/*
?*?????COPYRIGHT?NOTICE
?*?????Copyright?（c）?2013野火科技
?*?????All?rights?reserved.
?*?????技術討論：野火初學論壇?http://www.chuxue123.com
?*
?*?????除注明出處外，以下所有內容版權均屬野火科技所有，未經允許，不得用于商業用途，
?*?????修改內容時必須保留野火科技的版權聲明。
?*
?*?@file???????main.c
?*?@brief??????野火KL26?平臺主程序
?*?@author?????野火科技
?*?@version????v5.0
?*?@date???????2013-12-14
?*/

//Program_Dolphin?5_21（KL26）key
//波特率115200
//定時器改為1ms??速度控制周期100ms?直立?5ms?圖像處理75幀，13.3ms?方向控制周期?10ms
//變速關
//起跑線沒問題
//陀螺儀自檢滅


#include?“common.h“
#include?“include.h“



//蜂鳴器
#define?BUZZER?PTC4??//PTD0
#define?Buzzer_Init?gpio_init（BUZZERGPO0）

void?Buzzer_Bi（void）??{GPIO_PDOR_REG（GPIOX_base（BUZZER））??|=?（1?<void?Buzzer_Mie（void）??{GPIO_PDOR_REG（GPIOX_base（BUZZER））?&=?~（1?<


void?main_initial（void）;
void?PIT_IRQHandler（void）;
void?PORTA_IRQHandler（void）;
void?DMA0_IRQHandler（void）;

extern?volatile?u8?mpu_finish_flag;?//MPU6050?數據采集完成標志
volatile?u8?flag_img_state?=?0;???//取圖像狀態

u8?dolphin_k?=?0;

extern?s16?camera_row_num;
extern?u8?image_start_flag;


extern?float?g_fAngle;??//當前角度值
u8?lie_down_flag?=?0;???//臥倒標志
s16?lie_down_angle?=?0;??//臥倒角度?其實是想在live?watch?那里看這個數

extern?u8?image_start_flag;
extern?u8?image_start_flag_0;
extern?s16?car_speed;

extern?s32?distance_0;

s16?image_start_num?=?0;

void??main（void）
{
????main_initial（）;?//所有設備初始化???????
????
????while（1）
????{????????
????????if（dolphin_k==1）
????????{
?????????????dolphin_k?=?0;??
????????????
?????????????Img_extract（）;????//???解壓圖像??
?????????????camera_draw_line_error（）;?????//?提取中線??計算偏差??變速控制?
????????????
?????????????if?（image_start_flag_0?!=?0）//起跑線，比賽的時候一定喲讓車掛掉，不能直立的停車，會沖出去的
?????????????{
?????????????????image_start_num?++;
??????????????
?????????????????if?（image_start_num>=32）
?????????????????{
?????????????????????image_start_flag?=?image_start_flag_0;?//停車
?????????????????????
?????????????????????Buzzer_Mie（）;????????????????????
?????????????????????LED_Fill（0x00）;?
?????????????????????car_show（）;??????????
?????????????????????while（1）
?????????????????????{
?????????????????????????Led_turn_all（）;
?????????????????????????DELAY_MS（150）;
?????????????????????}
?????????????????}??????????????????????????????????????
?????????????????//在PWM里面，直接停車
?????????????}
?????????????
???????????
?????????????led_turn（LED3）;???//燈閃看頻率??????
???????????????
??????????????????????????????????????????
?????????????//臥倒保護
?????????????lie_down_angle?=?（s16）g_fAngle;
?????????????lie_down_flag?=?0;??????//很重要???????????
?????????????if（??（lie_down_angle?>?10.0）?||?（lie_down_angle<-36.0）?）
?????????????{
??????????????????lie_down_flag?=?1;??//臥倒
?????????????}?
?????????????
?????????????
??????????}
?????????
?????????
?????????//虛擬示波器看數據??
??????????if（mpu_finish_flag?==?1）???
??????????{?
???????????//r_Gyro_display（）;
???????????//zero_display（）;
???????????//OutPut_Data_Pid（）;
????????????mpu_finish_flag?=?0;
??????????}
????}
}


extern?u8?*img_bin_buff;??//指向原始二值圖像

extern?s16?car_speed;
ex

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

?????文件???????1341??2014-04-14?11:35??Program_Dolphin?5_26（KL26）\App\Inc\include.h

?????文件????????920??2013-10-23?11:57??Program_Dolphin?5_26（KL26）\App\Inc\MKL_it.h

?????文件??????10520??2014-07-18?17:26??Program_Dolphin?5_26（KL26）\App\main.c

?????文件????????468??2013-11-21?10:02??Program_Dolphin?5_26（KL26）\App\MKL_it.c

?????文件???????2392??2014-03-16?19:36??Program_Dolphin?5_26（KL26）\Board\Inc\5110.h

?????文件????????184??2014-05-10?19:36??Program_Dolphin?5_26（KL26）\Board\Inc\adjust.h

?????文件????????658??2014-02-10?12:03??Program_Dolphin?5_26（KL26）\Board\Inc\ASCII.h

?????文件?????????76??2014-02-13?16:09??Program_Dolphin?5_26（KL26）\Board\Inc\bluetooth.h

?????文件???????2095??2014-05-20?21:34??Program_Dolphin?5_26（KL26）\Board\Inc\camera.h

?????文件???????1612??2014-07-17?11:25??Program_Dolphin?5_26（KL26）\Board\Inc\dolphin.h

?????文件???????1966??2014-07-02?02:25??Program_Dolphin?5_26（KL26）\Board\Inc\key.h

?????文件????????321??2014-02-10?12:04??Program_Dolphin?5_26（KL26）\Board\Inc\key_event.h

?????文件???????1220??2014-01-11?20:16??Program_Dolphin?5_26（KL26）\Board\Inc\l3g4200d.h

?????文件????????301??2014-04-14?11:45??Program_Dolphin?5_26（KL26）\Board\Inc\l3g4200d_i2c.h

?????文件???????5229??2014-02-10?12:05??Program_Dolphin?5_26（KL26）\Board\Inc\LCD.h

?????文件????????686??2014-02-10?12:06??Program_Dolphin?5_26（KL26）\Board\Inc\LCD_CH.h

?????文件???????4384??2014-02-10?12:06??Program_Dolphin?5_26（KL26）\Board\Inc\LCD_ST7735R.h

?????文件???????4408??2014-02-10?12:06??Program_Dolphin?5_26（KL26）\Board\Inc\LCD_ST7735S.h

?????文件????????955??2014-04-02?20:56??Program_Dolphin?5_26（KL26）\Board\Inc\LED.H

?????文件???????2719??2014-05-07?21:12??Program_Dolphin?5_26（KL26）\Board\Inc\MKL_conf.h

?????文件???????3439??2014-02-10?12:08??Program_Dolphin?5_26（KL26）\Board\Inc\MMA7455.h

?????文件???????1831??2014-02-10?12:08??Program_Dolphin?5_26（KL26）\Board\Inc\NRF24L0.h

?????文件???????2352??2014-02-10?12:09??Program_Dolphin?5_26（KL26）\Board\Inc\NRF24L0_MSG.h

?????文件???????3708??2014-07-11?15:08??Program_Dolphin?5_26（KL26）\Board\Inc\OLED.h

?????文件???????2396??2014-02-20?16:51??Program_Dolphin?5_26（KL26）\Board\Inc\OV7725_Eagle.h

?????文件???????4708??2014-02-10?12:09??Program_Dolphin?5_26（KL26）\Board\Inc\OV7725_REG.h

?????文件????????944??2014-07-08?18:07??Program_Dolphin?5_26（KL26）\Board\Inc\pid.h

?????文件??????????0??2014-04-02?20:52??Program_Dolphin?5_26（KL26）\Board\Inc\plan.h

?????文件???????3937??2014-02-10?12:10??Program_Dolphin?5_26（KL26）\Board\Inc\PORT_cfg.h

?????文件????????108??2014-03-17?10:40??Program_Dolphin?5_26（KL26）\Board\Inc\pwm.h

............此處省略273個文件信息