注意：CCS Theia编译可能无法找到报错位置，建议每次小幅修改后就立即编译

主要问题：

  • 如何进行调参？

  • 如何设计一个完整的系统？

  • 小车如何走直线？

    • PID速度环
    • 陀螺仪

  • 小车在循迹时如何保证沿中线行驶？

  • 如何解决陀螺仪漂移的问题

    • 滤波算法

  • 如何减少场地干扰？

  • 如何提高速度的同时保证行驶稳定？

程序结构-底层驱动

一、基础电机控制

源文件

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#include "motor.h"
#include <iso646.h>

/**
  * @brief			电机启动
  * @param		    None
  * @retval 		None
  */
void Motor_On(void)
{
    DL_GPIO_setPins(GPIO_MOTOR_PIN_FSTBY_PORT, GPIO_MOTOR_PIN_FSTBY_PIN);//置位对应端口->引脚电平,STBY
}

/**
  * @brief		    电机关闭
  * @param		    None
  * @retval 		None		
  */
void Motor_Off(void)
{
    DL_GPIO_clearPins(GPIO_MOTOR_PIN_FSTBY_PORT, GPIO_MOTOR_PIN_FSTBY_PIN);//清除对应端口->引脚电平，STBY
    //逻辑口电平清除
    DL_GPIO_clearPins(GPIO_MOTOR_PIN_FL1_PORT, GPIO_MOTOR_PIN_FL1_PIN);
    DL_GPIO_clearPins(GPIO_MOTOR_PIN_FL2_PORT, GPIO_MOTOR_PIN_FL2_PIN);
    DL_GPIO_clearPins(GPIO_MOTOR_PIN_FR1_PORT, GPIO_MOTOR_PIN_FR1_PIN);
    DL_GPIO_clearPins(GPIO_MOTOR_PIN_FR2_PORT, GPIO_MOTOR_PIN_FR2_PIN);
}

/**
  * @brief			速度设置
  * @param		    左右轮占空比（百分值）
  * @retval 	    None
  */
void Set_Speed(float duty1,float duty2)
{
    uint32_t compareValue = 0;//比较值最大为3199，最小值为0
    if(duty1 < 0)
    {
        //PWM定时器向下计数，比较值计算
        compareValue = 3199 - 3199 * (-duty1/100.0);
        //比较值设置
        DL_TimerA_setCaptureCompareValue(PWM_MOTOR_INST, compareValue, DL_TIMER_CC_0_INDEX); 
        //电机逻辑引脚设置
        DL_GPIO_setPins(GPIO_MOTOR_PIN_FL2_PORT, GPIO_MOTOR_PIN_FL2_PIN);
        DL_GPIO_clearPins(GPIO_MOTOR_PIN_FL1_PORT, GPIO_MOTOR_PIN_FL1_PIN);
       
    }
    else if(duty1 > 0)
    {
        compareValue = 3199 - 3199 * (duty1/100.0);
        DL_TimerA_setCaptureCompareValue(PWM_MOTOR_INST, compareValue, DL_TIMER_CC_0_INDEX);
        DL_GPIO_setPins(GPIO_MOTOR_PIN_FL1_PORT, GPIO_MOTOR_PIN_FL1_PIN);
        DL_GPIO_clearPins(GPIO_MOTOR_PIN_FL2_PORT, GPIO_MOTOR_PIN_FL2_PIN);
    }
    else 
    {
        DL_GPIO_clearPins(GPIO_MOTOR_PIN_FL1_PORT, GPIO_MOTOR_PIN_FL1_PIN);
        DL_GPIO_clearPins(GPIO_MOTOR_PIN_FL2_PORT, GPIO_MOTOR_PIN_FL2_PIN);
    }

    if(duty2 < 0)
    {
        compareValue = 3199 - 3199 * (-duty2/100.0);
        DL_TimerA_setCaptureCompareValue(PWM_MOTOR_INST, compareValue, DL_TIMER_CC_1_INDEX);  
        DL_GPIO_setPins(GPIO_MOTOR_PIN_FR2_PORT, GPIO_MOTOR_PIN_FR2_PIN);
        DL_GPIO_clearPins(GPIO_MOTOR_PIN_FR1_PORT, GPIO_MOTOR_PIN_FR1_PIN);
        

    }
    else if(duty2 > 0)
    {
        compareValue = 3199 - 3199 * (duty2/100.0);
        DL_TimerA_setCaptureCompareValue(PWM_MOTOR_INST, compareValue, DL_TIMER_CC_1_INDEX);
        DL_GPIO_setPins(GPIO_MOTOR_PIN_FR1_PORT, GPIO_MOTOR_PIN_FR1_PIN);
        DL_GPIO_clearPins(GPIO_MOTOR_PIN_FR2_PORT, GPIO_MOTOR_PIN_FR2_PIN);
    }
    else 
    {
        DL_GPIO_clearPins(GPIO_MOTOR_PIN_FR1_PORT, GPIO_MOTOR_PIN_FR1_PIN);
        DL_GPIO_clearPins(GPIO_MOTOR_PIN_FR2_PORT, GPIO_MOTOR_PIN_FR2_PIN);
    }
}

头文件

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#include "ti_msp_dl_config.h"

//宏定义简化写法
#define AIN1(x)   x?DL_GPIO_setPins(GPIO_MOTOR_PIN_FL1_PORT, GPIO_MOTOR_PIN_FL1_PIN):DL_GPIO_clearPins(GPIO_MOTOR_PIN_FL1_PORT, GPIO_MOTOR_PIN_FL1_PIN)
#define AIN2(x)   x?DL_GPIO_setPins(GPIO_MOTOR_PIN_FL2_PORT, GPIO_MOTOR_PIN_FL2_PIN):DL_GPIO_clearPins(GPIO_MOTOR_PIN_FL2_PORT, GPIO_MOTOR_PIN_FL2_PIN)
#define BIN1(x)   x?DL_GPIO_setPins(GPIO_MOTOR_PIN_FR1_PORT, GPIO_MOTOR_PIN_FR1_PIN):DL_GPIO_clearPins(GPIO_MOTOR_PIN_FR1_PORT, GPIO_MOTOR_PIN_FR1_PIN)
#define BIN2(x)   x?DL_GPIO_setPins(GPIO_MOTOR_PIN_FR2_PORT, GPIO_MOTOR_PIN_FR2_PIN):DL_GPIO_clearPins(GPIO_MOTOR_PIN_FR2_PORT, GPIO_MOTOR_PIN_FR2_PIN)

void Motor_On(void);
void Motor_Off(void);
void Set_Speed(float duty1,float duty2);

二、PID控制算法

# 参数定义

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#include "PID.h"
#include "Serial.h"
#include "main.h"
#include "math.h"
#include "ti_msp_dl_config.h"

uint8_t Trace_Byte;//循迹总状态
uint8_t Angle_PID_Flag =0;//角度环开启标志位
uint8_t CV_flag=0;//视觉循迹开启标志位
uint8_t Test_pid_flag=0;//PID调试标志位
float K_trace = 0.0615;//减速系数
float Speed_midset = 30;//预设直线速度


/*灰度GPIO口宏定义*/
#define Read_Huidu_IO1	 ((DL_GPIO_readPins(GPIO_TRACE_PIN_TRACE_0_PORT,GPIO_TRACE_PIN_TRACE_0_PIN) == GPIO_TRACE_PIN_TRACE_0_PIN)?1:0)
#define Read_Huidu_IO2	 ((DL_GPIO_readPins(GPIO_TRACE_PIN_TRACE_1_PORT,GPIO_TRACE_PIN_TRACE_1_PIN) == GPIO_TRACE_PIN_TRACE_1_PIN)?1:0)
#define Read_Huidu_IO3	 ((DL_GPIO_readPins(GPIO_TRACE_PIN_TRACE_2_PORT,GPIO_TRACE_PIN_TRACE_2_PIN) == GPIO_TRACE_PIN_TRACE_2_PIN)?1:0)
#define Read_Huidu_IO4	 ((DL_GPIO_readPins(GPIO_TRACE_PIN_TRACE_3_PORT,GPIO_TRACE_PIN_TRACE_3_PIN) == GPIO_TRACE_PIN_TRACE_3_PIN)?1:0)
#define Read_Huidu_IO5	 ((DL_GPIO_readPins(GPIO_TRACE_PIN_TRACE_4_PORT,GPIO_TRACE_PIN_TRACE_4_PIN) == GPIO_TRACE_PIN_TRACE_4_PIN)?1:0)
#define Read_Huidu_IO6	 ((DL_GPIO_readPins(GPIO_TRACE_PIN_TRACE_5_PORT,GPIO_TRACE_PIN_TRACE_5_PIN) == GPIO_TRACE_PIN_TRACE_5_PIN)?1:0)
#define Read_Huidu_IO7	 ((DL_GPIO_readPins(GPIO_TRACE_PIN_TRACE_6_PORT,GPIO_TRACE_PIN_TRACE_6_PIN) == GPIO_TRACE_PIN_TRACE_6_PIN)?1:0)
#define Read_Huidu_IO8	 ((DL_GPIO_readPins(GPIO_TRACE_PIN_TRACE_7_PORT,GPIO_TRACE_PIN_TRACE_7_PIN) == GPIO_TRACE_PIN_TRACE_7_PIN)?1:0)

结构体类型

创建结构体类型的方法，方便进行同类型变量元素组的创建，减少代码重复度。

这里定义了PID类型结构体，在之后新建其他用于PID控制的变量组时，只要用PID类型定义变量即可、

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/*结构体类型定义*/
typedef struct 
{
	float Kp;
	float Ki;
	float Kd;
	float error;
	float last_error;
	float error_sum;
	float error_difference;
	float velocity_sum;
}PID;

PID初始化相关函数

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/*PID类型变量声明*/
PID Velocity;
PID Velocity_L;
PID trace_hd;

/*速度环PID*/

void Velocity_PID_Init()
{
    Velocity.Kp = -1.33;
    Velocity.Kd = -0.22;
    Velocity.Ki = -0.012;
}

void Velocity_L_PID_Init()
{
    Velocity_L.Kp = -1.34;
    Velocity_L.Kd = -0.22;
    Velocity_L.Ki = -0.012;
}

/*循迹环PID*/
void trace_hd_PID_Init()
{
    trace_hd.Kp = -1.75;
    trace_hd.Kd = -0.65;
    trace_hd.Ki = 0;
}

/*PID初始化*/
void PID_Init()
{
    Velocity_PID_Init();
    Velocity_L_PID_Init();
    trace_hd_PID_Init();
}

/*限幅函数*/
void I_amplitude_limiting(float number,float *Error_sum)
{
	if(*Error_sum > number)
	{
		*Error_sum = number;
	}
	
	if(*Error_sum <- number)
	{
		*Error_sum = -number;
	}
}

辅助函数

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/*限幅函数*/
void I_amplitude_limiting(float number,float *Error_sum)
{
	if(*Error_sum > number)
	{
		*Error_sum = number;
	}
	
	if(*Error_sum <- number)
	{
		*Error_sum = -number;
	}
}

/**
  * @brief			获取灰度巡线路数
  * @param		    无
  * @retval 		识别路数			
  */
char Huidu_Counter()
{
    uint8_t hd_sum = 0;
    
	for(int i=0;i<7;i++)//灰度循迹个数统计
	{
		if(((~Trace_Byte)>>i)&0x01) hd_sum++;
	}

    return hd_sum;
}

/**
  * @brief			灰度状态读取函数
  * @param		    无
  * @retval 		无			
  */
void Get_TraceData()
{
    Trace_Byte = (Read_Huidu_IO1<<7) + (Read_Huidu_IO2 << 6) + (Read_Huidu_IO3 << 5) + (Read_Huidu_IO4 <<4) 
                 + (Read_Huidu_IO5 << 3) +(Read_Huidu_IO6 <<2) +(Read_Huidu_IO7 <<1) + Read_Huidu_IO8;//8路灰度循迹状态
}

1.循迹控制（PD控制+自适应曲线减速）

此函数包含：

  • 循迹路数统计：可用于判断小车是否脱线、循线、特征值检测
  • 适用于圆弧的循迹状态穷举
  • 自适应的曲线减速函数，提高循迹的稳定性
  • PD环控制，提高循迹的抗干扰能力与拟合程度
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/*八路循迹环PID控制器*/
float Turn_hd_PID()
{	
    uint8_t temp_hd_sum = 0;
    
    temp_hd_sum = Huidu_Counter();

    if(temp_hd_sum <=2)//差速循迹
    {
        switch(Trace_Byte)
        {
            case 0xE7: // 1110 0111
            case 0xC3: // 1100 0011
                trace_hd.error = 0;
                break;
            case 0x00: // 0000 0000
            case 0x0F: // 0000 1111
            case 0x07: // 0000 0111
                trace_hd.error = -9;
                break;
            case 0xF0: // 1111 0000
            case 0xE0: // 1110 0000
                trace_hd.error = 9;
                break;
            case 0xE3: // 1110 0011
            case 0xF7: // 1111 0111
                trace_hd.error = 2;
                break;
            case 0xC1: // 1100 0001
                trace_hd.error = 1;
                break;
            case 0xF3: // 1111 0011
                trace_hd.error = 4;
                break;
            case 0xF1: // 1111 0001
            case 0xFB: // 1111 1011
                trace_hd.error = 6;
                break;
            case 0xF9: // 1111 1001
            case 0xFD: // 1111 1101
                trace_hd.error = 8;
                break;
            case 0xF8: // 1111 1000
                trace_hd.error = 10;
                break;
            case 0xFC: // 1111 1100
                trace_hd.error = 12;
                break;
            case 0xFE: // 1111 1110
                trace_hd.error = 14;
                break;
            case 0x87: // 1000 0111
                trace_hd.error = -2;
                break;
            case 0xC7: // 1100 0111
                trace_hd.error = -1;
                break;
            case 0xEF: // 1110 1111
                trace_hd.error = -2;
                break;
            case 0xCF: // 1100 1111
                trace_hd.error = -4;
                break;
            case 0x8F: // 1000 1111
            case 0xDF: // 1101 1111
                trace_hd.error = -6;
                break;
            case 0x9F: // 1001 1111
            case 0xBF: // 1011 1111
                trace_hd.error = -8;
                break;
            case 0x1F: // 0001 1111
                trace_hd.error = -10;
                break;
            case 0x3F: // 0011 1111
                trace_hd.error = -12;
                break;
            case 0x7F: // 0111 1111
                trace_hd.error = -14;
                break;
            case 0xFF: // 1111 1111
                trace_hd.error = trace_hd.last_error > 0 ? 16 : -16;
                break;
            default:
                trace_hd.error = 0;
                break;
        }        
    }
    else if(temp_hd_sum >= 6 && temp_hd_sum <= 8)//掉头
    {
        //Angle_PID_Flag = 1;
    }
    else//停车
    {

    }

    trace_hd.error_difference = trace_hd.error - trace_hd.last_error;
    trace_hd.error_sum += trace_hd.error;//误差累加量
    trace_hd.last_error = trace_hd.error;
    I_amplitude_limiting(1000,&trace_hd.error_sum);//误差累加量限幅


    K_trace =  1/16.0 * pow((1-(20/Speed_midset)),0.5);//弯道减速系数
    MID_Speed = Speed_midset * (1 - (uint8_t)(trace_hd.error)*K_trace) * (1 + (uint8_t)(trace_hd.error)*K_trace);//基准速度变换

    return trace_hd.error*trace_hd.Kp  + trace_hd.error_difference * trace_hd.Kd;//PD环循迹，比例+积分
}

2.陀螺仪角度环(小车姿态控制)

此函数功能：

  • 输入陀螺仪传感器测量的姿态，进行PID解算
  • PD环控制，确保小车转向迅速并且稳定。
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/*转向环PID控制器*/
float Turn_imu_PID(int yaw, int caclu_yaw)
{	
    float Kp = -1.35;
    float Kd = -9.5;
    float Ki = 0;

    static float error ;
    static float last_error;
    static float error_diff;
    static float error_sum;

    error = yaw -caclu_yaw;
    error_sum += error;

    I_amplitude_limiting(1000,&error_sum);//误差累加量限幅

    error_diff = error-last_error;
    last_error = error;

    
    if (error > 180) // 防止小车转到180度时一直旋转的问题
        error = error - 360;
    if (error < -180)
        error = error + 360;
    

    return Kp * error + Kd * error_diff + Ki*error_sum;
}

PID头文件

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#include"ti_msp_dl_config.h"
extern uint8_t Trace_Byte;
extern uint8_t Angle_PID_Flag;
extern uint8_t Test_pid_flag;
extern float Speed_midset;//预设直线速度

float Turn_cv_PID(int measure, int caclu);
float Turn_hd_PID();
float Turn_hd_PID_Seven();
float Velocity_PID_L(float velocity,float velocity_calcu);
float Velocity_PID_R(float velocity,float velocity_calcu);
void PID_Init();
void Get_TraceData();
float Turn_imu_PID(int yaw, int caclu_yaw);
char Huidu_Counter();

三、陀螺仪串口通信

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#include "ti_msp_dl_config.h"
#include "Delay.h"

// 定义接收变量
uint8_t RollL, RollH, PitchL, PitchH, YawL, YawH, VL, VH, SUM;
float Pitch,Roll,Yaw;
// 串口接收状态标识
#define WAIT_HEADER1 0
#define WAIT_HEADER2 1
#define RECEIVE_DATA 2

uint8_t RxState_JY = WAIT_HEADER1;
uint8_t receivedData[9];
uint8_t dataIndex = 0;

//发送置偏航角置零命令
void Serial_JY61P_Zero_Yaw(void){
    DL_UART_Main_transmitDataBlocking(UART_JY61P_INST,0XFF);
	DL_UART_Main_transmitDataBlocking(UART_JY61P_INST,0XAA);
	DL_UART_Main_transmitDataBlocking(UART_JY61P_INST,0X69);
	DL_UART_Main_transmitDataBlocking(UART_JY61P_INST,0X88);
	DL_UART_Main_transmitDataBlocking(UART_JY61P_INST,0XB5);
	delay_ms(100);
	DL_UART_Main_transmitDataBlocking(UART_JY61P_INST,0XFF);
	DL_UART_Main_transmitDataBlocking(UART_JY61P_INST,0XAA);
	DL_UART_Main_transmitDataBlocking(UART_JY61P_INST,0X01);
	DL_UART_Main_transmitDataBlocking(UART_JY61P_INST,0X04);
	DL_UART_Main_transmitDataBlocking(UART_JY61P_INST,0X00);
	delay_ms(100);
	DL_UART_Main_transmitDataBlocking(UART_JY61P_INST,0XFF);
	DL_UART_Main_transmitDataBlocking(UART_JY61P_INST,0XAA);
	DL_UART_Main_transmitDataBlocking(UART_JY61P_INST,0X00);
	DL_UART_Main_transmitDataBlocking(UART_JY61P_INST,0X00);
	DL_UART_Main_transmitDataBlocking(UART_JY61P_INST,0X00);
	
}

头文件

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#ifndef __JY61P_H
#define __JY61P_H

void Serial_JY61P_Zero_Yaw(void);
void UART_JY61P_INST_IRQHandler(void);
extern float Pitch,Roll,Yaw;
#endif

四、常规外设串口通信

1. 变量声明

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#include "stdio.h"
#include "string.h"
#include "ti_msp_dl_config.h"
#include "main.h"
#define BUFFER_SIZE 256  // 定义缓冲区大小

uint8_t Serial_RxPacket[100];
/*PID调试*/
float Test_Kp;//比例
float Test_Ki;//积分
float Test_Kd;//微分
float Test_Ks;//目标速度

/*系统调试串口变量*/
uint8_t Serial_RxFlag;
uint8_t RxState = 0;
uint8_t pRxState;//表示当前接收的是第几个变量
uint8_t RxData_type;

/*上位机串口变量*/
uint8_t Soc_RxFlag;
uint8_t RxState_SOC = 0;
uint8_t SOC_RxData_type;
uint8_t SOC_pRxState;//串口接收数据索引号

/*串口屏串口变量*/
uint8_t Screen_RxFlag;
uint8_t RxState_Screen;
uint8_t Screen_RxData_type;
uint8_t Screen_pRxState;//串口接收数据索引号

uint8_t Serial_RxPacket[100];

2. 辅助函数

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//系统串口初始化
void SYS_UART0_Init(void)
{
	NVIC_ClearPendingIRQ(UART_0_INST_INT_IRQN);
	NVIC_EnableIRQ(UART_0_INST_INT_IRQN);
    DL_UART_clearInterruptStatus(UART_0_INST,DL_UART_INTERRUPT_RX);//清除中断标志位
}

//SOC通信串口初始化
void SOC_UART1_Init(void)
{
	NVIC_ClearPendingIRQ(UART_SOC_INST_INT_IRQN);
	NVIC_EnableIRQ(UART_SOC_INST_INT_IRQN);
    DL_UART_clearInterruptStatus(UART_SOC_INST,DL_UART_INTERRUPT_RX);//清除中断标志位
}

//发送字符串给SOC
void SOC_SendString(char *str)
{
    while(*str != '\0')
    {
        DL_UART_Main_transmitDataBlocking(UART_SOC_INST, *str++);
    }
}

//串口屏通信串口初始化
void Screen_UART2_Init(void)
{
	NVIC_ClearPendingIRQ(UART_Screen_INST_INT_IRQN);
	NVIC_EnableIRQ(UART_Screen_INST_INT_IRQN);
    DL_UART_clearInterruptStatus(UART_Screen_INST,DL_UART_INTERRUPT_RX);//清除中断标志位
}

//发送字符串给串口屏
void Screen_SendString(char *str)
{
    while(*str != '\0')
    {
        DL_UART_Main_transmitDataBlocking(UART_Screen_INST, *str++);
    }
}

void int_to_binary_string(uint32_t value, char *binary_str, int max_bits)
{
    // 生成二进制字符串
    for (int i = max_bits - 1; i >= 0; --i)
    {
        binary_str[i] = (value & (1U << i)) ? '1' : '0';
    }
    binary_str[max_bits] = '\0'; // 确保字符串以 null 结尾
}

// 将浮点数转换为字符串
void float_to_string(float value, char *str, size_t size)
{
    snprintf(str, size, "%.2f", value); // 格式化为两位小数
}

void HMI_send_string(char *name, char *showdata)
{
    char buffer[BUFFER_SIZE];
    int length;

    // 构造要发送的字符串，确保缓冲区足够大
    length = snprintf(buffer, sizeof(buffer), "%s=\"%s\"\xff\xff\xff", name, showdata);

    // 检查是否发生了缓冲区溢出
    if (length >= sizeof(buffer))
    {
        // 缓冲区溢出处理，例如可以通过截断字符串或者增加缓冲区大小来解决
        // 这里只是简单地截断字符串以确保不会发送超出缓冲区的内容
        buffer[sizeof(buffer) - 1] = '\0'; // 确保字符串以 null 结尾
    }

    // 使用 Screen_SendString 发送构造好的字符串
    Screen_SendString(buffer);
}

void HMI_send_number(char* name, int num)
{
    char buffer[BUFFER_SIZE];
    int length = snprintf(buffer, sizeof(buffer), "%s=%d\xff\xff\xff", name, num);
    if (length >= BUFFER_SIZE)
    {
        // 缓冲区溢出处理
    }
    Screen_SendString(buffer);
}

void HMI_send_float(char* name, float num)
{
    char buffer[BUFFER_SIZE];
    int num_int = (int)(num * 100);
    int length = snprintf(buffer, sizeof(buffer), "%s=%d\xff\xff\xff", name, num_int);
    if (length >= BUFFER_SIZE)
    {
        // 缓冲区溢出处理
    }
    Screen_SendString(buffer);
}

void HMI_Wave(char* name, int ch, int val)
{
    char buffer[BUFFER_SIZE];
    int length = snprintf(buffer, sizeof(buffer), "add %s,%d,%d\xff\xff\xff", name, ch, val);
    if (length >= BUFFER_SIZE)
    {
        // 缓冲区溢出处理
    }
    Screen_SendString(buffer);
}

void HMI_Wave_Fast(char* name, int ch, int count, int* show_data)
{
    char buffer[BUFFER_SIZE];
    int length = snprintf(buffer, sizeof(buffer), "addt %s,%d,%d\xff\xff\xff", name, ch, count);
    if (length >= BUFFER_SIZE)
    {
        // 缓冲区溢出处理
    }
    Screen_SendString(buffer);

    delay_ms(100);

    for (int i = 0; i < count; i++)
    {
        // 发送每个字符
        DL_UART_Main_transmitDataBlocking(UART_Screen_INST, (char)show_data[i]);
    }
    // 发送结束标志
    Screen_SendString("\xff\xff\xff");
}

void HMI_Wave_Clear(char* name, int ch)
{
    char buffer[BUFFER_SIZE];
    int length = snprintf(buffer, sizeof(buffer), "cle %s,%d\xff\xff\xff", name, ch);
    if (length >= BUFFER_SIZE)
    {
        // 缓冲区溢出处理
    }
    Screen_SendString(buffer);
}

程序结构-中断服务函数

1.常规串口中断

  • Uart0: 系统串口，用作与计算机通信调试
  • Uart_Screen：串口屏串口，用于和串口屏进行通信调试，串口屏可以直接控制小车，也可以显示小车实时参数
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void UART_0_INST_IRQHandler(void)
{
    switch (DL_UART_Main_getPendingInterrupt(UART_0_INST)) {//判断中断的类型，DL_UART_Main_getPendingInterrupt(UART_0_INST)调用具有清空标志位的功能？
        case DL_UART_MAIN_IIDX_RX://如果触发串口接收事件
       RxData = DL_UART_Main_receiveData(UART_0_INST);
		if(RxState == 0)//帧头检测
		{
			if(RxData == '#' && Serial_RxFlag == 0)
			{
				RxState=1;
			}
		}
		else if(RxState == 1)//数据类型检测s
		{
			switch(RxData)
			{
				case 'P'://x+
					RxState=2;
					RxData_type=1;
					break;
				case 'I'://x-
					RxState=2;
					RxData_type=2;
					break;
				case 'D'://x-
					RxState=2;
					RxData_type=3;
					break;
				case 'S':
					RxState=2;
					RxData_type=4;
					break;					
			}
		}
		else if(RxState==2)//数据，接收范围限制在单字节，足够完成任务要求
		{
			if(RxData == '!')
			{
				Serial_RxFlag=1;
				RxState=0;			
			}
			else
			{
				Serial_RxPacket[pRxState]=RxData;
				pRxState++;		
			}
		}
            break;
        default:
            break;
    }
}

void UART_Screen_INST_IRQHandler(void)
{
    switch (DL_UART_Main_getPendingInterrupt(UART_Screen_INST))
    {
        case DL_UART_MAIN_IIDX_RX://如果触发串口接收事件
            RxData = DL_UART_Main_receiveData(UART_Screen_INST);
            if(RxState_Screen == 0)//帧头检测
            {
                if(RxData == 0xEF && Screen_RxFlag == 0)
                {
                    RxState_Screen = 1;//串口屏的数据帧
                }
            }
            else if(RxState_Screen == 1)
            {
                Serial_RxPacket[0]=RxData;
                RxState_Screen = 2;
            }
            else if(RxState_Screen == 2)
            {
                if(RxData == 0xEE)
                {
                    Screen_RxFlag=1;
                    RxState_Screen=0;
                }
            }
            break;
        default:
            break;
    }
}

2. 陀螺仪串口中断函数

用于处理从陀螺仪传感器接收到的通信数据，其中主要的部分是Roll，Pitch，Yaw角

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// 串口中断处理函数
void UART_JY61P_INST_IRQHandler(void) {
    uint8_t uartdata = DL_UART_Main_receiveData(UART_JY61P_INST); // 接收一个uint8_t数据

    switch (RxState_JY) {
    case WAIT_HEADER1:
        if (uartdata == 0x55) {
            RxState_JY = WAIT_HEADER2;
        }
        break;
    case WAIT_HEADER2:
        if (uartdata == 0x53) {
            RxState_JY = RECEIVE_DATA;
            dataIndex = 0;
        } else {
            RxState_JY = WAIT_HEADER1; // 如果不是期望的第二个头，重置状态
        }
        break;
    case RECEIVE_DATA:
        receivedData[dataIndex++] = uartdata;
        if (dataIndex == 9) {
            // 数据接收完毕，分配给具体的变量
            RollL = receivedData[0];
            RollH = receivedData[1];
            PitchL = receivedData[2];
            PitchH = receivedData[3];
            YawL = receivedData[4];
            YawH = receivedData[5];
            VL = receivedData[6];
            VH = receivedData[7];
            SUM = receivedData[8];

            // 校验SUM是否正确
            uint8_t calculatedSum = 0x55 + 0x53 + RollH + RollL + PitchH + PitchL + YawH + YawL + VH + VL;
            if (calculatedSum == SUM) {
                // 校验成功，可以进行后续处理
                if((float)(((uint16_t)RollH << 8) | RollL)/32768*180>180){
                    Roll = (float)(((uint16_t)RollH << 8) | RollL)/32768*180 - 360;
                }else{
                    Roll = (float)(((uint16_t)RollH << 8) | RollL)/32768*180;
                }

                if((float)(((uint16_t)PitchH << 8) | PitchL)/32768*180>180){
                    Pitch = (float)(((uint16_t)PitchH << 8) | PitchL)/32768*180 - 360;
                }else{
                    Pitch = (float)(((uint16_t)PitchH << 8) | PitchL)/32768*180;
                }

                if((float)(((uint16_t)YawH << 8) | YawL)/32768*180 >180){
                    Yaw = (float)(((uint16_t)YawH << 8) | YawL)/32768*180 - 360;
                }else{
                    Yaw = (float)(((uint16_t)YawH << 8) | YawL)/32768*180;
                }
                
                
            } else {
                // 校验失败，处理错误
            }

            RxState_JY = WAIT_HEADER1; // 重置状态以等待下一个数据包
        }
        break;
    }

//DL_UART_Main_transmitData(UART_JY61P_INST, uartdata); // 可选：回传接收到的数据
}

程序结构-任务进程

在此文件中，定义各种不同的任务

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#include "Process.h"

/**************************串口进程*********************************/
/*系统串口(UART1)解码进程*/
void SYS_RxPro()
{
    /*PID调试*/
    if(Serial_RxFlag)
    {
        switch(RxData_type)//判断数据帧的数据类型
        {
            case 1:
                if(pRxState == 1)
                {
                    Test_Kp = Serial_RxPacket[0]-0x30;
                }
                else if(pRxState == 2)
                {
                    Test_Kp = (Serial_RxPacket[0]-0x30)*10 + (Serial_RxPacket[1]-0x30);
                }
                else if(pRxState == 3)
                {
                    Test_Kp = (Serial_RxPacket[0]-0x30)*100 + (Serial_RxPacket[1]-0x30)*10 + (Serial_RxPacket[2]-0x30);
                }
                break;
            case 2:
                if(pRxState == 1)
                {
                    Test_Ki = Serial_RxPacket[0]-0x30;
                }
                else if(pRxState == 2)
                {
                    Test_Ki = (Serial_RxPacket[0]-0x30)*10 + (Serial_RxPacket[1]-0x30);
                }
                else if(pRxState == 3)
                {
                    Test_Ki = (Serial_RxPacket[0]-0x30)*100 + (Serial_RxPacket[1]-0x30)*10 + (Serial_RxPacket[2]-0x30);
                }				
                break;
            case 3:
                if(pRxState == 1)
                {
                    Test_Kd = Serial_RxPacket[0]-0x30;
                }
                else if(pRxState == 2)
                {
                    Test_Kd = (Serial_RxPacket[0]-0x30)*10 + (Serial_RxPacket[1]-0x30);
                }
                else if(pRxState == 3)
                {

                    Test_Kd = (Serial_RxPacket[0]-0x30)*100 + (Serial_RxPacket[1]-0x30)*10 + (Serial_RxPacket[2]-0x30);
                }						
                break;
            case 4:
                if(pRxState == 1)
                {
                    Test_Ks = Serial_RxPacket[0]-0x30;
                }
                else if(pRxState == 2)
                {
                    Test_Ks = (Serial_RxPacket[0]-0x30)*10 + (Serial_RxPacket[1]-0x30);
                }
                else if(pRxState == 3)
                {
                    Test_Ks = (Serial_RxPacket[0]-0x30)*100 + (Serial_RxPacket[1]-0x30)*10 + (Serial_RxPacket[2]-0x30);
                }						
                break;
        }
        Serial_RxFlag=0;	
        pRxState=0;
    }
}

/*串口屏通信解码进程*/
void Screen_RxPro()
{
    if(Screen_RxFlag == 1)
    {
        switch(Serial_RxPacket[0])
        {
            case 1:
                Motor_On();
                Angle_PID_Flag = 1;

                if(System_Mode == 0 | System_Mode == 1)
                {
                    yaw_detect = yaw_val;
                }
                else
                {
                    yaw_detect = yaw_val - LX_3_IMU_ANGEL_1;
                }

                Motor_flag = 1;
                break;
            case 2:
                Serial_JY61P_Zero_Yaw();
                Motor_Off();
                break;
            case 3://PID参数模式切换：调试模式<->固定模式
                Test_pid_flag=1;
            case 4:
                Test_pid_flag=0;
                break;
        }
        DL_UART_Main_transmitData(UART_Screen_INST,Serial_RxPacket[0]);
        Screen_RxFlag=0;
    }
}

/********************特殊功能进程**********************/
void Beep_Proc()
{
    if(beep_flag == 1 || beep_key_flag == 1)
    {
        DL_GPIO_setPins(GPIO_BEEP_PORT,GPIO_BEEP_PIN_1_PIN);
    }
    else 
    {
        DL_GPIO_clearPins(GPIO_BEEP_PORT,GPIO_BEEP_PIN_1_PIN);
    }
}

/*OlED进程*/
void Oled_Proc()
{
    OLED_ShowString(0, 8,"Mode:",8);
    OLED_ShowNum(42, 8, System_Mode+1, 1 ,8);
    OLED_ShowBinNum(0, 28, Trace_Byte, 8 ,8);
    OLED_ShowSignedNum(0, 45,Yaw,3,8);
    OLED_Update();    
}

/*串口屏进程*/
void HMI_Proc()
{
    int_to_binary_string(Trace_Byte, data_HMI, 8);
    HMI_send_string(hmi_trace, data_HMI);//串口屏打印循迹状态

    float_to_string(Yaw,data_HMI,8);
    HMI_send_string(hmi_yaw, data_HMI);//串口屏打印陀螺仪实际的Yaw角度

    float_to_string(M_Speed_L,data_HMI,8);
    HMI_send_string(hmi_speed, data_HMI);//串口屏打印速度

    float_to_string(System_Mode,data_HMI,8);
    HMI_send_string(hmi_imu, data_HMI);//串口屏打印单片机记忆的Yaw角度

    float_to_string(NEncoder.right_motor_total_cnt,data_HMI,8);
    HMI_send_string(hmi_totol, data_HMI);//串口屏打印总的脉冲数
}

/*按键*/
void Key_Proc(void)//按键检测程序
{
	if(Key_Timer) return;//Key_Timer=0时执行下面的语句
	Key_Timer=1;

	//按键扫描部分//
	Key_Val=Key_Read();
	Key_Down=Key_Val & (Key_Old ^ Key_Val);
	Key_Up=~Key_Val & (Key_Old ^ Key_Val);
	Key_Old=Key_Val;

    switch(Key_Down)
    {
        case 1:
            beep_key_flag = 1;
            if(++System_Mode == 4)
            {
                System_Mode = 0;
            }
            break;
        case 2:
            Motor_On();
            Angle_PID_Flag = 1;
            Speed_midset = Speed_ZX;
            if(System_Mode == 0 | System_Mode == 1)
            {
                yaw_detect = yaw_val;
            }
            else 
            {
                yaw_detect = yaw_val - LX_3_IMU_ANGEL_1;
            }

            Motor_flag = 1;
            break;
        case 3:
            Motor_flag = 0;
            Serial_JY61P_Zero_Yaw();
            Motor_Off();            
        break;
    }
}

程序结构-路径规划

1. 路径1

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/*******************************路线进程***********************************/
//要求1
void LX_Proc_1()
{
    uint8_t temp_hd_sum;
    static uint8_t LX_state = 0;

    temp_hd_sum =  Huidu_Counter();

    if(LX_state ==0)
    {
        Speed_midset = 30 - NEncoder.right_motor_total_cnt/8000 * 15.0;

        if(temp_hd_sum >=1)
        {
            beep_flag = 1;
            LX_state = 1;
            Motor_Off();
        }
    }
}

2. 路径2

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//要求2
void LX_Proc_2()
{
    uint8_t temp_hd_sum;
    static uint8_t LX_state = 0;
    static uint32_t LuChen_Counter;
    
    temp_hd_sum =  Huidu_Counter();

    //LuChen_Counter = (NEncoder.left_motor_total_cnt + NEncoder.right_motor_total_cnt)/2;

    if(LX_state ==0)//从A触发
    {
        Speed_midset = 40;
        if(temp_hd_sum >=1)//碰到B
        {
            Speed_midset = 35;
            LX_state = 1;
            Angle_PID_Flag = 0;
            beep_flag = 1;
            motor_total_cnt_reset();
        }
    }
    else if(LX_state == 1)//从B出发
    {
        if(NEncoder.right_motor_total_cnt >= 5000)
        {
            if(temp_hd_sum == 0)//碰到C
            {
                Speed_midset = 40;
                yaw_detect -= LX_2_IMU_ANGEL;
                Angle_PID_Flag = 1;
                LX_state = 2;
                beep_flag = 1;
            }                   
        }
    }
    else if(LX_state == 2)//从C出发
    {
        if(temp_hd_sum >= 1)//碰到D
        {
            motor_total_cnt_reset();
            Speed_midset = 35;
            Angle_PID_Flag = 0;
            LX_state = 3;
            beep_flag = 1;     
        }    
    }
    else if(LX_state == 3)//从D出发
    {
        if(NEncoder.right_motor_total_cnt >= 5000)
        {
            if(temp_hd_sum == 0)//碰到A
            {
                LX_state = 4;
                beep_flag = 1;
                Motor_Off();
            }                 
        }
                   
    }
}

3. 路径3

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//要求3
void LX_Proc_3()
{
    uint8_t temp_hd_sum;
    static uint8_t LX_state = 0;
    static uint8_t i;


    temp_hd_sum =  Huidu_Counter();

    if(LX_state ==0)//从A触发
    {
        Speed_midset=0;
        if(Angle_PID_Flag)
        {
            Timer_Angel_Sleep_flag = 1;

            if(fabsf(Yaw - yaw_detect) <= 1.5)
            {
                Speed_midset=Speed_ZX-15;
                beep_flag = 1;
                LX_state = 11;
            }            
        }
    }
    else if(LX_state == 11)
    {

        if(temp_hd_sum >=1)//碰到C
        {
            Speed_midset=Speed_WD-10;
            LX_state = 1;
            Angle_PID_Flag = 0;
            beep_flag = 1;
            motor_total_cnt_reset();
        }        
    }
    else if(LX_state == 1)//从C出发
    {
        if(NEncoder.right_motor_total_cnt > 5000)
        {
            if(temp_hd_sum == 0)//碰到B
            {
                Speed_midset=Speed_ZX-15;
                yaw_detect = yaw_val + LX_4_IMU_ANGEL_1 + 0.5;
                Angle_PID_Flag = 1;
                LX_state = 2;
                beep_flag = 1;
            }                    
        }
    }
    else if(LX_state == 2)//从B出发
    {
        if(temp_hd_sum >= 1)//碰到D
        {
            Speed_midset=Speed_WD-10;
            Angle_PID_Flag = 0;
            LX_state = 3;
            beep_flag = 1;     
            motor_total_cnt_reset();
        }    
    }
    else if(LX_state == 3)//从D出发
    {
        if(NEncoder.right_motor_total_cnt > 5000)
        {
            if(temp_hd_sum == 0)//碰到A
            {
                beep_flag = 1;
                LX_state = 4;
                Motor_Off();
            }              
        }             
    }
}

4. 路径4

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//要求4
void LX_Proc_4()
{
    uint8_t temp_hd_sum;
    static uint8_t LX_state = 0;
    static uint8_t i;

    temp_hd_sum =  Huidu_Counter();
    K_ZX = 1-(20/Speed_ZX);

    if(LX_state ==0)//从A触发
    {
        Speed_midset=0;

        if(Angle_PID_Flag)
        {
            Timer_Angel_Sleep_flag = 1;
            if(fabsf(Yaw - yaw_detect) <= 1.5)
            {
                motor_total_cnt_reset();

                Speed_midset = Speed_ZX - (NEncoder.right_motor_total_cnt/12000 * Speed_ZX * K_ZX);

                beep_flag = 1;
                LX_state = 11;
            }            
        }
    }
    else if(LX_state == 11)
    {
        Speed_midset = Speed_ZX - (NEncoder.right_motor_total_cnt/12000 * Speed_ZX *K_ZX);
        if(NEncoder.right_motor_total_cnt > 4000)
        {
            if(temp_hd_sum >=1)//碰到C
            {
                Speed_midset=Speed_WD;
                LX_state = 1;
                Angle_PID_Flag = 0;
                beep_flag = 1;
                motor_total_cnt_reset();
            }    
        }
     
    }
    else if(LX_state == 1)//从C出发
    {
        if(NEncoder.right_motor_total_cnt > 5000)
        {
            if(temp_hd_sum == 0)//碰到B
            {
                motor_total_cnt_reset();
                Speed_midset = Speed_ZX - (NEncoder.right_motor_total_cnt/12000 * Speed_ZX * K_ZX);
                yaw_detect = yaw_val + LX_4_IMU_ANGEL_1 + 0.65;
                Angle_PID_Flag = 1;
                LX_state = 2;
                beep_flag = 1;
            }                    
        }
    }
    else if(LX_state == 2)//从B出发
    {
        Speed_midset = Speed_ZX - (NEncoder.right_motor_total_cnt/12000 * Speed_ZX * K_ZX);
        if(NEncoder.right_motor_total_cnt > 4000)
        {
            if(temp_hd_sum >= 1)//碰到D
            {
                Speed_midset=Speed_WD;
                Angle_PID_Flag = 0;
                LX_state = 3;
                beep_flag = 1;     
                motor_total_cnt_reset();

                if(i == 3)
                {
                    Speed_midset = Speed_WD - 5;
                }
            }              
        }
    }
    else if(LX_state == 3)//从D出发
    {
        if(NEncoder.right_motor_total_cnt > 5000)
        {
            if(temp_hd_sum == 0)//碰到A
            {
                motor_total_cnt_reset();
                Speed_midset = Speed_ZX - (NEncoder.right_motor_total_cnt/12000 * Speed_ZX * K_ZX);
                LX_state = 12;
                Angle_PID_Flag = 1;
                yaw_detect = yaw_val - LX_4_IMU_ANGEL_1 + 1.0;                
                beep_flag = 1;
                if(++i>=4)
                {
                    LX_state = 4;
                    Motor_Off();
                }
            }              
        }             
    }
    else if(LX_state == 12)//从A出发
    {
        Speed_midset = Speed_ZX - (NEncoder.right_motor_total_cnt/12000 * Speed_ZX * K_ZX);

        if(NEncoder.right_motor_total_cnt > 4000)
        {
            if(temp_hd_sum >= 1)//碰到C
            {
                Speed_midset=Speed_WD;
                Angle_PID_Flag = 0;
                LX_state = 1;
                beep_flag = 1;     
                motor_total_cnt_reset();
            }       
        }
    }
}

程序结构-主程序

1. 参数声明

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#include "main.h"
#include "OLED.h"
#include "Serial.h"
#include "nqei.h"
#include "ti/driverlib/dl_gpio.h"
#include "ti_msp_dl_config.h"
#include <stdlib.h>
#include "Path.c"

uint32_t Key_Number;//按键调试 
uint8_t Key_Val,Key_Down,Key_Up,Key_Old;

//PS:PWM可调范围，0~100以内任意浮点数
float MT_L = 20.0;//左轮速度初值
float MT_R = 20.0;//右轮速度初值

uint8_t RxData;//串口接收寄存器存储变量
uint8_t MID_Speed;//基准速度

float yaw_val;//记录Yaw角
float yaw_detect;//预测yaw角

static float Velocity_IL,Velocity_IR;//左右轮速度环PID输入
static float Dif_Out;//差速环PID输出

uint8_t Motor_flag;//电机使能标志位

float M_Speed_L;//左轮测速
float M_Speed_R;//右轮测速

uint32_t Timer_Angel_Sleep;
uint8_t Timer_Angel_Sleep_flag;

//外设列表：
//1.GPIO        LED
//2.PWM         定时器G0,两路PWM
//3.定时器      定时器A0
//4.串口        USART0:调试串口
//5.按键      
//6.OLED      硬件IIC
//7.MPU6050   硬件IIC
//8.串口屏
//9.陀螺仪串口

uint8_t beep_flag = 0;//声光提示标志位
uint8_t beep_key_flag;//按键提示音
uint8_t beep_timer = 0;//声光提示持续时间

uint8_t flag = 0;
char hmi_speed[]="n1.txt";//测速
char hmi_yaw[]="n2.txt";//测角度
char hmi_trace[]="n3.txt";//测循迹
char hmi_totol[]="n4.txt";//测里程
char hmi_imu[]="n5.txt";//测记忆角度
char data_HMI[]="";//串口屏数据存储空间
uint8_t Key_Timer;

uint32_t Timer_1ms_counter;
uint8_t System_Mode;

uint8_t WD_Protect_Flag;
uint8_t WD_Protect_time;
uint8_t WD_Protect_err;

float K_ZX = 0;
/*初始加速函数*/
void Speed_InitPro(uint8_t x)
{
    uint8_t temp;
    uint8_t i;
    for(i=0;i<x;i++)
    {
        Set_Speed(i,i);
    }
}

2. 主循环

执行系统所需要的初始化部分，注意初始化的顺序。

用于显示的部分放在主循环中。

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/*初始加速函数*/
void Speed_InitPro(uint8_t x)
{
    uint8_t temp;
    uint8_t i;
    for(i=0;i<x;i++)
    {
        Set_Speed(i,i);
    }
}

/*开启系统时钟中断，会导致串口工作异常或者程序卡死*/
int main(void)
{
    SYSCFG_DL_init();//syscfg初始化
    delay_ms(100);//等待初始化稳定
    OLED_Init();//OLED初始化
    OLED_ShowString(16,8,"OK",8);
    delay_ms(100);//等待陀螺仪稳定
    Motor_Off();//初始电机关闭，等待按键控制
    
    SYS_UART0_Init();//串口0初始化
    Screen_UART2_Init();//串口2初始化

    BP_Encoder_Init();//编码器初始化
    PID_Init();
    delay_ms(1000);//等待初始化稳定
    //Speed_InitPro(Speed_midset*0.8);

	//编码器中断使能
    delay_ms(50);//等待初始化稳定
    TIMER_1_Init();//定时器1初始化
    TIMER_2_Init();

    NVIC_EnableIRQ(UART_JY61P_INST_INT_IRQN);  
    while (1) 
    { 
        Oled_Proc();
        HMI_Proc();
    }
}