[讨论]

读取陀螺仪和加速度计，把数据发回电脑的模拟示波器看.....

2014-2-13 14:12:04 3363

0 本帖最后由 abc664991438 于 2014-2-13 14:13 编辑原程序如下：芯片是MC9S12XS128 #include /* common defines and macros / #include "derivative.h" / derivative-specific definitions / #include #define Gather_time 20 #define ACCE_UNIT -0.28 #define ACCE_Adjust_Time 3 #define GYROSCOPE_ANGLE_SIGMA_FREQUENCY 200 //陀螺仪角度周期频率 = (1000 / CONTROL_PERIOD) // 5 Ms #define GYRO_Ratio 0; float OutData[4] = { 0 }; float g_fGYRO_Integral = 0; int ACCE_Min = 136; int ACCE_Max = 85; long GYRO = 0;//陀螺仪采集20次的值 long ACCE = 0;//加速度计采集20次的值 int Aver_GYRO = 0;//平均滤波后的陀螺仪的值 int Aver_ACCE = 0;//平均滤波后的加速度计的值 int Off_GYRO = 0;//陀螺仪的零偏值 int Off_ACCE = 0;//加速度计的零偏值 float g_fCarAngle = 0;//车的角度 float g_fGyroSpeed = 0;//车的角速度 float g_fAcce = 0;//加速度计的角度 /*****************************************************************/ void SetBusCLK_40M(void) { CLKSEL=0X00; //不是能锁相环时钟 PLLCTL_PLLON=1; //锁相环电路允许 SYNR =0xc0\|0x44; //fpllclock=2osc(1+SYNR)/(1+REFDV)=80MHz; REFDV=0x80\|0x01; //fbus=pllclock/2; POSTDIV=0x00; //fpllclock=fvco/(2POSTDIV) _asm(nop); _asm(nop); while(!CRGFLG_LOCK); //when pll is steady ,then use it; CLKSEL_PLLSEL =1; //engage PLL to system; } /*******************************************************************/ void Init_AD() { ATD0CTL0 = 0x01; //多通道转换时翻转回7通道 ATD0CTL1 = 0x01; //7:0-外部触发,65:00-8位精度,4:0-放电,3210:0001-AN1 ATD0CTL2 = 0x40; //6:1-快速清除标志位，43:00-下降沿触发，2：0禁止外部触发,01：中断禁止 ATD0CTL3 = 0x90; //7:1右对齐无符号,每次转换2个序列, No FIFO, Freeze模式下继续转（4个通道吧） ATD0CTL4 = 0xfe; //765:采样时间为4个AD时钟周期,ATDClock=[BusClock0.5]/[PRS+1] ATD0CTL5 = 0x31; //6:0特殊通道禁止,5:1连续转换 ,4:1多通道轮流采样通道1开始12 ATD0DIEN = 0x00; //禁止数字输?/禁止数字输入 } /*******************************************************************/ void Init_SCI(){ SCI0BD = 260; //设置波特率为9600 260 SCI0CR1 = 0X00; //正常的8位数据传送，无奇偶校验 SCI0CR2 = 0X2C; //发送允许，中断发送允许 } /*****************************************************************/ /******************************************************************/ void Get_AD(void) { int i; while(!ATD0STAT0_SCF); for(i=0;i ACCE += ATD0DR1;//加速度计 GYRO += ATD0DR2;//陀螺仪 } } void Get_Offset(void){ Off_GYRO = (int)(GYRO/Gather_time/1000)>>4; Off_GYRO = Off_GYRO<<4; Off_ACCE = (int)(ACCE/Gather_time/1000)>>4; Off_ACCE = Off_ACCE<<4; ACCE = 0; GYRO = 0; } void Get_Aver_AD(void) { Aver_ACCE = (int)(ACCE/Gather_time); Aver_ACCE = Aver_ACCE>>4; Aver_ACCE = Aver_ACCE<<4; Aver_GYRO = (int)(GYRO/Gather_time); Aver_GYRO = Aver_GYRO>>4; Aver_GYRO = Aver_GYRO<<4; ACCE = 0; GYRO = 0; } void AngleCount(void){ float fDeltaValue ; g_fAcce = ( Aver_ACCE - Off_ACCE) ACCE_UNIT; //加速度的偏置值加速度的比例 g_fGyroSpeed = (Aver_GYRO - Off_GYRO) * GYRO_Ratio; //陀螺仪的偏置值陀螺仪的比例 g_fCarAngle = g_fGYRO_Integral; fDeltaValue = (g_fAcce - g_fCarAngle) / ACCE_Adjust_Time; //加速度调整时间常数 g_fGYRO_Integral += (g_fGyroSpeed + fDeltaValue) / GYROSCOPE_ANGLE_SIGMA_FREQUENCY; // 陀螺仪角度周期频率 } /************************************************************************/ unsigned short CRC_CHECK(unsigned char Buf, unsigned char CRC_CNT) { unsigned short CRC_Temp; unsigned char i,j; CRC_Temp = 0xffff; for (i=0;i CRC_Temp ^= Buf; 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 uart_putchar ( unsigned char c) { while(!(SCI0SR1&0x80)) ; //keep waiting when not empty SCI0DRL=c; } void OutPut_Data(void) { 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 = (int)OutData; temp1 = (unsigned int)temp; } for(i=0;i<4;i++) { databuf[i2] = (unsigned char)(temp1%256); databuf[i2+1] = (unsigned char)(temp1/256); } CRC16 = CRC_CHECK(databuf,8); databuf[8] = CRC16%256; databuf[9] = CRC16/256; for(i=0;i<10;i++) uart_putchar(databuf); } /********************************************************************/ void main(void) { / put your own code here / int i; SetBusCLK_40M(); Init_AD(); Init_SCI(); for(i=0;i<1000;i++) { Get_AD(); } Get_Offset(); while(1){ Get_AD(); Get_Aver_AD(); AngleCount(); OutData[0] = g_fAcce; OutData[1] = g_fGyroSpeed; OutData[2] = g_fCarAngle; OutData[3] = g_fGYRO_Integral; OutPut_Data(); } EnableInterrupts; / please make sure that you never leave main */ } 0
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