求教自平衡小车的问题

只看该作者 · 2012-11-2 20:03

硬件上按经典的方案，MMA7361+ENC-03 目前正在测试 MMA7361 但用 visual scope 观察波形一直不正确。望大侠帮忙。谢谢！

#include"STC12C5A60S2.H"
#include"intrins.h"
#include"math.h"
typedef unsigned char BYTE;
typedef unsigned int WORD;
#define ADC_POWER    0X80 //ADC power control bit
#define ADC_FLAG    0X10 //ADC complete flag
#define ADC_START    0X08 //ADC start control bit
#define ADC_SPEEDHH 0X60 //90 clocks
#define Timer1HighInitValue 0XFD //定时器初值高位
#define Timer1LowInitValue  0xFD //定时器初值低位
#define Timer0HighInitValue 0XDC //定时器0初值高位
#define Timer0LowInitValue  0X00 //定时器0初值低位；定时时长10 MS
#define NOP()    _nop_()
sbit SleepMode = P2^0;
float OutData[4] = {0};
static float Accelerometer ;       //加速度计测量并换算出的角度
static ADCAverageValue ;
void UARTInit();
//void Timer0Init();
void ADCInit();
void Delay();
BYTE GetADValue();
void AngularV_Angular_Calc();
int CRC_CHECK(unsigned char *Buf, unsigned char CRC_CNT);
void TransmitData(float OutData[]);
void main()
{
UARTInit();
//Timer0Init();
ADCInit();
SleepMode = 1;
while(1)
{
  //BYTE i = 200;
  AngularV_Angular_Calc();
  OutData[0] = Accelerometer;
  TransmitData(OutData);
  //while(i--);
}
}
void UARTInit()
{
  //Set Timer1 as 8-bit auto reload mode
  //STC12C5A60S2 复位后是传统51的速度，12分频，但指令仍然是 1T
  //通过 AUXR 可以对定时器不进行分频
TMOD = 0x20;  //定时器 T1 工作于方式2，8位自动重装；0010

//Set auto-reload value
TH1 = Timer1HighInitValue;
TL1 = Timer1LowInitValue;

//Timer1 start run
TR1 = 1;          //打开定时器1
SM0 = 0;          //scon 方式一，8位 UART，波特率可变
SM1 = 1;

}
void ADCInit()
{
P1M1 = 0XFF;
P1M0 = 0X00;
P1ASF = 0XFF;    // p1.0、P1.0作为模拟功能 A/D 使用
//打开 ADC 电源, 速度为90个时钟周期，    //启动 ADC,选择 P1.x 为模拟输入通道
//    1000 0000|0110 0000  |0000 1000 //|0000 0000
ADC_CONTR = ADC_POWER|ADC_SPEEDHH|0;
Delay();       //首次打开ADC电源，延时 1ms 等待内部模拟电源稳定
}
void Delay()
{
unsigned char a,b;
for(b=21;b>0;b--)
      for(a=130;a>0;a--);
NOP();  //if Keil,require use intrins.h
}

BYTE GetADValue()
{
BYTE i;
BYTE ADC_H,ADC_L;
WORD ADCValueSum=0;
WORD Temp=0;

for(i=0;i<5;i++)
{
  ADC_RES =0;
  ADC_RESL = 0;
  ADC_CONTR |= ADC_START; //重启 AD
  NOP();
  NOP();
  NOP();
  NOP();
  //经过 4 个时钟延时后，才能够正确读到 ADC_CONTR 控制寄存器的值
  while(!(ADC_CONTR & 0X10));       //等待转换完成
  ADC_CONTR &= 0XE7;    //关闭AD 转换，清ADC_FLAG
  ADC_H=ADC_RES;
  Temp=Temp|ADC_H;
  ADC_L=ADC_RESL;
  ADC_L=ADC_L&0x03;
  Temp=Temp<<2;
  Temp=Temp|ADC_L;
  //Temp = ADC_RES << 2 | ADC_RESL;
  ADCValueSum+=Temp;

}
ADCAverageValue = ADCValueSum/5;
return(ADCAverageValue);
}

//角速度、角度的计算
void AngularV_Angular_Calc()
{
Accelerometer = GetADValue();
//Accelerometer *= 0.006104;       //AD 转换后返回值换算系数 5/(1024*0.8)=0.006104
//Accelerometer = 5729.6 * asin(Accelerometer); //asin 返回值为弧度值，需要乘以 180/pi =57.296
}
/*********************************
发送函数区
*********************************/
/*
以下是CRC校验码生成程序，Buf传入的是将要进行CRC校验的数组
*/
int CRC_CHECK(unsigned char *Buf, unsigned char CRC_CNT)
{
unsigned  CRC_Temp;
unsigned char i,j;
CRC_Temp = 0xffff;
for (i=0;i<CRC_CNT; i++)
{
      CRC_Temp ^= Buf[i];
      for (j=0;j<8;j++)
  {
         if (CRC_Temp & 0x01)
            CRC_Temp = (CRC_Temp >>1 ) ^ 0xa001;
         else
            CRC_Temp = CRC_Temp >> 1;
      }
}
return(CRC_Temp);
}
void TransmitData(float OutData[])
{
  int temp[4] = {0};
  unsigned int temp1[4] = {0};
  unsigned char databuf[10] = {0};
  unsigned char i;
  unsigned short CRC16 = 0;
  for(i=0;i<4;i++)
{

temp[i]  = (int)OutData[i];
temp1[i] = (unsigned int)temp[i];

}

  for(i=0;i<4;i++)
  {
databuf[i*2] = (unsigned char)(temp1[i]%256);
databuf[i*2+1] = (unsigned char)(temp1[i]/256);
  }

  CRC16 = CRC_CHECK(databuf,8);
  databuf[8] = CRC16 % 256;
  databuf[9] = CRC16 / 256;

  for(i=0;i<10;i++)
  {
SBUF = databuf[i];
while(!TI) ;    //keep waiting when not empty
TI = 0;
  }
}
/*********************************
发送函数区
*********************************/