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#include "includes.h"
#include "API.h"
#define X_RUN 0X01
#define X_ADD 0X02
#define X_SUB 0X04
#define X_SHT 0X08
#define Y_M1 0X01
#define Y_M2 0X02
#define Y_M3 0X04
#define Y_EN 0X08
#define Y_TQ 0X10
#define Y_DIR 0X20
#define Y_LAT 0X40
uint_16 LastKeyValue,PreKeyValue,KeyValue;
uint_8 SegData[6];
uint_8 DivisionNum=16;
void SegDataConver(uint_16 data)
{
uint_8 i;
for(i=0;i<6;i++){
SegData[5-i]=data%10;
data/=10;
}
}
void IO_New (void)
{
uint_16 i;
LastKeyValue=PreKeyValue;
DIN_Module.NewValue=IO_Read();
for(i=0;i<DIN_NUM;i++){
if( ( DIN_Module.NewValue&(1<<i) )!= ( DIN_Module.OldValue&(1<<i) ) ){
DIN_Module.Timer[i]=20;//DIN_Module.FilterTime;
if( DIN_Module.NewValue&(1<<i) ){
DIN_Module.OldValue|= (1<<i);
}else{
DIN_Module.OldValue&=~(1<<i);
}
}else{
if(DIN_Module.Timer[i]==0){
if( DIN_Module.NewValue&(1<<i) ){
DIN_Module.Value|= (1<<i);
}else{
DIN_Module.Value&=~(1<<i);
}
}
}
}
PreKeyValue=DIN_Module.Value;
//----------------------------
KeyValue=0;
for(i=0;i<4;i++){
if( ((PreKeyValue&(1<<i))!=0) && ((LastKeyValue&(1<<i))==0) ){
KeyValue|=(1<<i);
}
}
//----------------------------
}
int main(void)
{
uint_16 MotorSpeed=0;
uint_8 MotorState=0;
uint_16 LastSpeed;
uint_32 Period;
uint_16 MotorCmd=0;
MotorCmd|=Y_M1;
MotorCmd|=Y_M2;
MotorCmd&=~Y_M3;
MotorCmd&=~Y_LAT;
MotorCmd&=~Y_TQ;
//1. 聲明主函數(shù)使用的變量
// uint_8 sentdata; //定義變量，用來(lái)存儲(chǔ)SPI0要發(fā)送的數(shù)據(jù)，并賦初值為A。
// uint_32 i;
//2. 關(guān)總中斷
DISABLE_INTERRUPTS;
light_init(RUN_LIGHT_BLUE,LIGHT_OFF);
light_init(RUN_LIGHT_RED,LIGHT_OFF);
light_init(RUN_LIGHT_GREEN,LIGHT_OFF);
systick_init(CORE_CLOCK_DIV_16,1);//1ms
//3. 初始化外設(shè)模塊
SPI_init(SPI_1,0,6000); //把SPI_1初始化為主機(jī)。
IO_ReadWriteInit();
//4. 給有關(guān)變量賦初值
//5. 使能模塊中斷
//6. 開(kāi)總中斷
// pwm_init(TPM0,TPMCH0,100,50);
ENABLE_INTERRUPTS;
//進(jìn)入主循環(huán)
//主循環(huán)開(kāi)始=============================================================
while(1){
if( TimerFlag&FLAG_500MS ){
light_control(RUN_LIGHT_BLUE,LIGHT_ON);
light_control(RUN_LIGHT_GREEN,LIGHT_ON);
light_control(RUN_LIGHT_RED,LIGHT_ON);
}else{
light_control(RUN_LIGHT_BLUE,LIGHT_OFF);
light_control(RUN_LIGHT_GREEN,LIGHT_OFF);
light_control(RUN_LIGHT_RED,LIGHT_OFF);
}
if(TimerFlag&FLAG_10MS){
IO_New();
if(MotorState==0){
if(KeyValue&X_RUN){
MotorSpeed=100;
MotorState=1;
MotorCmd|=Y_EN;
}
}else{
if(KeyValue&X_RUN){
MotorSpeed=0;
MotorState=0;
MotorCmd&=~Y_EN;
}
if(KeyValue&X_ADD){
MotorSpeed+=20;
if(MotorSpeed>=500){
MotorSpeed=500;
}
}
if(KeyValue&X_SUB){
MotorSpeed-=20;
if(MotorSpeed<=50){
MotorSpeed=50;
}
}
if(KeyValue&X_SHT){
MotorCmd^=Y_DIR;
}
}
if(MotorSpeed!=0){
if(MotorSpeed!=LastSpeed){
Period=100000*3/(MotorSpeed*DivisionNum);
// Period=MotorSpeed*10*DivisionNum/3;
pwm_init(TPM0,TPMCH0,Period,70);
}
}
IO_Write(MotorCmd);
SegDataConver(MotorSpeed);
LastSpeed=MotorSpeed;
TimerFlag&=~FLAG_10MS;
}
}//主循環(huán)end_for
//主循環(huán)結(jié)束==================================================================
return 0;
}

復(fù)制代碼