[讨论] 超声波模块+步进电机做雷达的童鞋们.来公开源码讨论下吧

astwyg 2011-8-27 16:52 楼主

很多人说类似于雷达的东西今年必须弄一个.我弄了个.超声波模块效果不大好.总体效果就没出来.源码上了.明天新的超声波模块到.说实话.国赛弄成这个样子真没多大意思了.我现在只求速度比完...

#include "stm32f10x_lib.h"
#include "ili9320.h"
#include "math.h"

/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
#define ADC1_DR_Address ((u32)0x4001244C)
#define X0 80 //80为显示180°,R=150 120在中央.显示360°,R=100
#define Y0 160
#define kmax 120 // 方向最大值
#define rmax 150 //最大显示长度的坐标数
#define appscale 10 //小于接近尺度的点将被合并.单位为mm
#define pi 3.14//15926535897932384626433832795028841971693993751058209749445923078164062862089986280348253421170679
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
GPIO_InitTypeDef GPIO_InitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;

u16 dutytime =0x3ff ;
vu16 T2value;
u16 distance[kmax];
u16 drawlenth;
int rotateflag;
int k,ktemp,ksum;//共200,步进电机的200个方向

double xlen,ylen; //~

volatile short TIM1_Period=35;

ErrorStatus HSEStartUpStatus;

/* Private function prototypes -----------------------------------------------*/
void RCC_Configuration(void);
void GPIO_Configuration(void);
void NVIC_Configuration(void);
void TIM_Configuration(void);

void SetAxis(void);

/* Private functions ---------------------------------------------------------*/
u8 AsciiBuff[5];
void HexToASCII(u16 data)
{
AsciiBuff[0] = data/1000%10 + 0x30;
AsciiBuff[1] = data/100%10 + 0x30;
AsciiBuff[2] = data/10%10 + 0x30;
AsciiBuff[3] = data%10 + 0x30;
AsciiBuff[4] = 0;
}
/*******************************************************************************
* Function Name : main
* Description    : Main program
* Input          : None
* Output         : None
* Return         : None
*******************************************************************************/
int main(void)
{
#ifdef DEBUG
debug();
#endif

int i,t;

/* System Clocks Configuration */
RCC_Configuration();

/* NVIC configuration */
NVIC_Configuration();

/* GPIO Configuration */
GPIO_Configuration();

ili9320_Initializtion(); //LCD初始化
ili9320_Clear(White); //清屏
ili9320_Clear(White); //清屏

TIM_Configuration();

GPIO_ResetBits(GPIOC, GPIO_Pin_0);
GPIO_ResetBits(GPIOC, GPIO_Pin_1);

// WriteString(30,70,"启动",Blue);
SetAxis();
k=1; //防止第一次k-1无效

while (1)
{
  for(i=0;i<5;i++)
  {
   GPIO_SetBits(GPIOC, GPIO_Pin_7);
   for(t=0;t<100;t++);
   GPIO_ResetBits(GPIOC, GPIO_Pin_7);

   while(!GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_8)); //等待高电平开始
   TIM_ITConfig(TIM8, TIM_IT_Update, ENABLE);
   TIM_Cmd(TIM8, ENABLE);
   while(GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_8));   //计高电平时间
   TIM_ITConfig(TIM8, TIM_IT_Update, DISABLE);
   TIM_Cmd(TIM8, DISABLE);

   if(T2value<1000)distance[k]+=T2value/5; //判断取值是否有效
   else i--;
  }
  distance[k]=(distance[k]*2/58);
  if(1) rotateflag=1; //此处判断是否返回了有效值

  //新绘图方式
  if((distance[k]-distance[k-1])<appscale)
  {
   ksum++;
  }
  else
  {
   if(ksum==0)
   {
    drawlenth=distance[k]/1; //显示drawlenth与距离distance的比例
    xlen=sin(pi*k/kmax);
    ylen=cos(pi*k/kmax);
    Draw_Circle(X0+drawlenth*xlen,Y0-drawlenth*ylen,2); //~
    Draw_Circle(120,160,2);
    HexToASCII(distance[k]);
    WriteString(X0+drawlenth*xlen-40,Y0-drawlenth*ylen,AsciiBuff,Blue);
   }
   else
   {
    for(i=0;i<ksum;i++) drawlenth=distance[k-i];

    drawlenth =drawlenth/1;
    ktemp=k-ksum/2;
    xlen=sin(pi*ktemp/kmax);
    ylen=cos(pi*ktemp/kmax);
    Draw_Circle(X0+drawlenth*xlen,Y0-drawlenth*ylen,2); //~
    Draw_Circle(120,160,2);
    HexToASCII(distance[ktemp]);
    WriteString(X0+drawlenth*xlen-40,Y0-drawlenth*ylen,AsciiBuff,Blue);

   }
  }

  T2value=0;
  //distance=0;

  if(!GPIO_ReadOutputDataBit(GPIOC, GPIO_Pin_0)) k++;
  else if(GPIO_ReadOutputDataBit(GPIOC, GPIO_Pin_0)) k--;

  if(k==kmax)
  {
   GPIO_SetBits(GPIOC, GPIO_Pin_0);   //步进电机方向改变

   ili9320_Clear(White);    //清屏.以下为画图
   SetAxis();
  }
  else if(k==0)
  {
   GPIO_ResetBits(GPIOC, GPIO_Pin_0);

   ili9320_Clear(White);    //清屏.以下为画图
   SetAxis();
  }
  rotateflag=1;
// TIM_CtrlPWMOutputs(TIM1,ENABLE);

  GPIO_SetBits(GPIOA, GPIO_Pin_11); //400Hz
  for(t=0;t<15000;t++);
  GPIO_ResetBits(GPIOA, GPIO_Pin_11);
// for(t=0;t<5000;t++);

// while(1);
}
}

/*自写函数*/
void SetAxis(void)
{
LCD_DrawLine(0, Y0, 240, Y0);
LCD_DrawLine(X0, 0, X0, 320);
LCD_DrawLine(X0-5, Y0-rmax, X0+5, Y0-rmax);
LCD_DrawLine(X0-5, Y0+rmax, X0+5, Y0+rmax);
WriteString(X0-40,Y0-rmax-10,"1.5m",Red);
WriteString(X0-40,Y0+rmax-10,"1.5m",Red);
LCD_DrawLine(X0-5, Y0-rmax*2/3, X0+5, Y0-rmax*2/3);
LCD_DrawLine(X0-5, Y0+rmax*2/3, X0+5, Y0+rmax*2/3);
WriteString(X0-40,Y0-rmax*2/3-10,"1.0m",Red);
WriteString(X0-40,Y0+rmax*2/3-10,"1.0m",Red);
LCD_DrawLine(X0-5, Y0-rmax/3, X0+5, Y0-rmax/3);
LCD_DrawLine(X0-5, Y0+rmax/3, X0+5, Y0+rmax/3);
WriteString(X0-40,Y0-rmax/3-10,"0.5m",Red);
WriteString(X0-40,Y0+rmax/3-10,"0.5m",Red);
}