freescale

Freescale 系列单片机常用模块与综合系统设计

#include  "IO_Map.h"
#include  "Variables.h"
#include  "Key1.h"
#include  "Key2.h"
#include  "Key3.h"
#include  "Receiver.h"
#include  "LCD1602.h"

void  Ultrasonic_Receive_Process(void)
{
	if((ovrflwcount>500)&&(received==0))
	{
		Lcd_Disp_Str(0,0,"d =");
		received = 1;
		Lcd_Disp_Str(0,4,"out of range");
	}
	if( (~Receiver_GetVal())&&(wait == 0)&&(received==0)) 	//if the pin goes high we received
	{	
		stoptime = TPM1CNT;					        //count the # of ticks
		stopcount = ovrflwcount;			            //count # of times counter over flowed before receiving
		received = 1;								             //received the pulse

       Lcd_Disp_Str(0,0,"d =");
		ticks = ((stopcount*256)+stoptime); 	    //calculate total ticks
		distance = (ticks * 136 * (tpm / ctpm)) / 200; 	   
		//# of ticks * (1.36 mm pertick)*(ticks per 5 cm/calibrated)
		//all  over 2 to compensate for sending and receiving
		prevdist = currdist;					    	       //store previous dist
		currdist = distance;						       //store current dist

       Lcd_Disp_Str(0,4,"			");
       Lcd_Disp_Str(0,4,&lcd_buffer);

		if(normal)
		{
			if(rcount>0)
			{
				delayedsend = 60000;					// delay enough before sending next pulse
				sendpulse = 1;
				count = 2*pulsecount;
				wait = waittime;
				distsum = distsum + distance;		 // add up the samples
				if(rcount == (samples/2))              //take the middle and last samples
				{				
					speedsum = distance;				//for speed calculation
				}
				else if(rcount == 1)
				{
					speedsum = speedsum - distance;
				}
				rcount--;
			}
			else
			{
				distsum = distsum/(samples);			//take the average
				speedsum = (speedsum/(samples/100));	//calculate speed between first and last
				
              Lcd_Disp_Str(0,4,"			");
              Lcd_Disp_Str(0,4,&lcd_buffer);
              Lcd_Disp_Str(1,0,"spd =	 ");
              Lcd_Disp_Str(1,9,&lcd_buffer);
				distsum = 0;							          //reset variables
				speedsum = 0;
				normal = 0;
			}
		}
		else if(calibrate)
		{
		/*takes 200 samples of how many ticks for 5cm
		 *averages it and sets it as the calibrated ticks per 5 cm
		 */
			if(rcount>0)
			{
				delayedsend = 60000;
				sendpulse = 1;
				count = 2*pulsecount;
				wait = waittime;
				distsum = distsum + distance;	   		//sum up the distances
				tsum = tsum + ticks;					       //sum up the ticks
				rcount--;
			}
			else
			{
				distsum = distsum / samples;//average the distances
				tsum = tsum / samples; 		  //average the ticks

              Lcd_Disp_Str(0,4,"			 ");
               Lcd_Disp_Str(0,4,&lcd_buffer);
               Lcd_Disp_Str(1,0,"avgtick =	 ");
               Lcd_Disp_Str(1,10,&lcd_buffer);
				distsum = 0;							         //reset variables
				ctpm = tsum;
				tsum = 0;
				calibrate = 0;
			 }
		}
	}
}

void Key_Process(void)  //standard debounce state machine as given in lecture
{
	switch(pushstate)
	{
		case nopush:
			if((~Key1_GetVal()) || (~Key2_GetVal()) || (~Key3_GetVal())) // button pushed?
				pushstate = maybepush;
			else pushstate = nopush;
		break;
		case maybepush:
			if((~Key1_GetVal()) || (~Key2_GetVal()) || (~Key3_GetVal()))
				pushstate = pushed;
			else pushstate = nopush;
		break;
		case pushed:
			if((~Key1_GetVal()) || (~Key2_GetVal()) || (~Key3_GetVal())) // button pushed?
			{				
				pushstate = pushed;
			if(~Key1_GetVal()) 	   key1 = 1;								//pushflags for each button
			else if(~Key2_GetVal()) key2 = 1;
			else if(~Key3_GetVal()) key3 = 1;
			}
			else pushstate = maybenopush;
		break;
		case maybenopush:
			if((~Key1_GetVal()) || (~Key2_GetVal()) || (~Key3_GetVal())) 	   			// button pushed?
				pushstate =  pushed;
			else
			{
				pushstate = nopush;
				/*
				  D1 is normal operation
				  D2 is speed detection mode
				  D3 is calibration mode
				  This checks which button was pressed and sets
				  the appropriate flags for each mode
				*/
			if(received)
			{
				if(!mode)
				{
					if(key1)
					{
						sendpulse = 1;				   				//sends a pulse
						count = 2*pulsecount;
						wait = waittime;		 					//wait for receive
						rcount = samples;							//count for # of samples
						key1 = 0;
						normal = 1;						 			//mode of operation
					}
					else if(key2)
					{
						ctpm = 73;									//reset the calibration
						mode = 1;									//set mode to change samples mode

                     Lcd_Disp_Str(1,0,"b1- ");
                     Lcd_Disp_Str(1,0,"b2+ b3 back");
						key2 = 0;
					}
					else if(key3)
					{
						sendpulse = 1;								//sends pulse
						count = 2*pulsecount;	
						wait = waittime;
						calibrate = 1;								//calibrate mode on
						key3 = 0;
						rcount = samples;
					}	
				}
				else if(mode)                  	//mode two for changing sample number
				{		 							
					if(key1)
					{ 										//decrement sample #
						if(samples>50)
						{
							samples = samples - 50;  				//minimum number 50
						}
						key1 = 0;

                      Lcd_Disp_Str(0,0," 	   ");
                      Lcd_Disp_Str(0,0,&lcd_buffer);
						}
						else if(key2)                      //increment sample #
						{								
							samples = samples+50;

                         Lcd_Disp_Str(0,0," 	   ");
                         Lcd_Disp_Str(0,0,&lcd_buffer);
							key2 = 0;
						}
						else if(key3)
						{
							ctpm = 73; 								//reset the calibration
							mode = 0;								//set mode to change samples mode
							
                         Lcd_Disp_Str(0,0,"b1 sendpulse");
                         Lcd_Disp_Str(1,0,"b2 mode2 ");
                         Lcd_Disp_Str(1,0,"b3 cal");
							key3 = 0;
						}
				}
		   }
		}
		break;
	} 
}

void Ultrasonic_Send_Pulse(void) //sends a certain number of pulses depending on what the count is
{
	if(sendpulse)
	{
		received = 0;
		if(count>0)
		{
           setReg8(TPM2SC, 0x48); //Enable device
			count--;
		}
		else
		{
			sendpulse = 0;
          setReg8(TPM2SC, 0x00);    //Disable device
           setReg8(TPM1CNT, 0x00); 
			ovrflwcount = 0;
		}
	}
}

void System_Initialize(void)
{
	key1 = 0; 					   		          //按键标识初始化
	key2 = 0;
	key3 = 0;
	normal = 0;
	prevdist = 0;
	currdist = 0;
	rcount =0;
	distsum = 0;
	speedsum = 0;
	tsum = 0;

   Lcd_Init();
   Lcd_Disp_Str(0,0,"b1 sendpulses");
   Lcd_Disp_Str(1,0,"b2 mode2 ");
   Lcd_Disp_Str(1,0,"b3 cal");
	sendpulse = 0;

	//变量初始化
	stoptime = 0;
	displayspeed = 0;
	speedmode = 0;
	loopcount = 0;
	speed = 0;
	mode = 0;
	received = 1;
	samples = 200;
	calibrate = 0;
	pushstate = nopush;
	ticks = 0;
	ctpm= 73.0; 					   	//init ticks per 5 cm
	tpm = 73.0;

	//初始化定时器变量
	time1=t1;
	time2=t2;
	wait = 0;
	delayedsend = 0;
}