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/*!
?*?????COPYRIGHT?NOTICE
?*?????Copyright?（c）?2013é?ía????
?*?????All?rights?reserved.
?*???????ê?ì???￡oé?ía??ì3?http://www.vcan123.com
?*
?*?????3y×￠?÷3?′|ía￡?ò????ùóD?úèY°?è¨?ùê?é?ía?????ùóD￡??′?-?êDí￡?2?μ?ó?óúéìòμó?í?￡?
?*?????DT???úèYê±±?D?±￡á?é?ía????μ?°?è¨éù?÷?￡
?*
?*?@file???????main.c
?*?@author?????Zengyu?Wan
?*?@version????v1.0
?*?@date???????2018-1-2
?*/

#include?“common.h“
#include?“include.h“
#include?“l3g4200d.h“?
#include?“math.h“

#define?AMP1?????ADC0_SE8????????//PTB0
#define?AMP2?????ADC0_SE9????????//PTB1
/*#define?AMP3?????ADC0_SE12???????//PTB2
#define?AMP4?????ADC0_SE13???????//PTB3
#define?AMP5?????ADC1_SE10???????//PTB4
#define?AMP6?????ADC1_SE11???????//PTB5*/?

void?pit_5ms（）;//?D??′|àíoˉêyéù?÷
void?pit_20ms（）;
void?PathInfo（）;??//μ?′?D??￠?áè?
void?FTM2_INPUT_IRQHandler（）;????????//FTM2?D??·t??oˉêy
void?location_top（）;??//íó?Yò??áè??
void?SpeedInfo（）;
?
//è???±?á??¨ò?
volatile?uint32?cnvtime_l=?0;????????????????//ê?è?2?×??μ
volatile?uint32?cnvtime_r=?0;????????????????//ê?è?2?×??μ
uint8?adc[2];??	//adc[0]:èüμà×ó2àD??￠?
float?send[3];//íó?Yò??áè?μ?êy?Y?

void?main（）
{
	double?e[3]={0}tw_ltw_rp[3]={0}i;//e[2]:μ±?°×óóòμ??D2??μ￡?tw:??3??í?è?￡?p[2]:μ±?°?ù?è2??μ￡¨??±êó?êμ?ê￡??￡?
	double?kp=-5ki=-0.00000kd=0d_f;//tw_d:μ±?°×óóòμ??ú????±è2??μ￡?k:??μ??D2??μμ??????
	double?or_tw=150g_fl=6000g_fr=6000g_f=6000;??//or_tw=190
	double?sp=-0si=0sd=0;//s:???ù?è2??μμ??????
	double?flfr;//×óóò??μ?×a?ù?
????????int?flag_l=1flag_r=1;//1?a?y×a-1·′×a
	ftm_pwm_init（FTM0?FTM_CH010*1000or_tw）;
	ftm_pwm_init（FTM0?FTM_CH110*1000or_tw）;
	ftm_pwm_init（FTM0?FTM_CH210*10000）;
	ftm_pwm_init（FTM0?FTM_CH310*10000）;
	ftm_input_init（FTM2?FTM_CH1?FTM_FallingFTM_PS_2）;?????//3?ê??ˉFTMê?è?2?×??￡ê?￡????μ??2?×?（FTM2_CH1??a?PTA11）
	ftm_input_init（FTM2?FTM_CH0?FTM_FallingFTM_PS_2）;?????//3?ê??ˉFTMê?è?2?×??￡ê?￡????μ??2?×?（FTM2_CH0??a?PTA10）
	set_vector_handler（FTM2_VECTORn?FTM2_INPUT_IRQHandler）;????//éè??FTM2μ??D??·t??oˉêy?a?FTM2_INPUT_IRQHandler
	uart_init（UART09600）;//à??à?￡?é?
	enable_irq（FTM2_IRQn）;//ê1?üFTM2?D??
	//gpio（）;//?????￡?é;
	//location_top（）;//íó?Yò?;
????????printf（“abc“）;
	while（1）
	{
??????
????????????PathInfo（）;?//μ??D?áèüμà
????????????
????????????e[2]=adc[0]-adc[1];
?????????
????????????while（cnvtime_l!=?0&&cnvtime_r!=?0）
????????????{
????????????//2?×??μ?ê?=?bus?ê±?ó?/?（·??μ?μêy）?/?cnvtime
????????????//·??μ?μêy?ê??óé?3?ê??ˉê±′?μY??è￥μ?·??μòò×óFTM_PS_e????¨￡?·??μ?μêy?=?1<????????????//×?′ó?§3??μ?ê?a?bus?ê±?ó???·???ò?
???????????????FTM_IRQ_DIS（FTM0FTM_CH4）;
???????????????fl=bus_clk_khz*1000/（1<???????????????fr=bus_clk_khz*1000/（1<???????????????FTM2_STATUS?=?0x00;????????????//???D??±ê????
???????????????FTM_IRQ_EN（FTM0FTM_CH4）;?
????????????}
????????????cnvtime_l?=?cnvtime_r?=?0;
		
????????????d_f=d_f+kp*（e[2]-e[1]）+ki*e[2]+kd*（e[0]+e[2]-2*e[1]）;
		?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件????????774??2018-01-17?17:34??整合\App\Inc\include.h

?????文件???????1460??2017-11-10?22:00??整合\App\Inc\l3g4200d.h

?????文件???????4157??2018-01-19?11:45??整合\App\Inc\MK60_conf.h

?????文件????????914??2014-10-06?04:16??整合\App\Inc\MK60_it.h

?????文件???????5979??2018-01-19?21:44??整合\App\Inc\PORT_cfg.h

?????文件???????2681??2017-11-11?11:18??整合\App\l3g4200d.c

?????文件???????7842??2018-03-04?19:42??整合\App\main.c

?????文件??????11533??2014-10-04?02:26??整合\App\MK60_conf.c

?????文件????????463??2014-10-06?04:16??整合\App\MK60_it.c

?????文件????????943??2015-03-24?12:36??整合\Board\inc\VCAN_computer.h

?????文件???????2087??2014-10-09?01:07??整合\Board\inc\VCAN_key.h

?????文件????????962??2014-10-02?15:27??整合\Board\inc\VCAN_LED.H

?????文件???????3445??2014-10-02?15:27??整合\Board\inc\VCAN_MMA7455.h

?????文件???????1904??2014-10-26?19:33??整合\Board\inc\VCAN_NRF24L0.h

?????文件???????2990??2015-03-24?12:14??整合\Board\src\VCAN_computer.c

?????文件???????7526??2014-10-30?23:17??整合\Board\src\VCAN_key.c

?????文件???????2047??2014-10-24?21:37??整合\Board\src\VCAN_LED.C

?????文件???????1918??2014-10-14?23:00??整合\Board\src\VCAN_MMA7455.c

?????文件??????22107??2014-10-16?10:49??整合\Board\src\VCAN_NRF24L0.c

?????文件??????25889??2015-02-04?22:09??整合\Chip\inc\common.h

?????文件????????304??2013-09-29?12:37??整合\Chip\inc\IAR\iar.h

?????文件????????895??2014-10-04?02:26??整合\Chip\inc\IAR\system_MK60DZ10.h

?????文件?????778106??2013-10-08?15:55??整合\Chip\inc\kinetis\MK10DZ10.h

?????文件?????809599??2013-10-08?15:55??整合\Chip\inc\kinetis\MK20DZ10.h

?????文件?????863606??2013-10-08?15:55??整合\Chip\inc\kinetis\MK30DZ10.h

?????文件?????895043??2013-10-08?15:55??整合\Chip\inc\kinetis\MK40DZ10.h

?????文件?????771736??2013-10-08?15:55??整合\Chip\inc\kinetis\MK50DZ10.h

?????文件?????857326??2013-10-08?15:55??整合\Chip\inc\kinetis\MK51DZ10.h

?????文件?????848958??2013-10-08?15:55??整合\Chip\inc\kinetis\MK52DZ10.h

?????文件?????936654??2013-10-08?15:55??整合\Chip\inc\kinetis\MK53DZ10.h

............此處省略266個文件信息