单片机学习笔记之4——新的单片机:TM4

///单片机学习笔记之4——新的单片机:TM4

单片机学习笔记之4——新的单片机:TM4

由于我参加了自控方向的电赛,而我们省的电赛又是由Ti公司赞助的,所以在比赛是使用Ti公司的单片机会有得分加成,这就使得我需要重新再学习一种新的单片机,虽然刚开始的时候内心是拒绝的,但是后来当接触到了Ti之后,发现这个公司的IDE以及库函数比我原来开发stm32的那一套工具好用多了,于是也渐渐开始能接受学习tm4这块板子了。

这是TI公司的 CCS8 IDE,感受一下这风格

在寒假期间,我把tm4的基础使用学习的差不多了,同时也自己构建了一些以我自己的代码风格为标准的tm4驱动库,这篇博文的主要目的也就是分享一下我自己写的这些库函数。排序比较随意,将就着看看吧……

代码使用的开发板型号:TM4C123GTX
单片机型号:TM4C123GH6PM

特别提示:由于不同种类的开发板及芯片型号的区别,请在移植时确保读懂代码,并确认代码与自己的库函数的兼容性,并根据需要修改端口配置等。如果不兼容的话,可能需要使用自己版本的库函数替换代码中的库函数,这一块请自行配置吧,应该不会太难的~
此外,有部分中断初测采用的是在中断向量表中注册的方式,所以并没有动态注册的代码,还请留意。

1.ADS模块

ADS模块,即数模转换模块,这个模块可以把电压信号转换为PWM波来供单片机读取,这个模块通常会与其他传感器连接,用于获取传感器的数值。我提供的这个ADS驱动库包含了单通道电压的读取。

//ads.h
#ifndef ADS_H

#define ADS_H

#define VOLTAGE_RESOLUTION                0.125  /* 满量程2.048V */
#define VOLTAGE_U0                        3300.0 /* mV */

void ADS_Init();
void Get_ADS_Value();

#endif
//ads.c
#include "ads.h"


#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_memmap.h"
#include "inc/hw_gpio.h"
#include "inc/hw_timer.h"
#include "inc/hw_types.h"
#include "inc/hw_ssi.h"
#include "driverlib/sysctl.h"
#include "driverlib/gpio.h"
#include "driverlib/pin_map.h"
#include "driverlib/ssi.h"
#include "driverlib/fpu.h"
#include "driverlib/uart.h"
#include "utils/uartstdio.h"
#include "sys_driver/ADS118/ads1118.h"
#include "libraries/delay/delay.h"

// ads寄存器输出值
uint16_t ads_outcode;

// ads1118测得电压值 单位 uV
double ads_voltage;

uint16_t ads_voltage_mv;

float fVoltage0 = 0, fVoltage1 = 0;

void ADS_Init()
{
    ADS1118_Init();
}

void Get_ADS_Value()
{
    ADS1118_Configure(ADS1118_CONFIG_0);
    delay_ms(10);
    ADS1118_DataGetFloat(&amp;fVoltage0);
    ADS1118_Configure(ADS1118_CONFIG_1);
    delay_ms(10);
    ADS1118_DataGetFloat(&amp;fVoltage1);
}

2.延时函数

制作延时函数的库其实很简单,甚至严格地说没有必要,甚至可以说有点浪费资源,但是因为我看不惯原本的延时函数那么复杂的一串代码,所以我还是把那个代码简化了一下。

//delay.h
#ifndef DELAY_H

#define DELAY_H

void delay_ms(int ms);//延时函数(以毫秒为单位)

#endif
//delay.c
# include "delay.h"


#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_types.h"
#include "inc/hw_memmap.h"
#include "inc/hw_ints.h"
#include "inc/hw_timer.h"
#include "driverlib/rom.h"
#include "driverlib/gpio.h"
#include "driverlib/pwm.h"
#include "driverlib/interrupt.h"
#include "driverlib/pin_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/timer.h"
#include "driverlib/uart.h"
#include "utils/uartstdio.h"
#include "driverlib/rom_map.h"

void delay_ms(int ms)
{
    SysCtlDelay(SysCtlClockGet()/3000*ms);
}

然后后来发现延时函数也可以采用宏定义的方式进行简化,这样的话其对资源的消耗就几乎没有了。

#define delay_ms(x) SysCtlDelay(SysCtlClockGet()/3000*x)

3.GPIO中断

这一块是GPIO输入中断的库函数,中断一直都是单片机里面非常实用的一个功能,这一块配置了A7端口的上升沿中断,并通过中断处理计算间隔时间。

//gpio_int.h
# ifndef GPIO_INT_H

# define GPIO_INT_H

void GPIO_Int_Init();//初始化I/O中断
void IntHandlerGPIOA();//I/O口中断处理函数


#endif
//gpio_int.c
#include "gpio_int.h"


#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_types.h"
#include "inc/hw_memmap.h"
#include "inc/hw_ints.h"
#include "inc/hw_timer.h"
#include "driverlib/rom.h"
#include "driverlib/gpio.h"
#include "driverlib/pwm.h"
#include "driverlib/interrupt.h"
#include "driverlib/pin_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/timer.h"
#include "driverlib/uart.h"
#include "utils/uartstdio.h"
#include "driverlib/rom_map.h"

bool bFinishFlag = false;
unsigned int gpio_Frequency=0;

void GPIO_Int_Init()
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
    while(!SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOA));
    GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_7);
    GPIOIntEnable(GPIO_PORTA_BASE, GPIO_PIN_7);
    GPIOIntTypeSet(GPIO_PORTA_BASE, GPIO_PIN_7, GPIO_RISING_EDGE);
    GPIOIntRegister(GPIO_PORTA_BASE, IntHandlerGPIOA);
    IntEnable(INT_GPIOA);
    IntMasterEnable();
}

void IntHandlerGPIOA()
{
    uint32_t ui32IntStatus;
    static uint32_t ui32Time[2] = {0};
    static uint8_t ui8EdgeCount = 0;
    double fPeriod = 0;
    ui32IntStatus = GPIOIntStatus(GPIO_PORTA_BASE, true);
    GPIOIntClear(GPIO_PORTA_BASE, ui32IntStatus);
    if((ui32IntStatus &amp; GPIO_PIN_7) == GPIO_PIN_7)
    {
        ui32Time[ui8EdgeCount++] = TimerValueGet(TIMER0_BASE, TIMER_A);
        if(ui8EdgeCount > 1) {
            ui8EdgeCount = 0;
            fPeriod = ui32Time[1] > ui32Time[0] ? ui32Time[1] - ui32Time[0]: ui32Time[1] - ui32Time[0] + 0xFFFFFFFF;
            gpio_Frequency = 80000000.0/fPeriod;
            bFinishFlag = true;
        }
    }
}

4.按键

这里的库函数使用的按键是开发板上自带的两个按键,并且写了两种配置方式:普通输入和按键中断。其实本质上说按键中断也算是GPIO中断。这里通过中断实现了获取按下按键的键值的功能。

//key.h
#ifndef KEY_H

#define KEY_H

void key_Init();//按键1和2初始化
void key_Int_Init();//按键1中断初始化
void IntHandler_GPIOF();//按键1中断处理函数(需要在key.c中修改功能)

#define SW_1 (GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_4)&amp;GPIO_PIN_4)?0:1//检测按键1是否按下,1为按下,0为没有按下
#define SW_2 (GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_0)&amp;GPIO_PIN_0)?0:1//检测按键2是否按下,1为按下,0为没有按下


#endif
//key.c
#include "key.h"


#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_memmap.h"
#include "inc/hw_ints.h"
#include "inc/hw_gpio.h"
#include "driverlib/gpio.h"
#include "driverlib/pin_map.h"
#include "driverlib/rom_map.h"
#include "driverlib\sysctl.h"
#include "libraries\delay\delay.h"
#include "libraries\LED\led.h"
#include "libraries\KEY\key.h"
#include "driverlib/interrupt.h"
#include "inc/hw_types.h"

int key_flag=0;

void key_Init()
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
    while(!SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOF));
    GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_4);
    GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_4, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
    HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
    HWREG(GPIO_PORTF_BASE + GPIO_O_CR) = 0x1;
    GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_0);
    GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_0, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
}

void key_Int_Init()
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
    while(!SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOF));
    HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
    HWREG(GPIO_PORTF_BASE + GPIO_O_CR) = 0x1;
    GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_4 | GPIO_PIN_0);
    GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_4 | GPIO_PIN_0, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
    GPIOIntEnable(GPIO_PORTF_BASE, GPIO_PIN_4 | GPIO_PIN_0);
    GPIOIntTypeSet(GPIO_PORTF_BASE, GPIO_PIN_4 | GPIO_PIN_0, GPIO_FALLING_EDGE);
    IntPrioritySet (INT_GPIOF, 0xE1);
    GPIOIntRegister(GPIO_PORTF_BASE, IntHandler_GPIOF);
    IntEnable(INT_GPIOF);
    IntMasterEnable();
}

void IntHandler_GPIOF()
{
    GPIOIntClear(GPIO_PORTF_BASE, GPIOIntStatus(GPIO_PORTF_BASE, true));
    if(SW_1)key_flag|=1;
    if(SW_2)key_flag|=2;
}

5.LED

我这块开发板上的三色LED也可以说是一个不错的功能了,通过三色组合可以创造出很多不同的颜色,这里的库函数提供了普通的点灯功能以及通过pwm初始化形成不同颜色的灯光的功能,并且写了一个RGB函数来快速改变颜色。同时我在宏定义中抄了一张标准的RGB色表,预定义了很多颜色(当然因为是发光所以颜色并不准),可以尝试一下使用。

//led.h
#ifndef LED_H

#define LED_H

#define MAX_DUTY 10000

void LED_Init();//三色LED灯初始化
void RGB_Init();//RGB输出模式初始化
void RGB(double red,double green,double blue);//设置输出颜色

#define RED_1 GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1, GPIO_PIN_1)//红灯亮
#define BLUE_1 GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, GPIO_PIN_2)//蓝灯亮
#define GREEN_1 GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_3, GPIO_PIN_3)//绿灯亮

#define RED_0 GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1, 0)//红灯灭
#define BLUE_0 GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_2, 0)//蓝灯灭
#define GREEN_0 GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_3, 0)//绿灯灭

#define RED_Status ((GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_1)&amp;GPIO_PIN_1) == GPIO_PIN_1)?1:0//获取红灯是否开启
#define BLUE_Status ((GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_2)&amp;GPIO_PIN_2) == GPIO_PIN_2)?1:0//获取蓝灯是否开启
#define GREEN_Status ((GPIOPinRead(GPIO_PORTF_BASE, GPIO_PIN_3)&amp;GPIO_PIN_3) == GPIO_PIN_3)?1:0//获取绿灯是否开启

//预定义颜色
//参考网址:http://www.wahart.com.hk/rgb.htm
#define                 Snow RGB(255,250,250)
#define           GhostWhite RGB(248,248,255)
#define           WhiteSmoke RGB(245,245,245)
#define            Gainsboro RGB(220,220,220)
#define          FloralWhite RGB(255,250,240)
#define              OldLace RGB(253,245,230)
#define                Linen RGB(250,240,230)
#define         AntiqueWhite RGB(250,235,215)
#define           PapayaWhip RGB(255,239,213)
#define       BlanchedAlmond RGB(255,235,205)
#define               Bisque RGB(255,228,196)
#define            PeachPuff RGB(255,218,185)
#define          NavajoWhite RGB(255,222,173)
#define             Moccasin RGB(255,228,181)
#define             Cornsilk RGB(255,248,220)
#define                Ivory RGB(255,255,240)
#define         LemonChiffon RGB(255,250,205)
#define             Seashell RGB(255,245,238)
#define             Honeydew RGB(240,255,240)
#define            MintCream RGB(245,255,250)
#define                Azure RGB(240,255,255)
#define            AliceBlue RGB(240,248,255)
#define             lavender RGB(230,230,250)
#define        LavenderBlush RGB(255,240,245)
#define            MistyRose RGB(255,228,225)
#define                White RGB(255,255,255)
#define                Black RGB(  0,  0,  0)
#define        DarkSlateGray RGB( 47, 79, 79)
#define              DimGrey RGB(105,105,105)
#define            SlateGrey RGB(112,128,144)
#define       LightSlateGray RGB(119,136,153)
#define                 Grey RGB(190,190,190)
#define            LightGray RGB(211,211,211)
#define         MidnightBlue RGB( 25, 25,112)
#define             NavyBlue RGB(  0,  0,128)
#define       CornflowerBlue RGB(100,149,237)
#define        DarkSlateBlue RGB( 72, 61,139)
#define            SlateBlue RGB(106, 90,205)
#define      MediumSlateBlue RGB(123,104,238)
#define       LightSlateBlue RGB(132,112,255)
#define           MediumBlue RGB(  0,  0,205)
#define            RoyalBlue RGB( 65,105,225)
#define                 Blue RGB(  0,  0,255)
#define           DodgerBlue RGB( 30,144,255)
#define          DeepSkyBlue RGB(  0,191,255)
#define              SkyBlue RGB(135,206,235)
#define         LightSkyBlue RGB(135,206,250)
#define            SteelBlue RGB( 70,130,180)
#define       LightSteelBlue RGB(176,196,222)
#define            LightBlue RGB(173,216,230)
#define           PowderBlue RGB(176,224,230)
#define        PaleTurquoise RGB(175,238,238)
#define        DarkTurquoise RGB(  0,206,209)
#define      MediumTurquoise RGB( 72,209,204)
#define            Turquoise RGB( 64,224,208)
#define                 Cyan RGB(  0,255,255)
#define            LightCyan RGB(224,255,255)
#define            CadetBlue RGB( 95,158,160)
#define     MediumAquamarine RGB(102,205,170)
#define           Aquamarine RGB(127,255,212)
#define            DarkGreen RGB(  0,100,  0)
#define       DarkOliveGreen RGB( 85,107, 47)
#define         DarkSeaGreen RGB(143,188,143)
#define             SeaGreen RGB( 46,139, 87)
#define       MediumSeaGreen RGB( 60,179,113)
#define        LightSeaGreen RGB( 32,178,170)
#define            PaleGreen RGB(152,251,152)
#define          SpringGreen RGB(  0,255,127)
#define            LawnGreen RGB(124,252,  0)
#define                Green RGB(  0,255,  0)
#define           Chartreuse RGB(127,255,  0)
#define       MedSpringGreen RGB(  0,250,154)
#define          GreenYellow RGB(173,255, 47)
#define            LimeGreen RGB( 50,205, 50)
#define          YellowGreen RGB(154,205, 50)
#define          ForestGreen RGB( 34,139, 34)
#define            OliveDrab RGB(107,142, 35)
#define            DarkKhaki RGB(189,183,107)
#define        PaleGoldenrod RGB(238,232,170)
#define     LtGoldenrodYello RGB(250,250,210)
#define          LightYellow RGB(255,255,224)
#define               Yellow RGB(255,255,  0)
#define                 Gold RGB(255,215,  0)
#define       LightGoldenrod RGB(238,221,130)
#define            goldenrod RGB(218,165, 32)
#define        DarkGoldenrod RGB(184,134, 11)
#define            RosyBrown RGB(188,143,143)
#define            IndianRed RGB(205, 92, 92)
#define          SaddleBrown RGB(139, 69, 19)
#define               Sienna RGB(160, 82, 45)
#define                 Peru RGB(205,133, 63)
#define            Burlywood RGB(222,184,135)
#define                Beige RGB(245,245,220)
#define                Wheat RGB(245,222,179)
#define           SandyBrown RGB(244,164, 96)
#define                  Tan RGB(210,180,140)
#define            Chocolate RGB(210,105, 30)
#define            Firebrick RGB(178, 34, 34)
#define                Brown RGB(165, 42, 42)
#define           DarkSalmon RGB(233,150,122)
#define               Salmon RGB(250,128,114)
#define          LightSalmon RGB(255,160,122)
#define               Orange RGB(255,165,  0)
#define           DarkOrange RGB(255,140,  0)
#define                Coral RGB(255,127, 80)
#define           LightCoral RGB(240,128,128)
#define               Tomato RGB(255, 99, 71)
#define            OrangeRed RGB(255, 69,  0)
#define                  Red RGB(255,  0,  0)
#define              HotPink RGB(255,105,180)
#define             DeepPink RGB(255, 20,147)
#define                 Pink RGB(255,192,203)
#define            LightPink RGB(255,182,193)
#define        PaleVioletRed RGB(219,112,147)
#define               Maroon RGB(176, 48, 96)
#define      MediumVioletRed RGB(199, 21,133)
#define            VioletRed RGB(208, 32,144)
#define              Magenta RGB(255,  0,255)
#define               Violet RGB(238,130,238)
#define                 Plum RGB(221,160,221)
#define               Orchid RGB(218,112,214)
#define         MediumOrchid RGB(186, 85,211)
#define           DarkOrchid RGB(153, 50,204)
#define           DarkViolet RGB(148,  0,211)
#define           BlueViolet RGB(138, 43,226)
#define               Purple RGB(160, 32,240)
#define         MediumPurple RGB(147,112,219)
#define              Thistle RGB(216,191,216)
#define                Snow1 RGB(255,250,250)
#define                Snow2 RGB(238,233,233)
#define                Snow3 RGB(205,201,201)
#define                Snow4 RGB(139,137,137)
#define            Seashell1 RGB(255,245,238)
#define            Seashell2 RGB(238,229,222)
#define            Seashell3 RGB(205,197,191)
#define            Seashell4 RGB(139,134,130)
#define        AntiqueWhite1 RGB(255,239,219)
#define        AntiqueWhite2 RGB(238,223,204)
#define        AntiqueWhite3 RGB(205,192,176)
#define        AntiqueWhite4 RGB(139,131,120)
#define              Bisque1 RGB(255,228,196)
#define              Bisque2 RGB(238,213,183)
#define              Bisque3 RGB(205,183,158)
#define              Bisque4 RGB(139,125,107)
#define           PeachPuff1 RGB(255,218,185)
#define           PeachPuff2 RGB(238,203,173)
#define           PeachPuff3 RGB(205,175,149)
#define           PeachPuff4 RGB(139,119,101)
#define         NavajoWhite1 RGB(255,222,173)
#define         NavajoWhite2 RGB(238,207,161)
#define         NavajoWhite3 RGB(205,179,139)
#define         NavajoWhite4 RGB(139,121, 94)
#define        LemonChiffon1 RGB(255,250,205)
#define        LemonChiffon2 RGB(238,233,191)
#define        LemonChiffon3 RGB(205,201,165)
#define        LemonChiffon4 RGB(139,137,112)
#define            Cornsilk1 RGB(255,248,220)
#define            Cornsilk2 RGB(238,232,205)
#define            Cornsilk3 RGB(205,200,177)
#define            Cornsilk4 RGB(139,136,120)
#define               Ivory1 RGB(255,255,240)
#define               Ivory2 RGB(238,238,224)
#define               Ivory3 RGB(205,205,193)
#define               Ivory4 RGB(139,139,131)
#define            Honeydew1 RGB(240,255,240)
#define            Honeydew2 RGB(224,238,224)
#define            Honeydew3 RGB(193,205,193)
#define            Honeydew4 RGB(131,139,131)
#define       LavenderBlush1 RGB(255,240,245)
#define       LavenderBlush2 RGB(238,224,229)
#define       LavenderBlush3 RGB(205,193,197)
#define       LavenderBlush4 RGB(139,131,134)
#define           MistyRose1 RGB(255,228,225)
#define           MistyRose2 RGB(238,213,210)
#define           MistyRose3 RGB(205,183,181)
#define           MistyRose4 RGB(139,125,123)
#define               Azure1 RGB(240,255,255)
#define               Azure2 RGB(224,238,238)
#define               Azure3 RGB(193,205,205)
#define               Azure4 RGB(131,139,139)
#define           SlateBlue1 RGB(131,111,255)
#define           SlateBlue2 RGB(122,103,238)
#define           SlateBlue3 RGB(105, 89,205)
#define           SlateBlue4 RGB( 71, 60,139)
#define           RoyalBlue1 RGB( 72,118,255)
#define           RoyalBlue2 RGB( 67,110,238)
#define           RoyalBlue3 RGB( 58, 95,205)
#define           RoyalBlue4 RGB( 39, 64,139)
#define                Blue1 RGB(  0,  0,255)
#define                Blue2 RGB(  0,  0,238)
#define                Blue3 RGB(  0,  0,205)
#define                Blue4 RGB(  0,  0,139)
#define          DodgerBlue1 RGB( 30,144,255)
#define          DodgerBlue2 RGB( 28,134,238)
#define          DodgerBlue3 RGB( 24,116,205)
#define          DodgerBlue4 RGB( 16, 78,139)
#define           SteelBlue1 RGB( 99,184,255)
#define           SteelBlue2 RGB( 92,172,238)
#define           SteelBlue3 RGB( 79,148,205)
#define           SteelBlue4 RGB( 54,100,139)
#define         DeepSkyBlue1 RGB(  0,191,255)
#define         DeepSkyBlue2 RGB(  0,178,238)
#define         DeepSkyBlue3 RGB(  0,154,205)
#define         DeepSkyBlue4 RGB(  0,104,139)
#define             SkyBlue1 RGB(135,206,255)
#define             SkyBlue2 RGB(126,192,238)
#define             SkyBlue3 RGB(108,166,205)
#define             SkyBlue4 RGB( 74,112,139)
#define        LightSkyBlue1 RGB(176,226,255)
#define        LightSkyBlue2 RGB(164,211,238)
#define        LightSkyBlue3 RGB(141,182,205)
#define        LightSkyBlue4 RGB( 96,123,139)
#define           SlateGray1 RGB(198,226,255)
#define           SlateGray2 RGB(185,211,238)
#define           SlateGray3 RGB(159,182,205)
#define           SlateGray4 RGB(108,123,139)
#define      LightSteelBlue1 RGB(202,225,255)
#define      LightSteelBlue2 RGB(188,210,238)
#define      LightSteelBlue3 RGB(162,181,205)
#define      LightSteelBlue4 RGB(110,123,139)
#define           LightBlue1 RGB(191,239,255)
#define           LightBlue2 RGB(178,223,238)
#define           LightBlue3 RGB(154,192,205)
#define           LightBlue4 RGB(104,131,139)
#define           LightCyan1 RGB(224,255,255)
#define           LightCyan2 RGB(209,238,238)
#define           LightCyan3 RGB(180,205,205)
#define           LightCyan4 RGB(122,139,139)
#define       PaleTurquoise1 RGB(187,255,255)
#define       PaleTurquoise2 RGB(174,238,238)
#define       PaleTurquoise3 RGB(150,205,205)
#define       PaleTurquoise4 RGB(102,139,139)
#define           CadetBlue1 RGB(152,245,255)
#define           CadetBlue2 RGB(142,229,238)
#define           CadetBlue3 RGB(122,197,205)
#define           CadetBlue4 RGB( 83,134,139)
#define           Turquoise1 RGB(  0,245,255)
#define           Turquoise2 RGB(  0,229,238)
#define           Turquoise3 RGB(  0,197,205)
#define           Turquoise4 RGB(  0,134,139)
#define                Cyan1 RGB(  0,255,255)
#define                Cyan2 RGB(  0,238,238)
#define                Cyan3 RGB(  0,205,205)
#define                Cyan4 RGB(  0,139,139)
#define       DarkSlateGray1 RGB(151,255,255)
#define       DarkSlateGray2 RGB(141,238,238)
#define       DarkSlateGray3 RGB(121,205,205)
#define       DarkSlateGray4 RGB( 82,139,139)
#define          Aquamarine1 RGB(127,255,212)
#define          Aquamarine2 RGB(118,238,198)
#define          Aquamarine3 RGB(102,205,170)
#define          Aquamarine4 RGB( 69,139,116)
#define        DarkSeaGreen1 RGB(193,255,193)
#define        DarkSeaGreen2 RGB(180,238,180)
#define        DarkSeaGreen3 RGB(155,205,155)
#define        DarkSeaGreen4 RGB(105,139,105)
#define            SeaGreen1 RGB( 84,255,159)
#define            SeaGreen2 RGB( 78,238,148)
#define            SeaGreen3 RGB( 67,205,128)
#define            SeaGreen4 RGB( 46,139, 87)
#define           PaleGreen1 RGB(154,255,154)
#define           PaleGreen2 RGB(144,238,144)
#define           PaleGreen3 RGB(124,205,124)
#define           PaleGreen4 RGB( 84,139, 84)
#define         SpringGreen1 RGB(  0,255,127)
#define         SpringGreen2 RGB(  0,238,118)
#define         SpringGreen3 RGB(  0,205,102)
#define         SpringGreen4 RGB(  0,139, 69)
#define               Green1 RGB(  0,255,  0)
#define               Green2 RGB(  0,238,  0)
#define               Green3 RGB(  0,205,  0)
#define               Green4 RGB(  0,139,  0)
#define          Chartreuse1 RGB(127,255,  0)
#define          Chartreuse2 RGB(118,238,  0)
#define          Chartreuse3 RGB(102,205,  0)
#define          Chartreuse4 RGB( 69,139,  0)
#define           OliveDrab1 RGB(192,255, 62)
#define           OliveDrab2 RGB(179,238, 58)
#define           OliveDrab3 RGB(154,205, 50)
#define           OliveDrab4 RGB(105,139, 34)
#define      DarkOliveGreen1 RGB(202,255,112)
#define      DarkOliveGreen2 RGB(188,238,104)
#define      DarkOliveGreen3 RGB(162,205, 90)
#define      DarkOliveGreen4 RGB(110,139, 61)
#define               Khaki1 RGB(255,246,143)
#define               Khaki2 RGB(238,230,133)
#define               Khaki3 RGB(205,198,115)
#define               Khaki4 RGB(139,134, 78)
#define      LightGoldenrod1 RGB(255,236,139)
#define      LightGoldenrod2 RGB(238,220,130)
#define      LightGoldenrod3 RGB(205,190,112)
#define      LightGoldenrod4 RGB(139,129, 76)
#define         LightYellow1 RGB(255,255,224)
#define         LightYellow2 RGB(238,238,209)
#define         LightYellow3 RGB(205,205,180)
#define         LightYellow4 RGB(139,139,122)
#define              Yellow1 RGB(255,255,  0)
#define              Yellow2 RGB(238,238,  0)
#define              Yellow3 RGB(205,205,  0)
#define              Yellow4 RGB(139,139,  0)
#define                Gold1 RGB(255,215,  0)
#define                Gold2 RGB(238,201,  0)
#define                Gold3 RGB(205,173,  0)
#define                Gold4 RGB(139,117,  0)
#define           Goldenrod1 RGB(255,193, 37)
#define           Goldenrod2 RGB(238,180, 34)
#define           Goldenrod3 RGB(205,155, 29)
#define           Goldenrod4 RGB(139,105, 20)
#define       DarkGoldenrod1 RGB(255,185, 15)
#define       DarkGoldenrod2 RGB(238,173, 14)
#define       DarkGoldenrod3 RGB(205,149, 12)
#define       DarkGoldenrod4 RGB(139,101,  8)
#define           RosyBrown1 RGB(255,193,193)
#define           RosyBrown2 RGB(238,180,180)
#define           RosyBrown3 RGB(205,155,155)
#define           RosyBrown4 RGB(139,105,105)
#define           IndianRed1 RGB(255,106,106)
#define           IndianRed2 RGB(238, 99, 99)
#define           IndianRed3 RGB(205, 85, 85)
#define           IndianRed4 RGB(139, 58, 58)
#define              Sienna1 RGB(255,130, 71)
#define              Sienna2 RGB(238,121, 66)
#define              Sienna3 RGB(205,104, 57)
#define              Sienna4 RGB(139, 71, 38)
#define           Burlywood1 RGB(255,211,155)
#define           Burlywood2 RGB(238,197,145)
#define           Burlywood3 RGB(205,170,125)
#define           Burlywood4 RGB(139,115, 85)
#define               Wheat1 RGB(255,231,186)
#define               Wheat2 RGB(238,216,174)
#define               Wheat3 RGB(205,186,150)
#define               Wheat4 RGB(139,126,102)
#define                 Tan1 RGB(255,165, 79)
#define                 Tan2 RGB(238,154, 73)
#define                 Tan3 RGB(205,133, 63)
#define                 Tan4 RGB(139, 90, 43)
#define           Chocolate1 RGB(255,127, 36)
#define           Chocolate2 RGB(238,118, 33)
#define           Chocolate3 RGB(205,102, 29)
#define           Chocolate4 RGB(139, 69, 19)
#define           Firebrick1 RGB(255, 48, 48)
#define           Firebrick2 RGB(238, 44, 44)
#define           Firebrick3 RGB(205, 38, 38)
#define           Firebrick4 RGB(139, 26, 26)
#define               Brown1 RGB(255, 64, 64)
#define               Brown2 RGB(238, 59, 59)
#define               Brown3 RGB(205, 51, 51)
#define               Brown4 RGB(139, 35, 35)
#define              Salmon1 RGB(255,140,105)
#define              Salmon2 RGB(238,130, 98)
#define              Salmon3 RGB(205,112, 84)
#define              Salmon4 RGB(139, 76, 57)
#define         LightSalmon1 RGB(255,160,122)
#define         LightSalmon2 RGB(238,149,114)
#define         LightSalmon3 RGB(205,129, 98)
#define         LightSalmon4 RGB(139, 87, 66)
#define              Orange1 RGB(255,165,  0)
#define              Orange2 RGB(238,154,  0)
#define              Orange3 RGB(205,133,  0)
#define              Orange4 RGB(139, 90,  0)
#define          DarkOrange1 RGB(255,127,  0)
#define          DarkOrange2 RGB(238,118,  0)
#define          DarkOrange3 RGB(205,102,  0)
#define          DarkOrange4 RGB(139, 69,  0)
#define               Coral1 RGB(255,114, 86)
#define               Coral2 RGB(238,106, 80)
#define               Coral3 RGB(205, 91, 69)
#define               Coral4 RGB(139, 62, 47)
#define              Tomato1 RGB(255, 99, 71)
#define              Tomato2 RGB(238, 92, 66)
#define              Tomato3 RGB(205, 79, 57)
#define              Tomato4 RGB(139, 54, 38)
#define           OrangeRed1 RGB(255, 69,  0)
#define           OrangeRed2 RGB(238, 64,  0)
#define           OrangeRed3 RGB(205, 55,  0)
#define           OrangeRed4 RGB(139, 37,  0)
#define                 Red1 RGB(255,  0,  0)
#define                 Red2 RGB(238,  0,  0)
#define                 Red3 RGB(205,  0,  0)
#define                 Red4 RGB(139,  0,  0)
#define            DeepPink1 RGB(255, 20,147)
#define            DeepPink2 RGB(238, 18,137)
#define            DeepPink3 RGB(205, 16,118)
#define            DeepPink4 RGB(139, 10, 80)
#define             HotPink1 RGB(255,110,180)
#define             HotPink2 RGB(238,106,167)
#define             HotPink3 RGB(205, 96,144)
#define             HotPink4 RGB(139, 58, 98)
#define                Pink1 RGB(255,181,197)
#define                Pink2 RGB(238,169,184)
#define                Pink3 RGB(205,145,158)
#define                Pink4 RGB(139, 99,108)
#define           LightPink1 RGB(255,174,185)
#define           LightPink2 RGB(238,162,173)
#define           LightPink3 RGB(205,140,149)
#define           LightPink4 RGB(139, 95,101)
#define       PaleVioletRed1 RGB(255,130,171)
#define       PaleVioletRed2 RGB(238,121,159)
#define       PaleVioletRed3 RGB(205,104,137)
#define       PaleVioletRed4 RGB(139, 71, 93)
#define              Maroon1 RGB(255, 52,179)
#define              Maroon2 RGB(238, 48,167)
#define              Maroon3 RGB(205, 41,144)
#define              Maroon4 RGB(139, 28, 98)
#define           VioletRed1 RGB(255, 62,150)
#define           VioletRed2 RGB(238, 58,140)
#define           VioletRed3 RGB(205, 50,120)
#define           VioletRed4 RGB(139, 34, 82)
#define             Magenta1 RGB(255,  0,255)
#define             Magenta2 RGB(238,  0,238)
#define             Magenta3 RGB(205,  0,205)
#define             Magenta4 RGB(139,  0,139)
#define              Orchid1 RGB(255,131,250)
#define              Orchid2 RGB(238,122,233)
#define              Orchid3 RGB(205,105,201)
#define              Orchid4 RGB(139, 71,137)
#define                Plum1 RGB(255,187,255)
#define                Plum2 RGB(238,174,238)
#define                Plum3 RGB(205,150,205)
#define                Plum4 RGB(139,102,139)
#define        MediumOrchid1 RGB(224,102,255)
#define        MediumOrchid2 RGB(209, 95,238)
#define        MediumOrchid3 RGB(180, 82,205)
#define        MediumOrchid4 RGB(122, 55,139)
#define          DarkOrchid1 RGB(191, 62,255)
#define          DarkOrchid2 RGB(178, 58,238)
#define          DarkOrchid3 RGB(154, 50,205)
#define          DarkOrchid4 RGB(104, 34,139)
#define              Purple1 RGB(155, 48,255)
#define              Purple2 RGB(145, 44,238)
#define              Purple3 RGB(125, 38,205)
#define              Purple4 RGB( 85, 26,139)
#define        MediumPurple1 RGB(171,130,255)
#define        MediumPurple2 RGB(159,121,238)
#define        MediumPurple3 RGB(137,104,205)
#define        MediumPurple4 RGB( 93, 71,139)
#define             Thistle1 RGB(255,225,255)
#define             Thistle2 RGB(238,210,238)
#define             Thistle3 RGB(205,181,205)
#define             Thistle4 RGB(139,123,139)
#define               grey11 RGB( 28, 28, 28)
#define               grey21 RGB( 54, 54, 54)
#define               grey31 RGB( 79, 79, 79)
#define               grey41 RGB(105,105,105)
#define               grey51 RGB(130,130,130)
#define               grey61 RGB(156,156,156)
#define               grey71 RGB(181,181,181)
#define               gray81 RGB(207,207,207)
#define               gray91 RGB(232,232,232)
#define             DarkGrey RGB(169,169,169)
#define             DarkBlue RGB(  0,  0,139)
#define             DarkCyan RGB(  0,139,139)
#define          DarkMagenta RGB(139,  0,139)
#define              DarkRed RGB(139,  0,  0)
#define           LightGreen RGB(144,238,144)

#endif
//led.c
#include "led.h"


#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_types.h"
#include "inc/hw_memmap.h"
#include "inc/hw_gpio.h"
#include "driverlib/sysctl.h"
#include "driverlib/pin_map.h"
#include "driverlib/rom_map.h"
#include "driverlib/gpio.h"
#include "driverlib/pwm.h"


void LED_Init()
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
    while(!SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOF));
    GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1 | GPIO_PIN_2 |GPIO_PIN_3);
    RED_0;
    BLUE_0;
    GREEN_0;
}

void RGB_Init()
{
    MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1);
    MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
    GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, GPIO_PIN_1 | GPIO_PIN_2 |GPIO_PIN_3);
    RED_0;
    BLUE_0;
    GREEN_0;
    MAP_GPIOPinConfigure(GPIO_PF1_M1PWM5);
    MAP_GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_1);
    MAP_GPIOPinConfigure(GPIO_PF2_M1PWM6);
    MAP_GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_2);
    MAP_GPIOPinConfigure(GPIO_PF3_M1PWM7);
    MAP_GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_3);
    SysCtlPWMClockSet(SYSCTL_PWMDIV_2);
    PWMGenConfigure(PWM1_BASE, PWM_GEN_2,PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
    PWMGenConfigure(PWM1_BASE, PWM_GEN_3,PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
    PWMGenPeriodSet(PWM1_BASE, PWM_GEN_2,MAX_DUTY );
    PWMGenPeriodSet(PWM1_BASE, PWM_GEN_3,MAX_DUTY );
    PWMOutputState(PWM1_BASE,PWM_OUT_5_BIT, true);
    PWMOutputState(PWM1_BASE,PWM_OUT_6_BIT, true);
    PWMOutputState(PWM1_BASE,PWM_OUT_7_BIT, true);
    PWMGenEnable(PWM1_BASE, PWM_GEN_2);
    PWMGenEnable(PWM1_BASE, PWM_GEN_3);
    PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5,MAX_DUTY);
    PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6,MAX_DUTY);
    PWMPulseWidthSet(PWM1_BASE, PWM_OUT_7,MAX_DUTY);
}

void RGB(double red,double green,double blue)
{
    red=red/256.0*MAX_DUTY+1;
    green=green/256.0*MAX_DUTY+1;
    blue=blue/256.0*MAX_DUTY+1;
    if(red<0)red=1;
    if(green<0)green=1;
    if(blue<0)blue=1;
    PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5,(int)red);
    PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6,(int)blue);
    PWMPulseWidthSet(PWM1_BASE, PWM_OUT_7,(int)green);
}

6.电机

用单片机来操控电机可以说是自控方面最常遇到的情况了,当然其实现也比较简单。通过连接电机驱动模块就可以轻松使用I/O口来操控电机。这里的库函数实现了对单个单机的操控,当然可以再加上对多个电机的操控。
注:不同的电机模块的操作方式不尽相同,不过我也忘了我的模块型号是啥了……

//motor.h
#ifndef MOTOR_H

#define MOTOR_H

void Motor_Init();
void Motor_Adjust(int Value);

#endif
//motor.c
#include "motor.h"

#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_memmap.h"
#include "driverlib/pin_map.h"
#include "inc/hw_types.h"
#include "driverlib/gpio.h"
#include "driverlib/pwm.h"
#include "driverlib/sysctl.h"

void Motor_Init()
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
    SysCtlPWMClockSet(SYSCTL_PWMDIV_4);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
    GPIOPinConfigure(GPIO_PB6_M0PWM0);
    GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_6);
    PWMGenConfigure(PWM0_BASE, PWM_GEN_0,PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
    PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, 1000);
    PWMGenEnable(PWM0_BASE, PWM_GEN_0);
    PWMOutputState(PWM0_BASE,PWM_OUT_0_BIT, true);
    PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0,1);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
    GPIOPinTypeGPIOOutput(GPIO_PORTC_BASE, GPIO_PIN_4|GPIO_PIN_5);
    GPIOPinWrite(GPIO_PORTC_BASE, GPIO_PIN_4|GPIO_PIN_5, 0x0);
}

void Motor_Adjust(int Value)
{
    if(Value<-100)Value=-100;
    if(Value>100)Value=100;
    if(Value<0)
    {
        Value=-Value;
        Value=(Value+100)/2;
        PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, Value*10);
        GPIOPinWrite(GPIO_PORTC_BASE, GPIO_PIN_4|GPIO_PIN_5, ~GPIO_PIN_4|GPIO_PIN_5);
    }
    else if(Value>0)
    {
        Value=(Value+100)/2;
        PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, Value*10);
        GPIOPinWrite(GPIO_PORTC_BASE, GPIO_PIN_4|GPIO_PIN_5, GPIO_PIN_4|~GPIO_PIN_5);
    }
    else if(Value==0)
    {
        Value=1;
        PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, Value*10);
    }

}

7.OLED

使用单片机通过屏幕输出信息也是非常常见的需求,这里贴的代码改编自我的一位学长,这代码调用起来也是相当方便的。

//oled.h
/*
 * oled.h
 *
 *  Created on: 2016��10��17��
 *      Author: weycen
 */

#ifndef OLED_H_
#define OLED_H_

#include <stdint.h>



/* Peripheral definitions for EK-TM4C123G board */
// I2C port
#define OLED_I2C_BASE               I2C0_BASE
#define OLED_I2C_SYSCTL_PERIPH      SYSCTL_PERIPH_I2C0

// GPIO for I2C pins
#define OLED_GPIO_PORT_BASE         GPIO_PORTB_BASE
#define OLED_GPIO_SYSCTL_PERIPH     SYSCTL_PERIPH_GPIOB
#define OLED_I2C_SCL                GPIO_PIN_2
#define OLED_I2C_SDA                GPIO_PIN_3

#define OLED_I2C_PINS               (OLED_I2C_SCL | OLED_I2C_SDA)

// GPIO pin configuer
#define OLED_GPIO_I2C_SCL           GPIO_PB2_I2C0SCL
#define OLED_GPIO_I2C_SDA           GPIO_PB3_I2C0SDA

// commands define
#define OLED_I2C_ADDR              0x3C
#define OLED_I2C_DAT               0x40
#define OLED_I2C_CMD               0x00
#define WRITE                      false
#define READ                       true
#define OLED_CMD                   1
#define OLED_DAT                   0
#define OLED_DELAY                 600





extern void DelayXms(uint16_t xms);
extern void OLED_I2CInit(void);
extern void OLED_DrawPiexl(uint8_t u8X,uint8_t u8Y,bool bFILL);
extern void OLED_FillScreen(void);
extern void LCDDrawLine(uint8_t x0,uint8_t y0,uint8_t x1,uint8_t y1,bool FILL);
extern void OLED_ClearScreen();
extern void OLED_DisplayChinese(uint8_t u8X,uint8_t u8Y,uint8_t number);
extern void OLED_DisplayChar(uint8_t u8X,uint8_t u8Y,uint8_t chr);
extern void OLED_DisplayNumber(uint8_t u8X,uint8_t u8Y,double num,uint8_t dec_dig);


#endif /* OLED_H_ */
//oled.c
/*
 * oled.c
 *
 *  Created on: 2016年10月17日
 *      Author: weycen
 */
////OLED的显存
////存放格式如下.
////[0]0 1 2 3 ... 127
//      .
//      .
//      .
//      .
//      .
//      .
//      .
//      .
////[1]0 1 2 3 ... 127
////[2]0 1 2 3 ... 127
////[3]0 1 2 3 ... 127
////[4]0 1 2 3 ... 127
////[5]0 1 2 3 ... 127
////[6]0 1 2 3 ... 127
////[7]0 1 2 3 ... 127

#include <stdint.h>
#include <stdio.h>
#include <math.h>
#include <stdbool.h>
#include <string.h>
#include "inc/hw_memmap.h"
#include "inc/hw_i2c.h"
#include "inc/hw_sysctl.h"
#include "driverlib/sysctl.h"
#include "driverlib/gpio.h"
#include "driverlib/pin_map.h"
#include "driverlib/i2c.h"
#include "oled.h"
#include "oled_font.h"
#include "libraries/delay/delay.h"


/***********************************/
void OLED_Configuer(void);
void OLED_SetPosition(uint8_t u8X , uint8_t u8Y);
void OLED_I2CSendByte(uint8_t CMD_or_DAT, uint8_t Byte);
void OLED_FillScreen(void);

/************************************/



/***************************************************
 *    延时 s函数
 * ***********************************************/

void DelayXs(uint16_t xs)
{
    SysCtlDelay(xs*(SysCtlClockGet() / 3));
}

/***************************************************
 *    延时 ms函数
 * ***********************************************/

void DelayXms(uint16_t xms)
{
    SysCtlDelay(xms*(SysCtlClockGet() / 3000));
}

/***************************************************
 *    延时 us函数
 * ***********************************************/

void DelayXus(uint16_t xus)
{
    SysCtlDelay(xus*(SysCtlClockGet() / 3000000));
}

//****************************************
//
//  init oled I2C
//
//****************************************
void OLED_I2CInit(void)
{
    //
    SysCtlPeripheralEnable(OLED_GPIO_SYSCTL_PERIPH);
    SysCtlPeripheralEnable(OLED_I2C_SYSCTL_PERIPH);

    //
    GPIOPinTypeI2CSCL(OLED_GPIO_PORT_BASE, OLED_I2C_SCL);
    GPIOPinTypeI2C(OLED_GPIO_PORT_BASE, OLED_I2C_SDA);

    //
    GPIOPinConfigure(GPIO_PB2_I2C0SCL);
    GPIOPinConfigure(GPIO_PB3_I2C0SDA);

    //
    I2CMasterInitExpClk(OLED_I2C_BASE, SysCtlClockGet(), true);

    //
    OLED_Configuer();
    delay_ms(200);
    OLED_ClearScreen();
}

//
//  oled初始设置
//
void OLED_Configuer(void)
{
    /* display off */
    OLED_I2CSendByte(OLED_CMD,0xAE);

    /* set lower column address */
    OLED_I2CSendByte(OLED_CMD,0x00);

    /* set higher column address */
    OLED_I2CSendByte(OLED_CMD,0x10);

    /* set display start line */
    OLED_I2CSendByte(OLED_CMD,0x40);

    /* set page address */
    OLED_I2CSendByte(OLED_CMD,0xB0);

    /* contract control  */
    OLED_I2CSendByte(OLED_CMD,0x81);
    OLED_I2CSendByte(OLED_CMD,0x66);

    /* set segment remap */
    OLED_I2CSendByte(OLED_CMD,0xA1);

    /* normal / reverse */
    OLED_I2CSendByte(OLED_CMD,0xA6);

    /* multiplex ratio */
    OLED_I2CSendByte(OLED_CMD,0xA8);

    /* duty = 1/64 */
    OLED_I2CSendByte(OLED_CMD,0x3F);

    /* Com scan direction */
    OLED_I2CSendByte(OLED_CMD,0xC8);/* c3*/

    /* set display offset */
    OLED_I2CSendByte(OLED_CMD,0xD3);
    OLED_I2CSendByte(OLED_CMD,0x00);

    /* set osc division */
    OLED_I2CSendByte(OLED_CMD,0xD5);
    OLED_I2CSendByte(OLED_CMD,0x80);

    /* set area color mode off */
    OLED_I2CSendByte(OLED_CMD,0xD8);
    OLED_I2CSendByte(OLED_CMD,0x05);

    /* set pre-charge period */
    OLED_I2CSendByte(OLED_CMD,0xD9);
    OLED_I2CSendByte(OLED_CMD,0xF1);

    /* set COM pins */
    OLED_I2CSendByte(OLED_CMD,0xDA);
    OLED_I2CSendByte(OLED_CMD,0x12);

    /* set vcomh */
    OLED_I2CSendByte(OLED_CMD,0xDB);
    OLED_I2CSendByte(OLED_CMD,0x30);

    /* set charge pump disable */
    OLED_I2CSendByte(OLED_CMD,0x8D);
    OLED_I2CSendByte(OLED_CMD,0x14);

    /* display on*/
    OLED_I2CSendByte(OLED_CMD,0xAF);
}


//
// I2C发送一个字节
//
void OLED_I2CSendByte(uint8_t CMD_or_DAT,uint8_t Byte)
{
    uint8_t i2cWriteBuffer;

    // frame 1:  send slave_addr + R/W   0011 1100
    I2CMasterSlaveAddrSet(OLED_I2C_BASE, OLED_I2C_ADDR, false);

    // frame 2:
    I2CMasterControl(OLED_I2C_BASE, I2C_MASTER_CMD_BURST_SEND_START);

    //
    i2cWriteBuffer = (CMD_or_DAT == OLED_CMD) ? OLED_I2C_CMD : OLED_I2C_DAT;

    // frame 3:
    I2CMasterDataPut(OLED_I2C_BASE, i2cWriteBuffer);
    I2CMasterControl(OLED_I2C_BASE, I2C_MASTER_CMD_BURST_SEND_CONT);

    // wait for master free
    while(I2CMasterBusy(OLED_I2C_BASE))
        ;

    // frame 4:
    i2cWriteBuffer = Byte;

    I2CMasterDataPut(OLED_I2C_BASE, i2cWriteBuffer);

    // wait for master free
    while(I2CMasterBusy(OLED_I2C_BASE))
        ;

    I2CMasterControl(OLED_I2C_BASE, I2C_MASTER_CMD_BURST_SEND_FINISH);

    // wait for master free
    while(I2CMasterBusy(OLED_I2C_BASE))
        ;
}

//
//  在指定位置打点函数
// bFILL: true 填充 ,false 清除
void OLED_DrawPiexl(uint8_t u8X,uint8_t u8Y,bool bFILL)
{
    uint8_t temp;

    // 限幅
    u8X = u8X > 127 ? 127 : u8X;
    u8Y = u8Y > 63 ? 63 : u8Y;

    if( bFILL )
        temp = 0x01 << ( u8Y % 8 );
    else
        temp = ~ ( 0x01 << ( u8Y % 8 ) );

    // 设置目标点page
    OLED_SetPosition(u8X,u8Y);

    // 发送目标点数据
    OLED_I2CSendByte(OLED_DAT,temp);
}

//
// 设置坐标位置  x:0-127, y:0-63
//
void OLED_SetPosition( uint8_t u8X , uint8_t u8Y )
{
    OLED_I2CSendByte( OLED_CMD , 0xB0 + u8Y / 8 ); // y page
    OLED_I2CSendByte( OLED_CMD , ( ( u8X &amp; 0xF0 ) >> 4 ) | 0x10 ); // x轴
    OLED_I2CSendByte( OLED_CMD , ( u8X &amp; 0x0F ) );
}
//void OLED_SetPosition( uint8_t u8X , uint8_t u8Y )
//{
//    OLED_I2CSendByte( OLED_CMD , 0xB0 + u8Y); // y page
//    OLED_I2CSendByte( OLED_CMD , ( ( u8X &amp; 0xF0 ) >> 4 ) | 0x10 ); // x轴
//    OLED_I2CSendByte( OLED_CMD , ( u8X &amp; 0x0F ) );
//}

//
// 打开显示
//
void OLED_DisplayOn(void)
{
    OLED_I2CSendByte(OLED_CMD,0X8D);  //SET DCDC命令
    OLED_I2CSendByte(OLED_CMD,0X14);  //DCDC ON
    OLED_I2CSendByte(OLED_CMD,0XAF);  //DISPLAY ON
}

//
// 关闭显示
//
void OLED_DisplayOff(void)
{
    OLED_I2CSendByte(OLED_CMD,0X8D);  //SET DCDC命令
    OLED_I2CSendByte(OLED_CMD,0X10);  //DCDC off
    OLED_I2CSendByte(OLED_CMD,0XAE);  //DISPLAY off
}

//
// 清屏函数
//
void OLED_ClearScreen(void)
{
//    uint8_t x,y;
//    for(x=0;x<128;x++) // 128列
//    {
//        for(y=0;y<8;y++)
//        {
//            OLED_SetPosition(x,y*8); // 8页
//            OLED_I2CSendByte(OLED_DAT,0x00);  //每页竖着8位均写0
//        }
//    }

        uint8_t i,n;
        for(i=0;i<8;i++)
        {
            OLED_I2CSendByte(OLED_CMD,0xB0 + i);
            OLED_I2CSendByte(OLED_CMD,0x00);
            OLED_I2CSendByte(OLED_CMD,0x10);
            for(n=0;n<128;n++)
                OLED_I2CSendByte(OLED_DAT,0x0);
        } //更新显示
}

//
// oled写满屏
//
void OLED_FillScreen(void)
{
//    uint8_t x,y;
//    for(x=0;x<128;x++) // 128列
//    {
//        for(y=0;y<8;y++)
//        {
//            OLED_SetPosition(x,y*8); // 8页
//            OLED_I2CSendByte(OLED_DAT,0xFF);  //每页竖着8位均写0
//        }
//    }

    uint8_t i,n;
    for(i=0;i<8;i++)
    {
        OLED_I2CSendByte(OLED_CMD,0xB0 + i);
        OLED_I2CSendByte(OLED_CMD,0x00);
        OLED_I2CSendByte(OLED_CMD,0x10);
        for(n=0;n<128;n++)
            OLED_I2CSendByte(OLED_DAT,0xAA);
    } //更新显示

}

/*************************************************************
函数名:  LCDDrawLine
函数说明:使用Bresenham法,画任意两点间的直线
传入参数:(x0,y0),竖直线的起点;(x1,y1)竖直线的终点 color=1,点亮;color=0,擦除
传出参数:无
返回值:  无
************************************************************/
void LCDDrawLine(uint8_t x0,uint8_t y0,uint8_t x1,uint8_t y1,bool FILL)
{

    int32_t   dx;       // 直线x轴差值变量
    int32_t   dy;        // 直线y轴差值变量
    int32_t   dx_sym;   // x轴增长方向,为-1时减值方向,为1时增值方向
    int32_t   dy_sym;   // y轴增长方向,为-1时减值方向,为1时增值方向
    int32_t   dx_2;     // dx*2值变量,用于加快运算速度
    int32_t   dy_2;     // dy*2值变量,用于加快运算速度
    int32_t   di;       // 决策变量
    dx = x1-x0;     // 求取两点之间的差值
    dy = y1-y0;
    if(dx<0)
        dx_sym=-1;
    else{
        if(dx>0)
            dx_sym=1;
    }
    if(dy>0)
        dy_sym=1;
    else{
        if(dy<0)
            dy_sym=-1;
    }
    dx=dx_sym*dx;
    dy=dy_sym*dy;
    dx_2=dx*2;
    dy_2=dy*2;
    if(dx>=dy)
    {
        di=dy_2-dx;
        while(x0!=x1)
        {
            OLED_DrawPiexl(x0,y0,FILL);
            x0+=dx_sym;
            if(di<0)
                di+=dy_2;
            else{
                di+=dy_2-dx_2;
                y0+=dy_sym;
            }
        }
        OLED_DrawPiexl(x0,y0,FILL);
    }else{
        di=dx_2-dy;
        while(y0!=y1)
        {
            OLED_DrawPiexl(x0,y0,FILL);
            y0+=dy_sym;
            if(di<0)
                di+=dx_2;
            else{
                di+=dx_2-dy_2;
                x0+=dx_sym;
            }
        }
        OLED_DrawPiexl(x0,y0,FILL);
    }
}


//
//显示汉字
//
void OLED_DisplayChinese(uint8_t u8X,uint8_t u8Y,uint8_t number)
{
    uint8_t i/*adder=0*/;
    uint8_t temp;

    temp = 2 * number;
    OLED_SetPosition(u8X,u8Y); // 起始点,即页
    for( i = 0; i < 16; i++ )
    {
        OLED_I2CSendByte( OLED_DAT, FONT_16_16[ temp ][ i ] );
        //OLED_WR_Byte(Hzk[2*no][t],OLED_DATA);
        //adder + = 1;
     }

    OLED_SetPosition( u8X, u8Y + 8 ); // 移到下一页
    for( i = 0; i < 16; i++ )
    {
        OLED_I2CSendByte( OLED_DAT, FONT_16_16[ temp + 1 ][ i ] );
        //OLED_WR_Byte(Hzk[2*no+1][t],OLED_DATA);
        //adder+=1;
    }
}

//在指定位置显示一个字符,包括部分字符
//x:0~127
//y:0~63
//mode:0,反白显示;1,正常显示
//size:选择字体 16/12
void OLED_DisplayChar(uint8_t u8X,uint8_t u8Y,uint8_t chr)
{
    uint8_t i=0 , c=0;
    uint16_t temp ;

    c = chr-' ';//得到偏移后的值 asic码值
    temp = c*16;
//    if(Char_Size ==16)
//    {
        OLED_SetPosition(u8X,u8Y);
        for(i=0;i<8;i++)
            OLED_I2CSendByte(OLED_DAT,FONT_8_16[temp+i]);
        OLED_SetPosition(u8X,u8Y+8);
        for(i=0;i<8;i++)
            OLED_I2CSendByte(OLED_DAT,FONT_8_16[temp+i+8]);
//    }
//     else {
//         OLED_SetPosition(u8X,u8Y);
//        for(i=0;i<6;i++)
//            OLED_I2CSendByte(OLED_DAT,FONT_8_16[i]);
//        }
}

/**************************************************
*名称:void disp_num(double num,uchar dec_dig)
*功能:显示任意实数,并可设定保留小数位数,且有四舍五入功能
*入口参数:num :要显示的数 , dec_dig :保留小数位
**************************************************/
void OLED_DisplayNumber(uint8_t u8X,uint8_t u8Y,double num,uint8_t dec_dig)
{
    //uint32_t a;
    int num_int,num_dec_int,m=0,k=0,j;
    double num_dec;
    uint8_t xtemp,ytemp;
    xtemp =u8X;
    ytemp =u8Y;

    uint8_t integ[ 10 ],decim[ 10 ];
    num_int = ( int )( num + 5 * pow( 10,-( dec_dig + 1 ) ) );/* a= 1234 */
    num_dec = num - num_int; /* b= 0.5678 */

    for( j = num_int; j > 0; j = j / 10 )
    {
        integ[k++]=j % 10; /* 整数位分解 */
    }

    num_dec_int = ( int )( num_dec * pow( 10 , dec_dig ) );  /* 小数位变整数 */

    for(j=num_dec_int;j>0;j=j/10)
    {
        decim[m++]=j%10; /* 小数位分解 */
    }

    /* 显示整数位 */
    for(j=k-1;j>=0;j--)
    {
        OLED_DisplayChar(xtemp,ytemp,integ[j]+48);
        //LCDSendData(DAT,integ[j]+48);
        xtemp+=8;
    }

    if(num_int==0)
    {
        OLED_DisplayChar(xtemp,ytemp,'0');
        //LCDSendData(DAT,'0');
        xtemp+=8;
    }

    /*  显示整数 小数之间小数点*/
    OLED_DisplayChar(xtemp,ytemp,'.');
    //LCDSendData(DAT,'.');
    xtemp+=8;

    /*  显示小数位 */
    for(j=dec_dig-1;j>=0;j--)
    {
        OLED_DisplayChar(xtemp,ytemp,decim[j]+48);
        //LCDSendData(DAT,decim[j]+48);
        xtemp+=8;
    }
}

8.PWM

其实之前led的时候已经用过pwm了,不过这个库函数的目的是通过其他的I/O口输出PWM波,所以把它们分成了两个文件。

//pwm.h
#ifndef PWM_H

#define PWM_H

#include <stdint.h>
#include <stdbool.h>

void PWM_Init(uint32_t ui32Frequency);//初始化PWM输出
void Adjust_PWM(int duty,int frequency);//调整PWM频率和占空比(参数为0表示不改变)

#endif
//pwm.c
#include "pwm.h"

#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_types.h"
#include "inc/hw_memmap.h"
#include "inc/hw_ints.h"
#include "inc/hw_timer.h"
#include "driverlib/rom.h"
#include "driverlib/gpio.h"
#include "driverlib/pwm.h"
#include "driverlib/interrupt.h"
#include "driverlib/pin_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/timer.h"
#include "driverlib/uart.h"
#include "utils/uartstdio.h"
#include "driverlib/rom_map.h"

int _frequency=0;

void PWM_Init(uint32_t ui32Frequency)
{
    _frequency=ui32Frequency;
    SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
    GPIOPinConfigure(GPIO_PA6_M1PWM2);
    GPIOPinTypePWM(GPIO_PORTA_BASE, GPIO_PIN_6);
    PWMGenConfigure(PWM1_BASE, PWM_GEN_1, PWM_GEN_MODE_DOWN |PWM_GEN_MODE_NO_SYNC);
    PWMGenPeriodSet(PWM1_BASE, PWM_GEN_1, SysCtlClockGet()/ui32Frequency);
    PWMPulseWidthSet(PWM1_BASE, PWM_OUT_2, PWMGenPeriodGet(PWM1_BASE, PWM_GEN_1)/2);
    PWMOutputState(PWM1_BASE, PWM_OUT_2_BIT, true);
    PWMGenEnable(PWM1_BASE, PWM_GEN_1);
}

void Adjust_PWM(int duty,int frequency)
{
    static int _duty=50;
    if(!duty)
    {
        PWMGenPeriodSet(PWM1_BASE, PWM_GEN_1, SysCtlClockGet()/_frequency);
        PWMPulseWidthSet(PWM1_BASE, PWM_OUT_2, PWMGenPeriodGet(PWM1_BASE, PWM_GEN_1)*(_duty/2));
    }
}

9.编码器

同样地,编码器也是十分重要的内容,这里的驱动库实现了对于编码器的各种数值的获取。当然,这也是改编自学长的。

//QEI_Model.h
/*
 * QEI_Model.h
 *
 *  Created on: 2018年1月29日
 *      Author: bobo
 */

#ifndef QEI_MODEL_H_
#define QEI_MODEL_H_

typedef struct
{
    uint32_t periph;
    uint32_t base;
    uint32_t swap_flag;
    uint32_t Qinterrupt;

    uint32_t gpio_periph;
    uint32_t gpio_port;
    uint8_t  gpio_pin;
    uint32_t gpio_cfg_a;
    uint32_t gpio_cfg_b;

    int32_t dir;
    int32_t velocity;   /*  unit: pulse edge per second */   //
    int32_t Init_Pos;
    uint32_t Now_Pos;      //0~1040

}user_qei_data_t;

extern user_qei_data_t qei_data_array[2];
//extern void QEI_InitConfig(user_qei_data_t *qei_data);
extern void QEI_Config(void);
extern void QEI0_IRQHandler(void);

#endif /* QEI_MODEL_H_ */

//QEI_Model.h
#include <stdint.h>
#include <stdbool.h>
#include "inc/tm4c123gh6pm.h"
#include "driverlib/sysctl.h"
#include "driverlib/gpio.h"
#include "driverlib/pin_map.h"
#include "driverlib/qei.h"
#include "inc/hw_memmap.h"
#include "inc/hw_gpio.h"
#include "driverlib/interrupt.h"
#include "inc/hw_types.h"
#include "QEI_Model.h"

#define MOTOR_QEI_VEL_FREQ      10

bool Init_flag = true;

//void QEI_InitConfig(user_qei_data_t *qei_data);
void QEI_Config(void);

user_qei_data_t qei_data_array[2] =
{
        {        //QEI0: D6,D7
                .periph = SYSCTL_PERIPH_QEI0,
                .base = QEI0_BASE,
                .swap_flag = QEI_CONFIG_SWAP,
                .Qinterrupt = INT_QEI0,

                .gpio_periph = SYSCTL_PERIPH_GPIOD,
                .gpio_port = GPIO_PORTD_BASE,
                .gpio_pin = (GPIO_PIN_6 | GPIO_PIN_7),
                .gpio_cfg_a = GPIO_PD6_PHA0,
                .gpio_cfg_b = GPIO_PD7_PHB0,

                .dir = 1,   
                .velocity = 0,
                .Init_Pos = 0,
                .Now_Pos = 0,
        },

        {
                .periph = SYSCTL_PERIPH_QEI1,
                .base = QEI1_BASE,
                .swap_flag = QEI_CONFIG_NO_SWAP,
                .Qinterrupt = INT_QEI1,

                .gpio_periph = SYSCTL_PERIPH_GPIOC,
                .gpio_port = GPIO_PORTC_BASE,
                .gpio_pin = (GPIO_PIN_5 | GPIO_PIN_6),
                .gpio_cfg_a = GPIO_PC5_PHA1,
                .gpio_cfg_b = GPIO_PC6_PHB1,

                .dir = 1,
                .velocity = 0,
                .Init_Pos = 0,
                .Now_Pos = 0,
        },
};


void QEI_InitConfig(user_qei_data_t *qei_data)
{
    //
    // Enable the QEI0 peripheral
    //
    SysCtlPeripheralEnable(qei_data->periph);
    //
    // Wait for the QEI0 module to be ready.
    //
    while(!SysCtlPeripheralReady(qei_data->periph));
    //
    // Configure gpio
    //
    SysCtlPeripheralEnable(qei_data->gpio_periph);
    while(!SysCtlPeripheralReady(qei_data->gpio_periph));

    if(qei_data->gpio_port == GPIO_PORTD_BASE &amp;&amp; (qei_data->gpio_pin &amp; GPIO_PIN_7))
    {
        //
        // unlock PF0
        //
        HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = 0x4C4F434B;
        HWREG(GPIO_PORTD_BASE + GPIO_O_CR) |= GPIO_PIN_7;
        HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = 0x00;
    }

    GPIOPinConfigure(qei_data->gpio_cfg_a);
    GPIOPinConfigure(qei_data->gpio_cfg_b);

    GPIOPinTypeQEI(qei_data->gpio_port, qei_data->gpio_pin);

    //
    // Configure the quadrature encoder to capture edges on both signals and
    // maintain an absolute position by resetting on index pulses. Using a
    // 1000 line encoder at four edges per line, there are 4000 pulses per
    // revolution; therefore set the maximum position to 3999 as the count
    // is zero based.
    //1040 -> 0x410
    QEIConfigure(qei_data->base, (QEI_CONFIG_CAPTURE_A_B | QEI_CONFIG_NO_RESET | QEI_CONFIG_QUADRATURE | qei_data->swap_flag), 0x410);
    //
    // Enable the quadrature encoder.
    //
    QEIEnable(qei_data->base);
    //
    // Configure qei velocity 
    //
    QEIVelocityConfigure(qei_data->base, QEI_VELDIV_1, SysCtlClockGet() / MOTOR_QEI_VEL_FREQ);
    QEIVelocityEnable(qei_data->base);

    QEIIntEnable(qei_data->base, QEI_INTDIR | QEI_INTTIMER);

    IntEnable(qei_data->Qinterrupt);
    //INT_QEI0
    //IntRegister(INT_QEI0,QEI0_IRQHandler);
}


void QEI_Config(void)
{
//  uint32_t i;
//  for(i = 0; i < sizeof(qei_data_array) / sizeof(qei_data_array[0]); i++)  
//    {
//      QEI_InitConfig(qei_data_array + i);
//      SysCtlDelay(SysCtlClockGet()*10/3000);
//    }
   QEI_InitConfig(qei_data_array+0);
   SysCtlDelay(SysCtlClockGet()*5/3000);
}

void qei_irq_handler(int32_t QEInum)
{
    uint32_t status = QEIIntStatus(qei_data_array[QEInum].base, true);
    QEIIntClear(qei_data_array[QEInum].base, status);

    if(status &amp; QEI_INTTIMER)
    {
        qei_data_array[QEInum].velocity = QEIVelocityGet(qei_data_array[QEInum].base) * MOTOR_QEI_VEL_FREQ * QEIDirectionGet(qei_data_array[QEInum].base);
        //qei_data_array[QEInum].Now_Pos = QEIPositionGet(qei_data_array[QEInum].base);
    }

    if(status &amp; QEI_INTDIR)
    {
        qei_data_array[QEInum].dir = -qei_data_array[QEInum].dir;
    }

    if(Init_flag)
    {
        qei_data_array[QEInum].Init_Pos = QEIPositionGet(qei_data_array[QEInum].base);
        Init_flag = false;
    }

QEIPositionGet(qei_data_array[QEInum].base);
QEIVelocityGet(qei_data_array[QEInum].base) * MOTOR_QEI_VEL_FREQ * QEIDirectionGet(qei_data_array[QEInum].base);
}

void QEI0_IRQHandler(void)
{
    qei_irq_handler(0);
}

10.定时器

定时器是每一个项目中都必然会用到的东西,这里写的定时器驱动库编写了定时器0和1的普通使用以及使用其溢出中断。

//timer.h
# ifndef TIMER_H

# define TIMER_H

void Timer0_Int_Init();//定时器带溢出中断的初始化
void Timer1_Int_Init();
void Timer0BIntHandler();//定时器中断处理函数
void Timer1BIntHandler();
void Timer_Init();//定时器不带中断的初始化

#endif
//timer.c
#include "timer.h"

#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_memmap.h"
#include "inc/hw_ints.h"
#include "driverlib/gpio.h"
#include "driverlib/interrupt.h"
#include "driverlib/pin_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/timer.h"
#include "driverlib/uart.h"
#include "driverlib/rom_map.h"
#include "driverlib/rom.h"
#include "utils/uartstdio.h"
#include "libraries/LED/led.h"

int timer_flag=0;
extern int mode;

void Timer0_Int_Init()
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
    TimerClockSourceSet(TIMER0_BASE, TIMER_CLOCK_SYSTEM);
    TimerPrescaleSet(TIMER0_BASE, TIMER_B, 16 - 1);
    TimerConfigure(TIMER0_BASE, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_B_PERIODIC);
    TimerLoadSet(TIMER0_BASE, TIMER_B, ((SysCtlClockGet() / (TimerPrescaleGet(TIMER0_BASE, TIMER_B) + 1)) / 50) - 1);
    TimerIntRegister(TIMER0_BASE, TIMER_B, Timer0BIntHandler);
    TimerIntEnable(TIMER0_BASE, TIMER_TIMB_TIMEOUT);
    IntEnable(INT_TIMER0B);
    TimerEnable(TIMER0_BASE, TIMER_B);
    IntMasterEnable();
}

void Timer0BIntHandler()
{

}

void Timer_Init()
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
    TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC_UP);
    TimerLoadSet(TIMER0_BASE, TIMER_A, 0xFFFFFFFF);
    IntDisable(INT_TIMER0A);
    TimerEnable(TIMER0_BASE, TIMER_A);
    IntMasterEnable();
}

void Timer1_Int_Init()
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
    TimerClockSourceSet(TIMER1_BASE, TIMER_CLOCK_SYSTEM);
    TimerPrescaleSet(TIMER1_BASE, TIMER_B, 16 - 1);
    TimerConfigure(TIMER1_BASE, TIMER_CFG_SPLIT_PAIR | TIMER_CFG_B_PERIODIC);
    TimerLoadSet(TIMER1_BASE, TIMER_B, ((SysCtlClockGet() / (TimerPrescaleGet(TIMER1_BASE, TIMER_B) + 1)) / 500) - 1);
    TimerIntRegister(TIMER1_BASE, TIMER_B, Timer1BIntHandler);
    TimerIntEnable(TIMER1_BASE, TIMER_TIMB_TIMEOUT);
    IntEnable(INT_TIMER1B);
    TimerEnable(TIMER1_BASE, TIMER_B);
    IntMasterEnable();
}

void Timer1BIntHandler()
{

}

11.串口

串口也是很重要的东西啊!我写的串口库包括了普通模式和带接受中断的模式,适用于不同的情景下。我写的这个库包括了串口0和串口1的初始化,基本上能满足大部分情况了。

//uart.h
#ifndef UART_H

#define UART_H

#include <stdint.h>
#include <stdbool.h>

void UART0_Init(uint32_t ui32Baud);//串口0初始化
void UART0_Int_Init(uint32_t ui32Baud);//串口0中断初始化
void UART0IntHandler();//串口0中断处理函数
bool UARTDataDeal(char *pui8Data);//串口接收信息处理函数

void UART1_Init(uint32_t ui32Baud);//串口1初始化
void UART1_Int_Init(uint32_t ui32Baud);//串口1中断初始化
void UART1IntHandler();//串口1中断处理函数


#endif
//uart.c
#include "uart.h"


#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <string.h>
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_ints.h"
#include "inc/hw_gpio.h"
#include "driverlib/pin_map.h"
#include "driverlib/gpio.h"
#include "driverlib/sysctl.h"
#include "driverlib/interrupt.h"
#include "driverlib/uart.h"
#include "utils/uartstdio.h"
#include "../LED/led.h"
#include "../delay/delay.h"

int speed=100;
extern int mode;

void UART0_Init(uint32_t ui32Baud)
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
    GPIOPinConfigure(GPIO_PA0_U0RX);
    GPIOPinConfigure(GPIO_PA1_U0TX);
    GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
    UARTStdioConfig(0, ui32Baud, SysCtlClockGet());
}

void UART0_Int_Init(uint32_t ui32Baud)
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
    GPIOPinConfigure(GPIO_PA0_U0RX);
    GPIOPinConfigure(GPIO_PA1_U0TX);
    GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
    UARTStdioConfig(0, ui32Baud, SysCtlClockGet());
    UARTConfigSetExpClk(UART0_BASE, SysCtlClockGet(), ui32Baud,(UART_CONFIG_WLEN_8 |  UART_CONFIG_STOP_ONE |UART_CONFIG_PAR_NONE));
    UARTFIFOEnable(UART0_BASE);
    UARTFIFOLevelSet(UART0_BASE,UART_FIFO_TX2_8,UART_FIFO_TX4_8);
    UARTIntEnable(UART0_BASE, UART_INT_RX);
    IntPrioritySet (INT_UART0, 0xE0);
//    UARTIntRegister(UART0_BASE, UART0IntHandler);
    IntEnable(INT_UART0);
    IntMasterEnable();
}

void UART0IntHandler()
{
    char ui8RxBuffer[10]={0};
    uint8_t  i = 0;
    UARTIntClear(UART0_BASE, UARTIntStatus(UART0_BASE, true));
    delay_ms(1);
    while(UARTCharsAvail(UART0_BASE))
    {
        ui8RxBuffer[i++] =(uint8_t)UARTCharGetNonBlocking(UART0_BASE);
        if(ui8RxBuffer[i-1]=='\n')
        {
            ui8RxBuffer[i-1]=0;
            i=0;
            break;
        }
    }
    UARTDataDeal(ui8RxBuffer);
}

bool UARTDataDeal(char *pui8Data)
{
    char input[10]={0};
    int temp=100;
    input[0]=pui8Data[0];
    input[1]=pui8Data[1];
    input[2]=pui8Data[2];
    input[3]=pui8Data[3];
    input[4]=pui8Data[4];
    input[5]=pui8Data[5];
    input[6]=pui8Data[6];
    input[7]=pui8Data[7];

    if(mode==1)
    {
        if(input[4]=0,!strcmp(input,"dir+"))
        {
            UARTprintf("back:dir+\n");
            speed=abs(speed);
            return true;
        }
        else if(input[4]=0,!strcmp(input,"dir-"))
        {
            UARTprintf("back:dir-\n");
            speed=-1*abs(speed);
            return true;
        }
        else if(input[0]=='s'&amp;&amp;input[1]=='p'&amp;&amp;input[2]=='e'&amp;&amp;input[3]=='e')
        {
            temp=atoi(input+5);
            if(temp>180||temp<40)
            {
                temp=100;
                UARTprintf("wrong!\n");
            }
            if(speed>0)speed=temp;
            else speed=-1*temp;
            UARTprintf("Speed=%d\n",speed);
            return true;
        }
    }
    UARTprintf("wrong enter!\n");
    return false;
}

void UART1_Init(uint32_t ui32Baud)
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_UART1);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
    GPIOPinConfigure(GPIO_PB0_U1RX);
    GPIOPinTypeUART(GPIO_PORTB_BASE, GPIO_PIN_0);
    GPIOPinConfigure(GPIO_PB1_U1TX);
    GPIOPinTypeUART(GPIO_PORTB_BASE, GPIO_PIN_1);
    UARTConfigSetExpClk(UART1_BASE, SysCtlClockGet(), 115200,(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |UART_CONFIG_PAR_NONE));
    UARTEnable(UART1_BASE);
}

void UART1_Int_Init(uint32_t ui32Baud)
{
    HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
    HWREG(GPIO_PORTF_BASE + GPIO_O_CR) = 0x1;
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_UART1);
    GPIOPinConfigure(GPIO_PB0_U1RX);
    GPIOPinConfigure(GPIO_PB1_U1TX);
    GPIOPinTypeUART(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
    UARTStdioConfig(0, ui32Baud, SysCtlClockGet());
    UARTConfigSetExpClk(UART1_BASE, SysCtlClockGet(), ui32Baud,(UART_CONFIG_WLEN_8 |  UART_CONFIG_STOP_ONE |UART_CONFIG_PAR_NONE));
    UARTFIFOEnable(UART1_BASE);
    UARTFIFOLevelSet(UART1_BASE,UART_FIFO_TX2_8,UART_FIFO_TX2_8);
    UARTIntEnable(UART1_BASE, UART_INT_RX);
    IntPrioritySet (INT_UART1, 0xE0);
    UARTIntRegister(UART1_BASE, UART1IntHandler);
    IntEnable(INT_UART1);
    IntMasterEnable();
}

void UART1IntHandler()
{

}

以上就是这次tm4基础学习中我配置的驱动库啦~希望我能在接下来的学习中学到更多知识!

发布者 | 2019-02-12T18:27:11+08:00 二月 12th, 2019|单片机, 学习笔记|0条评论

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一个想要变强的萌新 座右铭:坚强大概——并不是指的的结果,而是迈向某个目标的过程吧。

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坚强大概——并不是指的的结果,而是迈向某个目标的过程吧。

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