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發表於 2016-7-3 01:27:06
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本文章最後由 antlu 於 2016-7-3 01:28 AM 編輯
- //----- 20160702 取消一次 15個數量的數位濾波 改成累進方式
- //-------20160701 改回原程式 因為中斷會造成控制不良 為無中斷模式
- //-------20160622 VV--------------------- 非常重要使用中斷 TIM4 main.c 最後要加一些宣告!!
- //----20160630 修改啟動程序 先顯示後驅動
- #include "stm8s.h"
- #include "stm8s_tim1.h"
- #include "stm8s_tim4.h"
- #include "stm8s_clk.h"
- #include "stm8s_delay.h"
- #include "stm8s_adc1.h"
- #define VR_Channel ADC1_CHANNEL_0// stm8s103k3 pin 16
- #define LG12002PORT GPIOC//GPIOC
- #define DIN GPIO_PIN_7 //new PIN_4 old version PIN_1
- #define Clk GPIO_PIN_6 //new PIN_3 old version PIN_2
- #define STB GPIO_PIN_5 //new PIN_1 old version PIN_4
- #define Motor_port GPIOC
- #define Motor_out GPIO_PIN_1 //PC1 pwm motor driver
- u8 a,b,c,d;
- u16 VR_data =0;
- u8 AD_read_count;//0~3 輪流read out AD count
- u8 adc_update_flag;//ADC 更新1次的旗標
- u16 pwmwidth = 1;
- //u16 ADCValue[15]={0};//電壓值平均用減少誤差雜訊
- u16 ADCValueA;
- u16 DataADC=0;//最後的電壓值
- u8 display_2table[20]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f,0xbf,0x86,0xdb,0xcf,0xe6,0xed,0xfd,0x87,0xff,0xef};
- u16 prev_VR_data;//previous VR data
- u8 inc_flag;//prev_VR_data < VR_data
- u16 dif_PWM;//prev_VR_data - VR_data
- u16 motor_base = 200;//motor PWM base
- u32 ADCtemp=0;
- u8 display_time;
- void GPIOinit(void)
- {
- GPIO_Init(Motor_port,Motor_out,GPIO_MODE_OUT_PP_HIGH_FAST);//motor drive
- GPIO_Init(LG12002PORT,DIN|STB|Clk,GPIO_MODE_OUT_PP_HIGH_FAST);//for pt6961 driver
- }
- void tim4init(void)
- {
- TIM4_TimeBaseInit(TIM4_PRESCALER_32,250);//4.05ms TIM4_PRESCALER_32
- TIM4_SetCounter(250);
- TIM4_ITConfig(TIM4_IT_UPDATE,ENABLE);//2Mhz/32/250=4ms
- TIM4_Cmd(ENABLE);
- }
- void Delay_us(u16 ust)//uS Delay
- {
- while(ust !=0)
- {
- ust--;
- }
- }
- void DelayMs(u16 mst)//mS delay
- {
- while( mst !=0)
- {
- Delay_us(400);
- mst--;
- }
- }
- void Send6961_Data(u8 Dat)
- {
- u8 i;
- GPIO_WriteLow(LG12002PORT,STB);
-
- for (i=0;i<8;i++)
- {
- if((Dat & 0x01)!=0)// SER=Dat & 0x80;
- {
- GPIO_WriteHigh(LG12002PORT,DIN);
- }
- else
- {
- GPIO_WriteLow(LG12002PORT,DIN);
- }
- Dat>>=1;
- GPIO_WriteLow(LG12002PORT,Clk);// GPIO_WriteLow(LEDPORT,Clk);
- GPIO_WriteHigh(LG12002PORT,Clk);
- }
- GPIO_WriteLow(LG12002PORT,STB);
- }
- /*
- 20141116 send command byte
- */
- void Send6961_Cmd(u8 Dat)
- {
- u8 i;
- GPIO_WriteHigh(LG12002PORT,STB);
- GPIO_WriteLow(LG12002PORT,STB);
-
- for (i=0;i<8;i++)
- {
- if((Dat & 0x01)!=0)// SER=Dat & 0x80;
- {
- GPIO_WriteHigh(LG12002PORT,DIN);
- }
- else
- {
- GPIO_WriteLow(LG12002PORT,DIN);
- }
- Dat>>=1;
- GPIO_WriteLow(LG12002PORT,Clk);// Clk=0;
- GPIO_WriteHigh(LG12002PORT,Clk);
- }
- GPIO_WriteHigh(LG12002PORT,STB);
- }
- void PT6961_Init(void) // 8bit mode
- {
- DelayMs(200);
- Send6961_Cmd(0x40);//CMD 2 fix address normal mode
- Send6961_Cmd(0xc0);//CMD 3 address=0
- Send6961_Data(0x0);
- Send6961_Data(0x00);
- Send6961_Data(0x00);
- Send6961_Data(0x00);
- Send6961_Cmd(0x02);//CMD 1 6digit 12segment
- Send6961_Cmd(0x89);//CMD 4 display control bright 14/16
- DelayMs(1);
- }
- void LGC12002_display(void)
- {
- Send6961_Cmd(0x40);//CMD 2 fix address normal mode
- Send6961_Cmd(0xc0);//CMD 3 address=0
- Send6961_Data(0xf0);//空白
- Send6961_Data(display_2table[a]);//5
- Send6961_Data(0xf0);//空白
- Send6961_Data(display_2table[b]);//5
- Send6961_Data(0xf0);//空白
- Send6961_Data(display_2table[c]);//2
- Send6961_Data(0xf0);//空白
- Send6961_Data(display_2table[d]);//4
- Send6961_Cmd(0x02);//CMD 1 6digit 12segment
- Send6961_Cmd(0x89);//CMD 4 display control bright 14/16
- DelayMs(1);
- }
- void TransData(void)// VR_data>> a b c d
- {
- u16 result;
- result = VR_data;
- if (result >= 1000)
- {
- a=1;b=0;c=0;d=0;
- }
- else
- {
- a=0;
- b= result/100;
- c= (result%100)/10;
- d= result %10;
- }
- }
- //-------20160622 ^^----------------
- void ADConvert(void)//轉換類比信號成為數位信號
- {
- unsigned char ADCcount =0;
- ADC1->CR1|=0x02;
- ADC1_StartConversion();
- /*
- while(ADCcount<15)//10>>13
- {
- while(ADC1_GetFlagStatus(ADC1_FLAG_EOC)==RESET);
- ADC1_ClearFlag(ADC1_FLAG_AWS0);
- ADCValue[ADCcount]=ADC1_GetConversionValue();
- ADCcount++;
- }
- */
- //new change VVVVV
- while(ADC1_GetFlagStatus(ADC1_FLAG_EOC)==RESET);
- ADC1_ClearFlag(ADC1_FLAG_AWS0);
- ADCValueA = ADC1_GetConversionValue();
- //new change ^^^^
- ADC1->CR1 &= ~0x02;
- }
- //------ newADCfilter with digital filter 2016 0630
- void newDigitalFiltering(void)//把類比信號的10組資料作中間的6組平均
- {
- // u8 i=0;
- // ADCtemp=0;
- // for(i=0; i<15;i++)
- {
- // ADCtemp = ADCtemp-(ADCtemp/4)+ADCValue[i];
- ADCtemp = ADCtemp-(ADCtemp/4)+ADCValueA;
- DataADC = (ADCtemp/4);
- }
- }
- /*
- void DigitalFiltering(void)//把類比信號的10組資料作中間的6組平均
- {
- unsigned char i,j;
- unsigned char cptemp;
- for(i=10;i>=1;i--)
- {
- for(j-0;j<(i-1);j++)
- {
- if(ADCValue[j]>ADCValue[j+1])
- {
- cptemp=ADCValue[j];
- ADCValue[j]=ADCValue[j+1];
- ADCValue[j+1]=cptemp;
- }
- }
- }
- DataADC=0;
- for(i=2;i<=7;i++)
- {
- DataADC +=ADCValue[i];
- }
- DataADC /=6;
- }
- */
- unsigned int ADC1Set(ADC1_Channel_TypeDef ADC_Channel)//讀取不同的AD通道經過類比轉成數位再經過10取6平均送出結果
- {
- u16 ADresult;
- {
- ADC1_Init(ADC1_CONVERSIONMODE_CONTINUOUS,ADC_Channel,ADC1_PRESSEL_FCPU_D2,ADC1_EXTTRIG_TIM,DISABLE,ADC1_ALIGN_RIGHT,ADC1_SCHMITTTRIG_CHANNEL0,DISABLE);
- ADConvert();
- newDigitalFiltering();
- //DigitalFiltering();
- ADresult=DataADC;
- DataADC=0;
- adc_update_flag=0;
- }
- return ADresult;
- }
- void update_TIM1_Config(u8 sw)
- {
- switch(sw)
- {
- case 0:
- TIM1_OC1Init(TIM1_OCMODE_PWM2,TIM1_OUTPUTSTATE_ENABLE,TIM1_OUTPUTNSTATE_ENABLE,(pwmwidth+motor_base),TIM1_OCPOLARITY_LOW,TIM1_OCNPOLARITY_HIGH,TIM1_OCIDLESTATE_SET,TIM1_OCNIDLESTATE_RESET);
- break;
- case 1:
- TIM1_OC2Init(TIM1_OCMODE_PWM2,TIM1_OUTPUTSTATE_ENABLE,TIM1_OUTPUTNSTATE_ENABLE,pwmwidth,TIM1_OCPOLARITY_LOW,TIM1_OCNPOLARITY_HIGH,TIM1_OCIDLESTATE_SET,TIM1_OCNIDLESTATE_RESET);
- break;
- case 2:
- TIM1_OC3Init(TIM1_OCMODE_PWM2,TIM1_OUTPUTSTATE_ENABLE,TIM1_OUTPUTNSTATE_ENABLE,pwmwidth+20,TIM1_OCPOLARITY_LOW,TIM1_OCNPOLARITY_HIGH,TIM1_OCIDLESTATE_SET,TIM1_OCNIDLESTATE_RESET);
- break;
- }
- TIM1_Cmd(ENABLE);
- TIM1_CtrlPWMOutputs(ENABLE);
- }
- void CLK_Config(void)
- {
- CLK_HSIPrescalerConfig(CLK_PRESCALER_HSIDIV8);
- }
- void tim4svc(void)
- {
- display_time++;
- if(display_time==60)//240ms
- {
- VR_data = ADC1Set(VR_Channel);//channel 0 pin16
- TransData();
- LGC12002_display();
- display_time=0;
- }
- TIM4_ClearITPendingBit(TIM4_IT_UPDATE);
- }
- main()
- {
- /*
- 一開始要關閉pwm輸出
- 接下來要把馬達的輸出設為60% 這樣啟動才不會有問題
- 馬達的PWM輸出不能過小必須有基本的電壓目前先定20%
- PWM 0%電壓為2V 100%為10V 因此輸出電壓平均為2V~10V
- 調整VR的%顯示應該放在不會受影響的程式裡考慮 放在中斷裡作顯示
-
- */
- GPIOinit();
- GPIO_WriteLow(Motor_port,Motor_out);// 防止一通電就馬達暴衝
- TIM1_DeInit();
- TIM1_TimeBaseInit(1,TIM1_COUNTERMODE_UP,1400,0); //1400 full range from 200~1200 total 1.4ms
- // tim4init();
- CLK_Config();
- PT6961_Init();//LGC12002 initial
- prev_VR_data = 200;//set initial VR data;
- pwmwidth = 240;//initial motor drive set 60% power and keep 2秒
-
- // rim();
- VR_data = ADC1Set(VR_Channel);//先顯示VR值再啟動馬達240+200=440的速度若VR=0則會回到最低速200
- TransData();
- LGC12002_display();
-
- update_TIM1_Config(0);
- DelayMs(2000);
- while (1)
- {
- VR_data = ADC1Set(VR_Channel);//channel 0 pin16
- TransData();
- LGC12002_display();
- if(prev_VR_data >= VR_data)//inc_flag =0 ---prev_VR_data >= VR_data 要減少pwm
- {
- inc_flag = 0;
- dif_PWM = (prev_VR_data - VR_data);
- }
- else
- {
- inc_flag =1;
- dif_PWM = (VR_data - prev_VR_data);
- }
-
- if( dif_PWM > 5)// excute PWM change
- {
- while(dif_PWM)
- {
- if(inc_flag)
- {
- pwmwidth = prev_VR_data+1;
- }
- else
- {
- pwmwidth = prev_VR_data-1;
- }
- update_TIM1_Config(0);
- DelayMs(5);//加速度
- dif_PWM -=1;
- }
- prev_VR_data = VR_data;//加減速完成更新速度設定
- }
- else
- {
- pwmwidth = VR_data;
- update_TIM1_Config(0);
- }
- }
- }
- @far @interrupt void TIM4_OVF_IRQ(void)
- {
- tim4svc();
- }
- #ifdef USE_FULL_ASSERT
- /**
- * @brief Reports the name of the source file and the source line number
- * where the assert_param error has occurred.
- * @param file: pointer to the source file name
- * @param line: assert_param error line source number
- * @retval : None
- */
- void assert_failed(u8* file, u32 line)
- {
- /* User can add his own implementation to report the file name and line number,
- ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
- /* Infinite loop */
- while (1)
- {
- }
- }
- #endif
- /******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
xiaolaba 大:
謝謝,DIGITAL FILTER 我改好了,驗證也OK了!!
後續要試試 中斷的問題!! 再次感謝!! |
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發表於 2016-7-3 11:21:08
