Òå #define uint unsigned int #define uchar unsigned char //¹Ü&frac12;ÅÉùÃ÷ sbit LED_R= P2^2;//ºìµÆ sbit LED_G= P2^0;//ÂÌµÆ sbit FENG = P2^5;//·äÃùÆ÷ //sbit san=P3^4; //·çÉÈ¿ØÖÆ£¨Ñ¡Å䣩 sbit CS = P1^4; sbit Clk = P1^2; sbit DATI = P1^3; sbit DATO = P1^3; //ADC0832Òý&frac12;Å //°´¼ü sbit Key1=P2^6; //ÉèÖüü sbit Key2=P2^7; //¼Ó°´¼ü sbit Key3=P3^7; //¼õ°´¼ü bit bdata flag; //±¨¾¯±ê־λ uchar set; //ÉèÖÃ״̬ /*******************************¶¨ÒåÈ«¾Ö±äÁ¿********************************/ unsigned char dat = 0; //ADÖµ unsigned char CH=0; //ͨµÀ±äÁ¿ unsigned int sum=0; //Æ&frac12;¾ùÖµ¼ÆËãʱµÄ×ÜÊý unsigned char m=0; //º¯ÊýÉùÃ÷ extern uchar ADC0809(); extern void Key(); //¾Æ¾«º¬Á¿±äÁ¿ uchar temp=0; uchar WARNING=25; //±¨¾¯Öµ /**************************************************************************** º¯Êý¹¦ÄÜ:ADת»»×Ó³ÌÐò Èë¿Ú&sup2;ÎÊý:CH ³ö¿Ú&sup2;ÎÊý:dat ****************************************************************************/ unsigned char adc0832(unsigned char CH) { unsigned char i,test,adval; adval = 0x00; test = 0x00; Clk = 0; //³õʼ»¯ DATI = 1; _nop_(); CS = 0; _nop_(); Clk = 1; _nop_(); if ( CH == 0x00 ) //ͨµÀÑ¡Ôñ { Clk = 0; DATI = 1; //ͨµÀ0µÄµÚһλ _nop_(); Clk = 1; _nop_(); Clk = 0; DATI = 0; //ͨµÀ0µÄµÚ¶þλ _nop_(); Clk = 1; _nop_(); } else { Clk = 0; DATI = 1; //ͨµÀ1µÄµÚһλ _nop_(); Clk = 1; _nop_(); Clk = 0; DATI = 1; //ͨµÀ1µÄµÚ¶þλ _nop_(); Clk = 1; _nop_(); } Clk = 0; DATI = 1; for( i = 0;i < 8;i++ ) //¶ÁÈ¡Ç°8λµÄÖµ { _nop_(); adval <<= 1; Clk = 1; _nop_(); Clk = 0; if (DATO) adval |= 0x01; else adval |= 0x00; } for (i = 0; i < 8; i++) //¶ÁÈ¡ºó8λµÄÖµ { test >>= 1; if (DATO) test |= 0x80; else test |= 0x00; _nop_(); Clk = 1; _nop_(); Clk = 0; } if (adval == test) //±È&frac12;ÏÇ°8λÓëºó8λµÄÖµ£¬Èç¹û&sup2;»ÏàͬÉáÈ¥¡£ÈôÒ»Ö±³öÏÖÏÔʾΪÁ㣬Çë&frac12;«¸ÃÐÐÈ¥µô dat = test; nop_(); CS = 1; //ÊÍ·ÅADC0832 DATO = 1; Clk = 1; return dat; } void init() //³õʼ»¯º¯Êý { TMOD=0x01; //¹¤×÷·&frac12;Ê&frac12; TL0=0xb0; TH0=0x3c; //¸³³õÖµ£¨12MHz¾§ÕñµÄ50ms£© EA=1; //´ò¿ªÖжÏ×Ü¿ª¹Ø ET0=1; //´ò¿ªÖжÏÔÊÐí¿ª¹Ø TR0=1; //´ò¿ª¶¨Ê±Æ÷¿ª¹Ø } void main() //Ö÷º¯Êý { Init1602();//³õʼ»¯ÏÔʾ init(); //³õʼ»¯¶¨Ê±Æ÷ while(1) //&frac12;øÈëÑ­»· { for(m=0;m<50;m++) //¶Á50´ÎADÖµ sum = adc0832(0)+sum; //¶Áµ&frac12;µÄADÖµ£¬&frac12;«¶Áµ&frac12;µÄÊý¾ÝÀÛ¼Óµ&frac12;sum temp=sum/50; //Ìø³öÉÏÃæµÄforÑ­»·ºó£¬&frac12;«ÀÛ¼ÓµÄ×ÜÊý³ýÒÔ50µÃµ&frac12;Æ&frac12;¾ùÖµtemp sum=0; //Æ&frac12;¾ùÖµ¼ÆËãÍê³Éºó£¬&frac12;«×ÜÊýÇåÁã if(set==0) //Ö»ÓÐÔÚ·ÇÉèÖÃ״̬ʱ£¬ Display_1602(temp,WARNING); //&sup2;ÅË¢ÐÂÏÔʾʵʱŨ¶ÈÖµ if(temp<WARNING&&set==0) //·ÇÉèÖÃʱµ±Å¨¶ÈֵСÓÚ±¨¾¯ÖµÊ± { flag=0; //±¨¾¯±ê־λÖÃ0£¬&sup2;»±¨¾¯ } else if(temp>WARNING&&set==0) //·ÇÉèÖÃʱµ±Å¨¶ÈÖµ´óÓÚ±¨¾¯ÖµÊ± { flag=1; //±¨¾¯±ê־λÖÃ1 } Key(); //ɨÃè°´¼ü } } void Key() //°´¼üº¯Êý { if(Key1==0) //ÉèÖüü°´ÏÂʱ { while(Key1==0); //¼ì&sup2;â°´¼üÊÇ·ñÊÍ·Å FENG=0; //·äÃùÆ÷Ïì set++; //ÉèÖÃ״̬±êÖ¾¼Ó flag=0; //Í£Ö¹±¨¾¯ // san=1; //·çÉÈֹͣת¶¯£¨Ñ¡Å䣩 TR0=0; //¶¨Ê±Æ÷Í£Ö¹ } if(set==1) //ÉèÖÃʱ { write_com(0x38);//ÆÁÄ»³õʼ»¯ write_com(0x80+0x40+13);//Ñ¡Öб¨¾¯ÖµµÄλÖà write_com(0x0f);//´ò¿ªÏÔʾ ÎÞ¹â±ê ¹â±êÉÁ˸ write_com(0x06);//µ±¶Á»òдһ¸ö×Ö·ûÊÇÖ¸Õëºóһһλ FENG=1; //·äÃùÆ÷Í£Ö¹ÃùÏì } else if(set>=2) //ÔÙ°´Ò»ÏÂÉèÖüüʱ£¬Í˳öÉèÖà { set=0; //ÉèÖÃ״̬ÇåÁã write_com(0x38);//ÆÁÄ»³õʼ»¯ write_com(0x0c);//´ò¿ªÏÔʾ ÎÞ¹â±ê ÎÞ¹â±êÉÁ˸ FENG=1; //·äÃùÆ÷Í£Ö¹Ïì flag=1; //±¨¾¯±ê־λÖÃ1 TR0=1; //¶¨Ê±Æ÷¿ªÊ¼¼Æʱ } if(Key2==0&&set!=0) //µ±ÔÚÉèÖÃ״̬ʱ£¬°´Ï¼Ӽüʱ { while(Key2==0); //°´¼üÊÍ·Å FENG=0; //·äÃùÆ÷ÃùÏì WARNING++; //±¨¾¯ãÐÖµ¼Ó if(WARNING>=255)//ãÐÖµ×î´ó¼Óµ&frac12;255 WARNING=0; //ÇåÁã write_com(0x80+0x40+11); //ÔÚãÐÖµµÄλÖÃдÈëÉèÖõÄÊý¾Ý write_data('0'+WARNING/100); //ÏÔʾ°Ù루&frac12;«123³ýÒÔ100µÃµ&frac12;µÄÉÌÊÇ1£¬¾ÍÊÇ°ÙλÊý¾Ý£©123ΪÀý×Ó write_data('0'+WARNING/10%10);//ÏÔʾʮ루&frac12;«123³ýÒÔ10µÃµ&frac12;ÉÌÊÇ12£¬&frac12;«12³ýÒÔ10µÄÓàÊý¾ÍÊÇʮ룩 write_data('0'+WARNING%10); //ÏÔʾ¸ö루&frac12;«123³ýÒÔ10µÄÓàÊý3¾ÍÊǸöλÊý¾Ý£©123ΪÀý×Ó write_com(0x80+0x40+13);//λÖà FENG=1;//·äÃùÆ÷Í£Ö¹ } if(Key3==0&&set!=0) //¼õ°´¼ü×¢ÊÍ&sup2;ο¼¼Ó°´¼ü&sup2;¿·Ö { while(Key3==0); FENG=0; WARNING--; if(WARNING<=0) WARNING=255; write_com(0x80+0x40+11); write_data('0'+WARNING/100); write_data('0'+WARNING/10%10); write_data('0'+WARNING%10); write_com(0x80+0x40+13);//λÖà FENG=1; } } void time1_int(void) interrupt 1 //¶¨Ê±Æ÷º¯Êý { uchar count; TL0=0xb0; TH0=0x3c; //ÖØи³³õÖµ count++; //¼Æʱ±äÁ¿¼Ó if(count==10)//¶¨Ê±Æ÷¶¨Ê±ÊÇ50ms£¬´Ë´¦¼ÆÊý10´Î£¬ÕýºÃÊÇ500ms£¬ÓÃÓÚ±¨¾¯Ê± µÆÁÁºÍ·äÃùÆ÷Ïì { if(flag==0) //±¨¾¯±ê־Ϊ0ʱ { LED_G=0; //Â̵ÆÁÁ LED_R=1; //ºìµÆÃð FENG=1; //·äÃùÆ÷&sup2;»Ïì // san=1; //·çÉÈ&sup2;»×ª£¨Ñ¡Å䣩 } if(flag==1) //±¨¾¯±ê־λΪ1ʱ { LED_G=1; //Â̵ÆÃð LED_R=0; //ºìµÆÁÁ FENG=0; //·äÃùÆ÷Ïì // san=0; //·çÉÈת¶¯£¨Ñ¡Å䣩 } } if(count==20) //¼ÆÊýµ&frac12;20ʱ£¬ÕýºÃÊÇ1000ms£¬¾ÍÊÇ1s£¬ÕâÀï¾ÍÊÇÈõÆÃ𣬷äÃùÆ÷&sup2;»Ï죬´Ó¶ø×ö³öÉÁ˸µÄЧ¹û { count=0; //¼Æµ&frac12;1sʱ£¬&frac12;«countÇåÁ㣬׼±¸ÖØмÆÊý if(flag==0) { LED_G=1; LED_R=1; FENG=1; // san=1; //È«&sup2;¿¹Ø±Õ } if(flag==1) { LED_G=1; LED_R=1; FENG=1; // san=0; //±¨¾¯Öµ£¬·çÉÈÊÇһֱת¶¯µÄ£¨Ñ¡Å䣩 } } } 修改为下限报警，以及显示到0.1位，如10.1

#include "control.h" /************************************************************************** ×÷ÕߣºÆ&frac12;ºâС³µÖ®¼Ò ÎÒµÄÌÔ±¦Ð¡µê£ºhttp://shop114407458.taobao.com/ **************************************************************************/ #define T 0.156f #define L 0.1445f #define K 311.4f u8 Flag_Target; int Voltage_Temp,Voltage_Count,Voltage_All,sum; /************************************************************************** º¯Êý¹¦ÄÜ£ºÐ¡³µÔ˶¯ÊýѧģÐÍ Èë¿Ú&sup2;ÎÊý£ºËٶȺÍת&frac12;Ç ·µ»Ø Öµ£ºÎÞ **************************************************************************/ void Kinematic_Analysis(float velocity,float turn) { Target_A=(velocity+turn); Target_B=(velocity-turn); //ºóÂÖ&sup2;îËÙ } void SelfLocalization(void) //С³µ×Ô¶¨Î» { const double T_Sampling=0.005*2; //5ms*2 &sup2;ÉÑùÖÜÆÚ const double Encoder_Round=390*4; //±àÂëÆ÷ÏßÊý*4±¶ÆµÏ¸·Ö const double R=0.032, B=0.155; //³µÂְ뾶£¬Â־࣬m //Ö±&frac12;Ó¿ÉÓõÄÈ«¾Ö±äÁ¿ //extern int Encoder_Left,Encoder_Right; //×óÓÒ±àÂëÆ÷µÄÂö³å¼ÆÊý //extern float X_me,Y_me,theta_me; //С³µÎ»ÖúÍ×Ë̬ //extern float V_me,W_me; //С³µÏßËٶȺÍ&frac12;ÇËÙ¶È-±àÂëÆ÷¹À¼ÆÖµ //&sup2;¹È«ÈçÏ´úÂ룬¼ÆËãС³µÏßËٶȺÍ&frac12;ÇËٶȣ¬ÒÔ¼°Ð¡³µÎ»ÖúÍ×Ë̬ V_me=; W_me=?; X_me=?; Y_me=?; theta_me=; //¾­¹ý¼ÆËãµÄ&frac12;ǶÈÒ»¶¨Òª¹æÕûµ&frac12;(-PI, PI] theta_me=£¿; } void PathPlanning(void) //·¾¶¹æ»® { static int Flag_Start=0; double X_des=3, Y_des=2, Angle_des=0; //Ä¿±êλÖúÍ×Ë̬ const double Kd=20,Ka=-7,Kb=0; double ds,da; if(Flag_Stop==1) { Flag_Start=0; Velocity=0,Turn=0; } else Flag_Start++; if(Flag_Start<3*1000/10) return; //µÈ´ý3sºóʵÑé×Ô¶¯¿ªÊ¼ //¸ù¾ÝÄ¿±êλÖ㨺Í×Ë̬£©£¬ÒÔ¼°µ±Ç°»úÆ÷È˵ÄλÖúÍ×Ë̬£¬¹æ»®³ö»úÆ÷ÈËÏÂһʱ¿ÌµÄÏßËٶȺÍ&frac12;ÇËÙ¶È //Ö±&frac12;Ó¿ÉÓõÄÈ«¾Ö±äÁ¿ //extern float X_me,Y_me,theta_me; //С³µÎ»ÖúÍ×Ë̬ //extern float V_me,W_me; //С³µÏßËٶȺÍ&frac12;ÇËÙ¶È-±àÂëÆ÷¹À¼ÆÖµ //extern float Velocity,Turn; //VelocityΪҪ¹æ»®³öµÄÏßËÙ¶È,TurnΪҪ¹æ»®³öµÄ&frac12;ÇËٶȣ¨ÊÜÓ&sup2;¼þʵÏÖµÄÒªÇó£¬Turn˳ʱÕëΪÕý£© //&sup2;¹È«ÈçÏ´úÂë // Velocity=£¿;

#ifndef __USART_H #define __USART_H #include "stdio.h" #include "stm32f4xx_conf.h" #include "sys.h" ////////////////////////////////////////////////////////////////////////////////// //±¾³ÌÐòÖ»¹©Ñ§Ï°Ê¹Óã¬Î´¾­×÷ÕßÐí¿É£¬&sup2;»µÃÓÃÓÚÆäËüÈκÎÓÃ; //Mini STM32¿ª·¢°å //´®¿Ú1³õʼ»¯ //ÕýµãÔ­×Ó@ALIENTEK //¼¼ÊõÂÛ̳:www.openedv.csom //ÐÞ¸ÄÈÕÆÚ:2011/6/14 //°æ±¾£ºV1.4 //°æȨËùÓУ¬µÁ°æ±Ø¾¿¡£ //Copyright(C) ÕýµãÔ­×Ó 2009-2019 //All rights reserved //******************************************************************************** //V1.3ÐÞ¸Ä˵Ã÷ //Ö§³ÖÊÊÓ¦&sup2;»Í¬ÆµÂÊϵĴ®¿Ú&sup2;¨ÌØÂÊÉèÖÃ. //¼ÓÈëÁ˶ÔprintfµÄÖ§³Ö //Ôö¼ÓÁË´®¿Ú&frac12;ÓÊÕÃüÁÄÜ. //ÐÞÕýÁËprintfµÚÒ»¸ö×Ö·û¶ªÊ§µÄbug //V1.4ÐÞ¸Ä˵Ã÷ //1,Ð޸Ĵ®¿Ú³õʼ»¯IOµÄbug //2,ÐÞ¸ÄÁËUSART_RX_STA,ʹµÃ´®¿Ú×î´ó&frac12;ÓÊÕ×Ö&frac12;ÚÊýΪ2µÄ14´Î·&frac12; //3,Ôö¼ÓÁËUSART_REC_LEN,ÓÃÓÚ¶¨Òå´®¿Ú×î´óÔÊÐí&frac12;ÓÊÕµÄ×Ö&frac12;ÚÊý(&sup2;»´óÓÚ2µÄ14´Î·&frac12;) //4,ÐÞ¸ÄÁËEN_USART1_RXµÄʹÄÜ·&frac12;Ê&frac12; ////////////////////////////////////////////////////////////////////////////////// #define USART_REC_LEN 200 //¶¨Òå×î´ó&frac12;ÓÊÕ×Ö&frac12;ÚÊý 200 #define EN_USART1_RX 1 //ʹÄÜ£¨1£©/&frac12;ûÖ¹£¨0£©´®¿Ú1&frac12;ÓÊÕ extern u8 USART_RX_BUF[USART_REC_LEN]; //&frac12;ÓÊÕ»º³å,×î´óUSART_REC_LEN¸ö×Ö&frac12;Ú.Ä©×Ö&frac12;ÚΪ»»Ðзû extern u16 USART_RX_STA; //&frac12;ÓÊÕ״̬±ê¼Ç //Èç¹ûÏë´®¿ÚÖжÏ&frac12;ÓÊÕ£¬Çë&sup2;»Òª×¢ÊÍÒÔϺ궨Òå void uart_init(u32 bound); #endif 这段代码运用于usart2串口需要改哪里