嵌入式小车实验实验报告..doc

嵌入式小车实验实验报告 一、实验功能介绍 本实验采用ARM7系列的EasyARM2131作为智能小车的检测和控制核心。我们使用步进电机作为小车的马达，通过调整PWM输出的占空比控制步进电机。引脚P0.0、、、 图（1） 图（2） 图（3） 图（4） 同时，LED灯进行流水灯，每按一下按键蜂鸣器发一声。 控制流程：key1控制小车前进，按两下key1，加速前进；key2控制小车倒退，按两下，加速倒退；key3控制小车左转；key4控制小车右转；key5控制小车停止。 二、嵌入式小车实验图片 下图为给ARM下载程序时： 下图为小车运行时正面： 下图为小车运行时背面： 三、程序代码 PWM程序： #include ../user/includes.h #define PWM_TC_EN 1 #define PWM_RST 2 #define PWM_EN 8 #define PWM_VAL_LIST_SIZE 5 const u32 pwm_mr_val[PWM_VAL_LIST_SIZE] = {PWMMR_VAL_0, PWMMR_VAL_1, PWMMR_VAL_2, PWMMR_VAL_3, PWMMR_VAL_4}; #define PWM_VAL_PTR_ORG 2 //初始化时指向pwm_mr_val的第2项，开始时输出1500微秒 #define PWM_VAL_PTR_TRE 3 #define PWM_VAL_PTR_ONE 1 u8 g_pwm_val_left_ptr = PWM_VAL_PTR_ORG; u8 g_pwm_val_right_ptr = PWM_VAL_PTR_ORG; void pwm_init(void) { //设置P0.0，P0.1为PWM1与PWM3输出引脚 PINSEL0 = 0xFFFFFFF0; PINSEL0 |= 0x0000000A; g_pwm_val_left_ptr = PWM_VAL_PTR_ORG; g_pwm_val_right_ptr = PWM_VAL_PTR_ORG; PWMTCR = PWM_RST; PWMPR = 0; PWMPCR = 0; PWMLER = 0; //不锁存 PWMMR0 = PWMMR0_VAL; //设置PWM的周期为20ms PWMMR1 = pwm_mr_val[g_pwm_val_left_ptr]; PWMMR3 = pwm_mr_val[g_pwm_val_right_ptr]; PWMLER = (PWM0 | PWM1 | PWM3); PWMMCR = 2; //匹配后复位 PWMPCR = (PWM1 | PWM3) 8; //设置PWM1和PWM3有效 PWMTCR = PWM_TC_EN | PWM_EN; //PWM_TC_EN为开始计数，PWM_EN为整个PWM输出的使能开关 } void pwm_acc(u8 pwm) { if(pwm PWM1) { if(g_pwm_val_left_ptr + 1 PWM_VAL_LIST_SIZE) { g_pwm_val_left_ptr ++; PWMLER = ~PWM1; PWMMR1 = pwm_mr_val[g_pwm_val_left_ptr]; PWMLER |= PWM1; } } if(pwm PWM3) { if(g_pwm_val_right_ptr + 1 PWM_VAL_LIST_SIZE) { g_pwm_val_right_ptr ++; PWMLER = ~PWM3; PWMMR3 = pwm_mr_val[g_pwm_val_right_ptr]; PWMLER |= PWM3; } } } void pwm_dec(u8 pwm) { if(pwm PWM1) { if(g_pwm_val_left_ptr 0) { g_pwm_val_left_ptr --; PWMLER = ~PWM1; PWMMR1 = pwm_mr_val[g_pwm_val_left_ptr]; PWMLER |= PWM1; } } if(pwm PWM3) { if(g_pwm_val_right_ptr 0) { g_pwm_val_right_ptr --; PWM