第十一屆全國大學生智能汽車邀請賽技術報告第十三屆全國大學生智能汽車邀請賽技術報告附錄A：源代碼#include"headfile.h"externintflag;intmain(void){get_clk();//獲取時鐘頻率必須執行DisableInterrupts;//關閉總中斷OLED_Init();//oled初始化uart_init(uart1,115200);//串口初始化pit_init_ms(pit0,1);//中斷定時1msset_irq_priority(PIT_CH0_IRQn,1);//中斷優先級1enable_irq(PIT_CH0_IRQn);//中斷使能EnableInterrupts;//打開總中斷DirectionInit();//adc口初始化MotorInit();//電機pwm口初始化ftm_count_init(ftm0);//對E0引腳輸入的脈沖進行計數E0接編碼器LSBftm_count_init(ftm1);//對E7引腳輸入的脈沖進行計數E7接編碼器LSBgpio_init(H6,GPI,0);//用于判斷方向C5接編碼器DIRgpio_init(H7,GPI,0);//用于判斷方向H5接編碼器DIRport_pull(H6);//IO上拉port_pull(H7);//IO上拉gpio_init(C6,GPO,0);//蜂鳴器初始化IIC_init();//IIC初始化InitMPU6050();//mpu6050初始化gpio_init(A6,GPI,1);gpio_init(G3,GPI,1);gpio_init(E1,GPI,1);gpio_init(G1,GPI,1);gpio_init(C5,GPI,1);gpio_init(G0,GPI,1);pit_time_start(pit1);while(1){UI_Main();if(gpio_get(A6)==0){flag=1;}}}#include"KEA_UI.h"#include"KEA_UI.h"uint8UI_adc[4][7]={"ADC1:","ADC2:","ADC3:","ADC4:"};//uint8UI_Dir[2][7]={"DirP:","DirD:"};uint8UI_Speed[3][7]={"Sp_P:","Sp_I:","S_Set:"};intstopFlag=0;externint16g_ValueOfAD[4];externfloatg_dirControl_P;//externfloatg_dirControl_D;/externfloatg_speedControl_P;//externfloatg_speedControl_I;// externfloatspeedset;floatspeed=28;voidUI_Main(){staticintkeyNum;staticintMenuNum=0;staticintselectFlag=0;while(gpio_get(G3)==0){keyNum=keyscan();if(MenuNum==1){OLED_P8x16Str(1,selectFlag,">");if(keyNum==3){selectFlag+=3;if(selectFlag>6)selectFlag=3;OLED_Fill(0x00);}}if(MenuNum==2){OLED_P8x16Str(1,selectFlag,">");if(keyNum==3){selectFlag+=2;if(selectFlag>6)selectFlag=2;OLED_Fill(0x00);}}if(keyNum==4){MenuNum++;if(MenuNum==1)selectFlag=3;elseif(MenuNum==2)selectFlag=2;elseselectFlag=0;OLED_Fill(0x00);if(MenuNum>3)MenuNum=0;}setNum(MenuNum,keyNum,selectFlag);switch(MenuNum){case0:menu1();break;case1:menu2();break;case2:menu3();break;}}OLED_Fill(0x00);}voidmenu1(){OLED_P8x16Str(15,0,UI_adc[0]);OLED_Print_Num(70,0,(uint16)g_ValueOfAD[0]);OLED_P8x16Str(15,2,UI_adc[1]);OLED_Print_Num(70,2,(uint16)g_ValueOfAD[1]);OLED_P8x16Str(15,4,UI_adc[2]);OLED_Print_Num(70,4,(uint16)g_ValueOfAD[2]);OLED_P8x16Str(15,6,UI_adc[3]);OLED_Print_Num(70,6,(uint16)g_ValueOfAD[3]);}voidmenu2(){OLED_P8x16Str(15,0,"Direction:");OLED_P8x16Str(15,3,UI_Dir[0]);OLED_Print_Num(70,3,(uint16)g_dirControl_P);OLED_P8x16Str(15,6,UI_Dir[1]);OLED_Print_Num(70,6,(uint16)g_dirControl_D);}voidmenu3(){OLED_P8x16Str(15,0,"Direction:");OLED_P8x16Str(15,2,UI_Speed[0]);OLED_Print_Num(70,2,(uint16)g_speedControl_P);OLED_P8x16Str(15,4,UI_Speed[1]);OLED_Print_Num(70,4,(uint16)g_speedControl_I);OLED_P8x16Str(15,6,UI_Speed[2]);OLED_Print_Num(70,6,(uint16)speed);}unsignedcharkeyscan(void){staticcharkey_state=0;staticcharkey_value=0;unsignedcharkey_press,key_return=0;key_press=turn_up&turn_down&turn_ok&turn_change;//讀按鍵I/O電平switch(key_state){case0://按鍵初始態if(key_press==0)key_state=1;//鍵被按下，但需要確認是否是干擾break;case1://按鍵確認態if(key_press==0)//如有鍵按下則不是干擾，判斷鍵值{if(turn_up==0)//判斷是哪一個按鍵被按下key_value=1;//按鍵較多時可采用switch選擇結構elseif(turn_down==0)key_value=2;elseif(turn_ok==0)key_value=3;elseif(turn_change==0)key_value=4;key_state=2;//狀態轉換到鍵釋放態}elsekey_state=0;//按鍵已抬起，屬于干擾，轉換到按鍵初始態break;case2:if(key_press==1){key_return=key_value;//按鍵釋放后再輸出鍵值key_value=0;key_state=0;//如果按鍵釋放，轉換到按鍵初始態}break;}returnkey_return;//返回鍵值}voidsetNum(intMenuNum,intkeyNum,intselectFlag){if(MenuNum==1){if(selectFlag==3){if(keyNum==1)g_dirControl_P++;if(keyNum==2)g_dirControl_P--;}elseif(selectFlag==6){if(keyNum==1)g_dirControl_D++;if(keyNum==2)g_dirControl_D--;}}elseif(MenuNum==2){if(selectFlag==2){if(keyNum==1)g_speedControl_P++;if(keyNum==2)g_speedControl_P-