智能车制作

标题: 用128采集陀螺仪和加速度仪的零偏值，可是返回的始终是0，看很久也没看出是什么问题 [打印本页]

作者: cah506798484 时间: 2014-1-24 21:38
标题: 用128采集陀螺仪和加速度仪的零偏值，可是返回的始终是0，看很久也没看出是什么问题
#include <hidef.h>
#include "derivative.h"

unsigned int g_iAdGravityAngle, g_iAdGyroscopeAngleSpeed;

void ATD_Init(void)
{
ATD0DIEN = 0x00;                //禁止数字输入功能
ATD0CTL1 = 0x40;                //分辨率选择12位
ATD0CTL2 = 0x40;                //AD快速清零，禁止外部触发，禁止中断
ATD0CTL3 = 0x90;                //右对齐，转换序列长度为2
ATD0CTL4 = 0x03;                //采样时间选择为4个AD时钟周期一次
                                    // PRS=后五位的值
                                    //f（AD转换时间频率）=f(总线频率)/(2*(PRS+1))
ATD0CTL5 = 0x30;                //禁止特殊通道转换，连续转换，多通道采样
}

void SCI0_Init(void){

SCI0BD = 52;
SCI0CR1 = 0x00;
SCI0CR2 = 0x0c;
}

void capture_ATD(void)
{
unsigned int iAdGravityAngle = 0, iAdGyroscopeAngleSpeed = 0;
unsigned int i;

for (i = 0; i < 20; i++)
{
      while (!ATD0STAT2L_CCF0);
      iAdGravityAngle = ATD0DR0;
      while (!ATD0STAT2L_CCF1);
      iAdGyroscopeAngleSpeed = ATD0DR1;

      if(i == 20)
      {
         g_iAdGravityAngle = iAdGravityAngle/20;
         g_iAdGyroscopeAngleSpeed = iAdGyroscopeAngleSpeed/20;
      }
}
}

void delay(void){

unsigned int i, j;
for (i = 0; i < 500; i++)
   for (j = 0; j < 500; j++);

}

void main(void) {

unsigned char data1, data2, data3, data4;
ATD_Init();
SCI0_Init();
for (;;) {

      capture_ATD();
      while(!SCI0SR1_TDRE);
      data1 = (unsigned char)(g_iAdGravityAngle & 0x00ff);
      data2 = (unsigned char)(g_iAdGravityAngle >> 8);
      SCI0DRL = data2;
      delay();
      SCI0DRL = data1;
      delay();
      while(!SCI0SR1_TDRE);
      data3 = (unsigned char)(g_iAdGyroscopeAngleSpeed & 0x00ff);
      data4 = (unsigned char)(g_iAdGyroscopeAngleSpeed >> 8);
      SCI0DRL = data4;
      delay();
      SCI0DRL = data3;
      delay();
}
}

作者: cah506798484 时间: 2014-1-24 21:59
稍微有点思路了，用单步测试时有在第一次读到变量的值，[attach]55180[/attach]，后面那个变量没有被分配，这个我待会看看什么问题，之后读出来的值就始终是0，所以问题我想出在AD设置上面

作者: cah506798484 时间: 2014-1-24 22:22
[attach]55182[/attach]还是没搞懂。。。只有当i=0的时候才有读数，当i++后，两个读数值始终为0。。。菜鸟希望求解答。。。自己检查了很长时间没找到问题所在。。。

作者: cah506798484 时间: 2014-1-24 22:51

好吧，那些值本身就是不对的，并不是读取的，而且上面的程序也有很多毛病，根本问题应该就是AD寄存器设置不正确，导致没能读出数字量

作者: cah506798484 时间: 2014-1-25 10:11
新的一天，继续来解决问题

作者: cah506798484 时间: 2014-1-25 20:58

还是不行啊。。。。求大神发个能用的参考一下啊

作者: 机遇 时间: 2014-1-25 21:03
  for (i = 0; i < 20; i++)
{
      while (!ATD0STAT2L_CCF0);
      iAdGravityAngle = ATD0DR0;
      while (!ATD0STAT2L_CCF1);
      iAdGyroscopeAngleSpeed = ATD0DR1;

      if(i == 20)
      {
         g_iAdGravityAngle = iAdGravityAngle/20;
         g_iAdGyroscopeAngleSpeed = iAdGyroscopeAngleSpeed/20;
      }
   }数据都没累加还有i能等于20嘛

作者: cah506798484 时间: 2014-1-25 21:12

机遇发表于 2014-1-25 21:03
for (i = 0; i < 20; i++)
{
while (!ATD0STAT2L_CCF0);

嗯，这里是错了，~现在修改到#include <hidef.h>    #include "derivative.h"

unsigned int g_iAdGravityAngle = 0, g_iAdGyroscopeAngleSpeed = 0;

void ATD_Init(void){

ATD0CTL0 = 0x01;                //AN1反转
ATD0CTL1 = 0x40;                //分辨率选择12位
ATD0CTL2 = 0x40;                //AD快速清零，禁止外部触发，禁止中断
ATD0CTL3 = 0x90;                //右对齐，转换序列长度为2
ATD0CTL4 = 0x01;                //采样时间选择为4个AD时钟周期一次
                                    // PRS=后五位的值
                                    //f（AD转换时间频率）=f(总线频率)/(2*(PRS+1))
ATD0CTL5 = 0x30;                //禁止特殊通道转换，连续转换，多通道采样
ATD0DIEN = 0x00;                //禁止数字输入功能
}

void SCI0_Init(void){

SCI0BD = 52;
SCI0CR1 = 0x00;
SCI0CR2 = 0x0c;
}

void capture_ATD(void) {

while (!ATD0STAT2_CCF0);
g_iAdGravityAngle = ATD0DR0;
while (!ATD0STAT2_CCF1);
g_iAdGyroscopeAngleSpeed = ATD0DR1;
}

void delay(void){

unsigned int i, j;
for (i = 0; i < 500; i++)
   for (j = 0; j < 500; j++);

}

void main(void) {

unsigned char data1, data2, data3, data4;
ATD_Init();
SCI0_Init();
for (;;) {

      capture_ATD();
      while(!SCI0SR1_TDRE);
      data1 = (unsigned char)(g_iAdGravityAngle & 0x00ff);
      data2 = (unsigned char)(g_iAdGravityAngle >> 8);
      SCI0DRL = data2;
      delay();
      while(!SCI0SR1_TDRE);
      SCI0DRL = data1;
      delay();
      while(!SCI0SR1_TDRE);
      data3 = (unsigned char)(g_iAdGyroscopeAngleSpeed & 0x00ff);
      data4 = (unsigned char)(g_iAdGyroscopeAngleSpeed >> 8);
      SCI0DRL = data4;
      delay();
      while(!SCI0SR1_TDRE);
      SCI0DRL = data3;
      delay();
}
}

作者: cah506798484 时间: 2014-1-25 21:59

好吧。。。换了一块芯片。。。读的出来了0 0。。。唉，大概是芯片问题吧

作者: 余晖。。 时间: 2015-4-10 19:01
e 我的数据也是0
float OutData[4] = { 0 };
unsigned char databuf[10] = {0};
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_CNT; i++){
      CRC_Temp ^= Buf[i];
      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 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[i]  = (int)OutData[i];
temp1[i] = (unsigned int)temp[i];

}

  for(i=0;i<4;i++)
  {
databuf[i*2] = (unsigned char)(temp1[i]%256);
databuf[i*2+1] = (unsigned char)(temp1[i]/256);
  }

  CRC16 = CRC_CHECK(databuf,8);
  databuf[8] = CRC16%256;
  databuf[9] = CRC16/256;

  for(i=0;i<10;i++)
  uart_putchar(databuf[i]);
}
我用的这种我的是128

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