dsp281x_examples.h

代码用于测试dsp2812的硬件功能

//###########################################################################
//
// FILE:   DSP281x_Examples.h
//
// TITLE:  DSP281x Device Definitions.
//
//###########################################################################
//
//  Ver | dd mmm yyyy | Who  | Description of changes
// =====|=============|======|===============================================
//  1.00| 11 Sep 2003 | L.H. | First release.  Seperated example specific headers
//      |             |      |     from the DSP28 peripheral headers.
//      |             |      | Added DSP28_BIOS and DSP28_NONBIOS switches
//      |             |      |     to include or not include the default ISR's 
//###########################################################################

#ifndef DSP281x_EXAMPLES_H
#define DSP281x_EXAMPLES_H

#ifdef __cplusplus
extern "C" {
#endif

// Note:$,represent " for test ";
#define TEST_RUN	1						// The robot works at the test mode ;
//#define TEST_RUN	0						// The robot works at the normal running mode ;
//#define SCIA_SCIB	1						// Use Scia;
#define SCIA_SCIB	0						// Use Scib;
//#define SciFIFO
//#define SciFIFOLen
//#define PSXII_MAX7219	1					// PSXII controller connects to Spi ;
#define PSXII_MAX7219	0					// 8 digits LED displays ;
#define	CLOCK_3MINS

// CPU Timer0's period;
// Uint : uS;
//#define CPUTimer0Period		0x0F4240	// CPU Timer0's period is 1s;
//#define CPUTimer0Period		0x0C3500	// CPU Timer0's period is 800ms;
//#define CPUTimer0Period		0x0AAE60	// CPU Timer0's period is 700ms;
//#define CPUTimer0Period		0x0927C0	// CPU Timer0's period is 600ms;
#define CPUTimer0Period		0x07A120	// CPU Timer0's period is 500ms;
//#define CPUTimer0Period		0x061A80	// CPU Timer0's period is 400ms;
//#define CPUTimer0Period		0x0493E0	// CPU Timer0's period is 300ms;
//#define CPUTimer0Period		0x030D40	// CPU Timer0's period is 200ms;
//#define CPUTimer0Period		0x0249F0	// CPU Timer0's period is 150ms;
//#define CPUTimer0Period		0x0186A0	// CPU Timer0's period is 100ms;
//#define CPUTimer0Period		0x00C350	// CPU Timer0's period is 50ms;
//#define CPUTimer0Period		0x002710	// CPU Timer0's period is 10ms;
//#define CPUTimer0Period		0x001388	// CPU Timer0's period is 5ms;
//#define CPUTimer0Period		0x0007D0	// CPU Timer0's period is 2ms;
//#define CPUTimer0Period		0x0003E8	// CPU Timer0's period is 1ms;

#define CaculateThreshold 10

//#define EcoderNum		360	
#define EcoderNum		200
//#define EcoderNum		1000

// LEcoderParam = PIE * diameter / EcoderNum / 4
//#define LEcoderParam	1		//Used for test,then the RoboSta.x or RoboSta.y equals
//#define REcoderParam	1		  // to the circles ecoder run;

#define	LEcoderParam	0.1767146	// 二代B机器人 ，d = 45mm ，EcoderNum = 200；
#define REcoderParam	0.1767146  	
#define	EcoderLen		359

#define DetaTime		1

#define PIE	3.141592

// PC control command;
#define START	0x50
#define STOP	0x51
#define RESTART 0x52
#define PAUSE	0x53

//  多个宏名是为了与以前的程序兼容；

// Service unit address in FPGA;
#define FMotorAddr 		0x35		// Motors direction control unit address in FPGA;
#define FPGA_MOTORSDIR_ADDR	0x35

#define FSMotor1Addr	0x01		// Servo motors direction control unit address in FPGA;
#define FSMotor2Addr  	0x02
#define FSMotor3Addr 	0x03
#define	FSMotor4Addr	0x04
#define FPGA_SERVOMOTOR_1_ADDR	0x01
#define FPGA_SERVOMOTOR_2_ADDR	0x02
#define FPGA_SERVOMOTOR_3_ADDR  0x03
#define FPGA_SERVOMOTOR_4_ADDR	0x04

#define FPGA_ULTRASONIC_1_ADDR	0x21	// FPGA里面超声波传感器检测到的距离值地址，距离值单位：厘米；
#define FPGA_ULTRASONIC_2_ADDR	0x22
#define FPGA_ULTRASONIC_3_ADDR	0x23
#define	FPGA_ULTRASONIC_4_ADDR	0x24
#define FPGA_ULTRASONIC_5_ADDR	0x25
#define FPGA_ULTRASONIC_6_ADDR	0x26

#define FPGA_ECODERCOUNTER_ADDR	0x30		// FPGA里面码盘计数器地址；

#define FPGA_RESET_ADDR 0x31	//reset button;

#define FPGA_YH_ADDR 0x42

#define FStrSwAddr		0x0A		// Robot stroke switch check unit address in FPGA;
#define FPGA_STROKESWITCH_ADDR	0x0A

#define FUredSwAddr		0x0B		// Robot ultrared switch check unit address in FPGA;
#define FPGA_ULTRAREDSWITCH_ADDR	0x0B

#define FPGA_PSXII_ADDR	0x50
 
// Robot drive Motors' direction; 
#define MFastStop		0x0003	
#define MFreeStop		0x0000	
#define MForward		0x0001
#define MReverse		0x0002
#define MOTORDIR_FASTSTOP	0x0003
#define MOTORDIR_FREESTOP	0x0000
#define MOTORDIR_FORWARD	0x0001
#define MOTORDIR_REVERSE	0x0002



#define ObstaF		0x0000		//obstacles at front;
#define ObstaL		0x0001		//obstacles at left side; 
#define ObstaR		0x0002		//obstacles at right side;

struct ROBOTSTATE {
	float32	x;
	float32 y;
	float32 sita;
	float32 LSpeed;		// use cycle duty to represent Motor;
	float32 Rspeed;
	Uint16 	Envir;		// represent the environment around the robot;
};

struct MOTOR {
	Uchar dir;
	float32 speed;
};

// Sensor state type definiton;
typedef Uint16 ULTRAREDSWITCH;
typedef Uint16 STROKESWITCH;
typedef Uint16 SPIDATA;



/*-----------------------------------------------------------------------------
      Specify the clock rate of the CPU (SYSCLKOUT) in nS.

      Take into account the input clock frequency and the PLL multiplier
      selected in step 1.
 
      Use one of the values provided, or define your own.
      The trailing L is required tells the compiler to treat 
      the number as a 64-bit value.  

      Only one statement should be uncommented.

      Example:  CLKIN is a 30MHz crystal. 
 
                In step 1 the user specified PLLCR = 0xA for a 
                150Mhz CPU clock (SYSCLKOUT = 150MHz).  

                In this case, the CPU_RATE will be 6.667L
                Uncomment the line:  #define CPU_RATE  6.667L   
-----------------------------------------------------------------------------*/
//#define CPU_RATE    6.667L   // for a 150MHz CPU clock speed (SYSCLKOUT)
//#define CPU_RATE    7.143L   // for a 140MHz CPU clock speed (SYSCLKOUT)
#define CPU_RATE    8.333L   // for a 120MHz CPU clock speed (SYSCLKOUT)
//#define CPU_RATE   10.000L   // for a 100MHz CPU clock speed (SYSCLKOUT)
//#define CPU_RATE   13.330L   // for a 75MHz CPU clock speed (SYSCLKOUT)
//#define CPU_RATE   20.000L   // for a 50MHz CPU clock speed  (SYSCLKOUT)
//#define CPU_RATE   33.333L   // for a 30MHz CPU clock speed  (SYSCLKOUT)
//#define CPU_RATE   41.667L   // for a 24MHz CPU clock speed  (SYSCLKOUT)
//#define CPU_RATE   50.000L   // for a 20MHz CPU clock speed  (SYSCLKOUT)
//#define CPU_RATE   66.667L   // for a 15MHz CPU clock speed  (SYSCLKOUT)
//#define CPU_RATE  100.000L   // for a 10MHz CPU clock speed  (SYSCLKOUT)

//----------------------------------------------------------------------------



//---------------------------------------------------------------------------
// Include Example Header Files:
//
#include "DSP281x_GlobalPrototypes.h"       // Prototypes for global functions within the 
                                            // .c files.
#include "DSP281x_SWPrioritizedIsrLevels.h" // Used for Software Prioritization of ISR's

// Include files not used with DSP/BIOS
#ifndef DSP28_BIOS
#include "DSP281x_DefaultISR.h"
#endif

// DO NOT MODIFY THIS LINE.  
#define DELAY_US(A)  DSP28x_usDelay(((((long double) A * 1000.0L) / (long double)CPU_RATE) - 9.0L) / 5.0L)

#ifdef __cplusplus
}
#endif /* extern "C" */

#endif  // end of DSP281x_EXAMPELS_H definition

//===========================================================================
// No more.
//===========================================================================