2019年11月06日 | MSP432E401Y单片机智能小车测速功能

 * MSP432E401Y

 * Description:本函数实现定时和测速功能  

 * 引脚：PD0->编码器输入信号

 *        

 * Author: Robin.J

***************************************************************************/

/* DriverLib Includes */

#include

/* Standard Includes */

#include

uint32_t count = 0;

//uint32_t count1 = 0;

//uint32_t count2 = 0;

uint32_t CNT1 = 0;

uint32_t CNT2 = 0;

int speed = 0;

uint32_t time1 = 0;

void TIMER2A_IRQHandler(void)

{

    uint32_t getTimerInterrupt;

    count++;//脉冲计数，高电平触发

//    count1 = MAP_TimerValueGet(TIMER2_BASE,TIMER_B);

//    count2 = MAP_TimerLoadGet(TIMER2_BASE,TIMER_B);   

    /* Get timer interrupt status  and clear the same */

    getTimerInterrupt = MAP_TimerIntStatus(TIMER2_BASE, true);

    MAP_TimerIntClear(TIMER2_BASE, getTimerInterrupt);

}

void TIMER1A_IRQHandler(void)

{

    uint32_t getTimerInterrupt;

//    CNT1 = count;

//    CNT2 = CNT1;

//    speed = ((CNT1 - CNT2)/506) * 6000;

//    count = 0;

    time1++;//计时，每10ms增1

    if(time1 == 10){  

      CNT1 = count;

    }if(time1 == 20){

      CNT2 = count;

      //count1 = CNT2 -  CNT1;

      speed = (int)(((CNT2 - CNT1)/506.0) * 600);

      //count = 0;

      time1 = 0;

      count = 0;

    }

//    s_r = speed;

//    pid_r = IncPIDCalc_r(s_r);

//    pid_r *= 0.01;

//    pwm_pidr += pid_r;

//    if(pwm_pidr > 0.99){

//      

//      pwm_pidr = 0.99;

//      

//    }

//    

//    PWM_init(pwm_pidl,0.8);   

    /* Get timer interrupt status  and clear the same */

    getTimerInterrupt = MAP_TimerIntStatus(TIMER1_BASE, true);

    MAP_TimerIntClear(TIMER1_BASE, getTimerInterrupt);

}

void GPT_init(void)

{

    MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);

        while(!(SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOA)))

    {

    }

    MAP_GPIOPinConfigure(GPIO_PA4_T2CCP0);

    MAP_GPIOPinTypeTimer(GPIO_PORTA_BASE, GPIO_PIN_4);

    MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);

    while(!(SysCtlPeripheralReady(SYSCTL_PERIPH_TIMER2)))

    {

    }

     MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);

    while(!(SysCtlPeripheralReady(SYSCTL_PERIPH_TIMER1)))

    {

    }

    MAP_TimerConfigure(TIMER2_BASE, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_A_CAP_TIME_UP);

    MAP_TimerIntEnable(TIMER2_BASE, TIMER_CAPA_EVENT);

    MAP_TimerControlEvent(TIMER2_BASE, TIMER_A, TIMER_EVENT_POS_EDGE);

    MAP_TimerConfigure(TIMER1_BASE, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_A_PERIODIC);

    MAP_TimerIntEnable(TIMER1_BASE, TIMER_TIMA_TIMEOUT);

    /* Since the 16-bit timer can count only 65536 value, we use the pre

     * scaler of 256 to divide down the count rate by 256. Thus the actual

     * count load is16e6/256 = 62500. Now when to count at 0.1 sec the

     * load value in the timer would be 62500 * 0.1 =6250. */

    MAP_TimerPrescaleSet(TIMER1_BASE, TIMER_A, 255);

    MAP_TimerLoadSet(TIMER1_BASE, TIMER_A, 625);//10ms

    /* Enable Timer Interrupt */

    MAP_IntEnable(INT_TIMER2A);

    MAP_IntEnable(INT_TIMER1A);

    /* Enable the timer count */

    MAP_TimerEnable(TIMER2_BASE, TIMER_A);

    MAP_TimerEnable(TIMER1_BASE, TIMER_A);

}

/******************* (C) COPYRIGHT 2018 DY EleTe *****END OF FILE************/