├── 2018ALUS运放.PcbDoc ├── KEA128 ├── Libraries │ ├── drives │ │ ├── inc │ │ │ ├── KEA128_adc.h │ │ │ ├── KEA128_flash.h │ │ │ ├── KEA128_ftm.h │ │ │ ├── KEA128_gpio.h │ │ │ ├── KEA128_i2c.h │ │ │ ├── KEA128_irq.h │ │ │ ├── KEA128_kbi.h │ │ │ ├── KEA128_pit.h │ │ │ ├── KEA128_port.h │ │ │ ├── KEA128_port_cfg.h │ │ │ ├── KEA128_spi.h │ │ │ ├── KEA128_systick.h │ │ │ ├── KEA128_uart.h │ │ │ ├── common.h │ │ │ ├── headfile.h │ │ │ ├── imgwrite.h │ │ │ ├── init.h │ │ │ ├── misc.h │ │ │ └── welcom.h │ │ └── src │ │ │ ├── KEA128_adc.c │ │ │ ├── KEA128_flash.c │ │ │ ├── KEA128_ftm.c │ │ │ ├── KEA128_gpio.c │ │ │ ├── KEA128_i2c.c │ │ │ ├── KEA128_irq.c │ │ │ ├── KEA128_kbi.c │ │ │ ├── KEA128_pit.c │ │ │ ├── KEA128_port.c │ │ │ ├── KEA128_spi.c │ │ │ ├── KEA128_systick.c │ │ │ ├── KEA128_uart.c │ │ │ ├── common.c │ │ │ ├── imgwrite.c │ │ │ ├── init.c │ │ │ ├── misc.c │ │ │ └── welcom.c │ ├── seekfree │ │ ├── MFCCC9D.tmp │ │ ├── SEEKFREE_18TFT.c │ │ ├── SEEKFREE_18TFT.h │ │ ├── SEEKFREE_FUN.c │ │ ├── SEEKFREE_FUN.h │ │ ├── SEEKFREE_IIC.c │ │ ├── SEEKFREE_IIC.h │ │ ├── SEEKFREE_L3G4200D.c │ │ ├── SEEKFREE_L3G4200D.h │ │ ├── SEEKFREE_MMA8451.c │ │ ├── SEEKFREE_MMA8451.h │ │ ├── SEEKFREE_MPU6050.c │ │ ├── SEEKFREE_MPU6050.h │ │ ├── SEEKFREE_NRF24L01.c │ │ ├── SEEKFREE_NRF24L01.h │ │ ├── SEEKFREE_OLED.c │ │ ├── SEEKFREE_OLED.h │ │ ├── SEEKFREE_OLED1.c │ │ ├── SEEKFREE_OLED1.h │ │ ├── SEEKFREE_TSL1401.c │ │ ├── SEEKFREE_TSL1401.h │ │ ├── font.c │ │ └── font.h │ ├── startup │ │ ├── CoreSupport │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cmFunc.h │ │ │ └── core_cmInstr.h │ │ └── DeviceSupport │ │ │ ├── IAR-ARM │ │ │ └── startup_SKEAZ1284.s │ │ │ ├── MDK-ARM │ │ │ └── startup_SKEAZ1284.s │ │ │ ├── SKEAZ1284.h │ │ │ ├── system_SKEAZ1284.c │ │ │ └── system_SKEAZ1284.h │ └── version.txt └── Projecct │ ├── IAR │ ├── KEA128.eww │ ├── program │ │ ├── Backup (2) of KEA128.ewp │ │ ├── Backup (3) of KEA128.ewp │ │ ├── Backup of KEA128.ewp │ │ ├── BuildLog.log │ │ ├── Debug │ │ │ ├── Exe │ │ │ │ ├── KEA128.out │ │ │ │ └── KEA128.sim │ │ │ ├── List │ │ │ │ └── KEA128.map │ │ │ └── Obj │ │ │ │ ├── KEA128.pbd │ │ │ │ ├── KEA128.pbd.browse │ │ │ │ ├── KEA128.pbd.linf │ │ │ │ ├── KEA128_adc.o │ │ │ │ ├── KEA128_adc.pbi │ │ │ │ ├── KEA128_adc.pbi.xcl │ │ │ │ ├── KEA128_flash.o │ │ │ │ ├── KEA128_flash.pbi │ │ │ │ ├── KEA128_flash.pbi.xcl │ │ │ │ ├── KEA128_ftm.o │ │ │ │ ├── KEA128_ftm.pbi │ │ │ │ ├── KEA128_ftm.pbi.xcl │ │ │ │ ├── KEA128_gpio.o │ │ │ │ ├── KEA128_gpio.pbi │ │ │ │ ├── KEA128_gpio.pbi.xcl │ │ │ │ ├── KEA128_i2c.o │ │ │ │ ├── KEA128_i2c.pbi │ │ │ │ ├── KEA128_i2c.pbi.xcl │ │ │ │ ├── KEA128_irq.o │ │ │ │ ├── KEA128_irq.pbi │ │ │ │ ├── KEA128_irq.pbi.xcl │ │ │ │ ├── KEA128_kbi.o │ │ │ │ ├── KEA128_kbi.pbi │ │ │ │ ├── KEA128_kbi.pbi.xcl │ │ │ │ ├── KEA128_pit.o │ │ │ │ ├── KEA128_pit.pbi │ │ │ │ ├── KEA128_pit.pbi.xcl │ │ │ │ ├── KEA128_port.o │ │ │ │ ├── KEA128_port.pbi │ │ │ │ ├── KEA128_port.pbi.xcl │ │ │ │ ├── KEA128_spi.o │ │ │ │ ├── KEA128_spi.pbi │ │ │ │ ├── KEA128_spi.pbi.xcl │ │ │ │ ├── KEA128_systick.o │ │ │ │ ├── KEA128_systick.pbi │ │ │ │ ├── KEA128_systick.pbi.xcl │ │ │ │ ├── KEA128_uart.o │ │ │ │ ├── KEA128_uart.pbi │ │ │ │ ├── KEA128_uart.pbi.xcl │ │ │ │ ├── SEEKFREE_18TFT.o │ │ │ │ ├── SEEKFREE_18TFT.pbi │ │ │ │ ├── SEEKFREE_18TFT.pbi.xcl │ │ │ │ ├── SEEKFREE_FUN.o │ │ │ │ ├── SEEKFREE_FUN.pbi │ │ │ │ ├── SEEKFREE_FUN.pbi.xcl │ │ │ │ ├── SEEKFREE_IIC.o │ │ │ │ ├── SEEKFREE_IIC.pbi │ │ │ │ ├── SEEKFREE_IIC.pbi.xcl │ │ │ │ ├── SEEKFREE_L3G4200D.o │ │ │ │ ├── SEEKFREE_L3G4200D.pbi │ │ │ │ ├── SEEKFREE_L3G4200D.pbi.xcl │ │ │ │ ├── SEEKFREE_MMA8451.o │ │ │ │ ├── SEEKFREE_MMA8451.pbi │ │ │ │ ├── SEEKFREE_MMA8451.pbi.xcl │ │ │ │ ├── SEEKFREE_MPU6050.o │ │ │ │ ├── SEEKFREE_MPU6050.pbi │ │ │ │ ├── SEEKFREE_MPU6050.pbi.xcl │ │ │ │ ├── SEEKFREE_NRF24L01.o │ │ │ │ ├── SEEKFREE_NRF24L01.pbi │ │ │ │ ├── SEEKFREE_NRF24L01.pbi.xcl │ │ │ │ ├── SEEKFREE_OLED.o │ │ │ │ ├── SEEKFREE_OLED.pbi │ │ │ │ ├── SEEKFREE_OLED.pbi.xcl │ │ │ │ ├── SEEKFREE_TSL1401.o │ │ │ │ ├── SEEKFREE_TSL1401.pbi │ │ │ │ ├── SEEKFREE_TSL1401.pbi.xcl │ │ │ │ ├── common.o │ │ │ │ ├── common.pbi │ │ │ │ ├── common.pbi.xcl │ │ │ │ ├── font.o │ │ │ │ ├── font.pbi │ │ │ │ ├── font.pbi.xcl │ │ │ │ ├── imgwrite.o │ │ │ │ ├── imgwrite.pbi │ │ │ │ ├── imgwrite.pbi.xcl │ │ │ │ ├── init.o │ │ │ │ ├── init.pbi │ │ │ │ ├── init.pbi.xcl │ │ │ │ ├── isr.o │ │ │ │ ├── isr.pbi │ │ │ │ ├── isr.pbi.xcl │ │ │ │ ├── main.o │ │ │ │ ├── main.pbi │ │ │ │ ├── main.pbi.xcl │ │ │ │ ├── misc.o │ │ │ │ ├── misc.pbi │ │ │ │ ├── misc.pbi.xcl │ │ │ │ ├── startup_SKEAZ1284.o │ │ │ │ ├── system_SKEAZ1284.o │ │ │ │ ├── system_SKEAZ1284.pbi │ │ │ │ ├── system_SKEAZ1284.pbi.xcl │ │ │ │ ├── welcom.o │ │ │ │ ├── welcom.pbi │ │ │ │ └── welcom.pbi.xcl │ │ ├── KEA128.dep │ │ ├── KEA128.ewd │ │ ├── KEA128.ewp │ │ ├── KEA128.ewt │ │ ├── KEA128.icf │ │ └── settings │ │ │ ├── KEA128.Debug.cspy.bat │ │ │ ├── KEA128.Debug.cspy.ps1 │ │ │ ├── KEA128.Debug.driver.xcl │ │ │ ├── KEA128.Debug.general.xcl │ │ │ ├── KEA128.crun │ │ │ ├── KEA128.dbgdt │ │ │ ├── KEA128.dni │ │ │ ├── KEA128.dnx │ │ │ └── KEA128_Debug.jlink │ └── settings │ │ ├── KEA128.wsdt │ │ └── KEA128.wspos │ ├── MDK │ ├── EventRecorderStub.scvd │ ├── JLinkLog.txt │ ├── JLinkSettings.ini │ ├── KEA128.uvguix.SEEKFREE │ ├── KEA128.uvoptx │ ├── KEA128.uvprojx │ ├── Listings │ │ ├── KEA128.map │ │ └── startup_skeaz1284.lst │ └── Objects │ │ ├── ExtDll.iex │ │ ├── KEA128.axf │ │ ├── KEA128.build_log.htm │ │ ├── KEA128.htm │ │ ├── KEA128.lnp │ │ ├── KEA128.sct │ │ ├── KEA128_KEA128.dep │ │ ├── common.crf │ │ ├── common.d │ │ ├── common.o │ │ ├── font.crf │ │ ├── font.d │ │ ├── font.o │ │ ├── isr.crf │ │ ├── isr.d │ │ ├── isr.o │ │ ├── kea128_adc.crf │ │ ├── kea128_adc.d │ │ ├── kea128_adc.o │ │ ├── kea128_flash.crf │ │ ├── kea128_flash.d │ │ ├── kea128_flash.o │ │ ├── kea128_ftm.crf │ │ ├── kea128_ftm.d │ │ ├── kea128_ftm.o │ │ ├── kea128_gpio.crf │ │ ├── kea128_gpio.d │ │ ├── kea128_gpio.o │ │ ├── kea128_i2c.crf │ │ ├── kea128_i2c.d │ │ ├── kea128_i2c.o │ │ ├── kea128_irq.crf │ │ ├── kea128_irq.d │ │ ├── kea128_irq.o │ │ ├── kea128_kbi.crf │ │ ├── kea128_kbi.d │ │ ├── kea128_kbi.o │ │ ├── kea128_pit.crf │ │ ├── kea128_pit.d │ │ ├── kea128_pit.o │ │ ├── kea128_port.crf │ │ ├── kea128_port.d │ │ ├── kea128_port.o │ │ ├── kea128_spi.crf │ │ ├── kea128_spi.d │ │ ├── kea128_spi.o │ │ ├── kea128_systick.crf │ │ ├── kea128_systick.d │ │ ├── kea128_systick.o │ │ ├── kea128_uart.crf │ │ ├── kea128_uart.d │ │ ├── kea128_uart.o │ │ ├── main.crf │ │ ├── main.d │ │ ├── main.o │ │ ├── misc.crf │ │ ├── misc.d │ │ ├── misc.o │ │ ├── seekfree_18tft.crf │ │ ├── seekfree_18tft.d │ │ ├── seekfree_18tft.o │ │ ├── seekfree_fun.crf │ │ ├── seekfree_fun.d │ │ ├── seekfree_fun.o │ │ ├── seekfree_iic.crf │ │ ├── seekfree_iic.d │ │ ├── seekfree_iic.o │ │ ├── seekfree_l3g4200d.crf │ │ ├── seekfree_l3g4200d.d │ │ ├── seekfree_l3g4200d.o │ │ ├── seekfree_mma8451.crf │ │ ├── seekfree_mma8451.d │ │ ├── seekfree_mma8451.o │ │ ├── seekfree_mpu6050.crf │ │ ├── seekfree_mpu6050.d │ │ ├── seekfree_mpu6050.o │ │ ├── seekfree_nrf24l01.crf │ │ ├── seekfree_nrf24l01.d │ │ ├── seekfree_nrf24l01.o │ │ ├── seekfree_oled.crf │ │ ├── seekfree_oled.d │ │ ├── seekfree_oled.o │ │ ├── seekfree_tsl1401.crf │ │ ├── seekfree_tsl1401.d │ │ ├── seekfree_tsl1401.o │ │ ├── startup_skeaz1284.d │ │ ├── startup_skeaz1284.o │ │ ├── system_skeaz1284.crf │ │ ├── system_skeaz1284.d │ │ └── system_skeaz1284.o │ └── USER │ ├── inc │ ├── isr.h │ └── main.h │ └── src │ ├── isr.c │ └── main.c ├── README.md └── 三轮主控板基础板2.3.PcbDoc /2018ALUS运放.PcbDoc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/shengjiangcong/13th-Intelligence-Car-Race_Electromagnetic-tricycle/68e19d8e017533febfb17b25b2fcb5959f114ea2/2018ALUS运放.PcbDoc -------------------------------------------------------------------------------- /KEA128/Libraries/drives/inc/KEA128_adc.h: 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-------------------------------------------------------------------------------- /KEA128/Libraries/drives/inc/KEA128_uart.h: -------------------------------------------------------------------------------- 1 | #ifndef _KEA128_uart_h 2 | #define _KEA128_uart_h 3 | #include "misc.h" 4 | #include "common.h" 5 | #include "SKEAZ1284.h" 6 | #include "KEA128_port_cfg.h" 7 | #include "stdio.h" 8 | 9 | 10 | 11 | 12 | typedef enum 13 | { 14 | uart0, 15 | uart1, 16 | uart2, 17 | } UARTn; 18 | 19 | 20 | #define DEBUG_PORT uart2 21 | #define DEBUG_BAUD 115200 22 | 23 | 24 | 25 | uint32 uart_init(UARTn uartn, uint32 baud); 26 | void uart_putchar (UARTn uartn, uint8 ch); 27 | void uart_putbuff (UARTn uartn, uint8 *buff, uint32 len); 28 | void uart_putstr (UARTn uartn, const uint8 *str); 29 | void uart_getchar (UARTn uartn, uint8 *ch); 30 | void uart_rx_irq_en(UARTn uartn); 31 | void uart_txc_irq_en(UARTn uartn); 32 | void uart_rx_irq_dis(UARTn uartn); 33 | void uart_txc_irq_dis(UARTn uartn); 34 | 35 | 36 | #endif 37 | -------------------------------------------------------------------------------- /KEA128/Libraries/drives/inc/common.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/shengjiangcong/13th-Intelligence-Car-Race_Electromagnetic-tricycle/68e19d8e017533febfb17b25b2fcb5959f114ea2/KEA128/Libraries/drives/inc/common.h -------------------------------------------------------------------------------- /KEA128/Libraries/drives/inc/headfile.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/shengjiangcong/13th-Intelligence-Car-Race_Electromagnetic-tricycle/68e19d8e017533febfb17b25b2fcb5959f114ea2/KEA128/Libraries/drives/inc/headfile.h -------------------------------------------------------------------------------- /KEA128/Libraries/drives/inc/imgwrite.h: -------------------------------------------------------------------------------- 1 | #ifndef __IMG_H 2 | #define __IMG_H 3 | #include "common.h" 4 | void flashconf_write(void); 5 | void flashconf_read(void); 6 | #endif //__IMG_H -------------------------------------------------------------------------------- /KEA128/Libraries/drives/inc/init.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/shengjiangcong/13th-Intelligence-Car-Race_Electromagnetic-tricycle/68e19d8e017533febfb17b25b2fcb5959f114ea2/KEA128/Libraries/drives/inc/init.h -------------------------------------------------------------------------------- /KEA128/Libraries/drives/inc/misc.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/shengjiangcong/13th-Intelligence-Car-Race_Electromagnetic-tricycle/68e19d8e017533febfb17b25b2fcb5959f114ea2/KEA128/Libraries/drives/inc/misc.h -------------------------------------------------------------------------------- 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https://raw.githubusercontent.com/shengjiangcong/13th-Intelligence-Car-Race_Electromagnetic-tricycle/68e19d8e017533febfb17b25b2fcb5959f114ea2/KEA128/Libraries/drives/src/welcom.c -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/MFCCC9D.tmp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/shengjiangcong/13th-Intelligence-Car-Race_Electromagnetic-tricycle/68e19d8e017533febfb17b25b2fcb5959f114ea2/KEA128/Libraries/seekfree/MFCCC9D.tmp -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/SEEKFREE_18TFT.h: -------------------------------------------------------------------------------- 1 | /********************************************************************************************************************* 2 | * COPYRIGHT NOTICE 3 | * Copyright (c) 2017,逐飞科技 4 | * All rights reserved. 5 | * 技术讨论QQ群：179029047 6 | * 7 | * 以下所有内容版权均属逐飞科技所有，未经允许不得用于商业用途， 8 | * 欢迎各位使用并传播本程序，修改内容时必须保留逐飞科技的版权声明。 9 | * 10 | * @file TFT 11 | * @company 成都逐飞科技有限公司 12 | * @author 逐飞科技(QQ3184284598) 13 | * @version v2.0 14 | * @Software IAR 7.7 or MDK 5.23 15 | * @Target core S9KEA128AMLK 16 | * @Taobao https://seekfree.taobao.com/ 17 | * @date 2017-11-6 18 | * @note 19 | 1.8 TFT液晶接线定义： 20 | ------------------------------------ 21 | 模块管脚 单片机管脚 22 | SCL B2 23 | SDA B3 24 | RES B1 25 | DC B0 26 | CS B5 27 | 28 | 电源引脚 29 | BL 3.3V电源（背光控制引脚，也可以接PWM来控制亮度） 30 | VCC 3.3V电源 31 | GND 电源地 32 | 33 | ------------------------------------ 34 | 35 | ********************************************************************************************************************/ 36 | 37 | 38 | 39 | #ifndef _SEEKFREE_18TFT_H 40 | #define _SEEKFREE_18TFT_H 41 | 42 | #include "headfile.h" 43 | 44 | 45 | #define TFT_X_MAX 128 //液晶X方宽度 46 | #define TFT_Y_MAX 160 //液晶Y方宽度 47 | 48 | 49 | #define DC_PIN B0 //液晶命令位硬件定义 50 | #define REST_PIN B1 //液晶复位引脚定义 51 | #define DC(x) gpio_set(DC_PIN,x); 52 | #define REST(x) gpio_set(REST_PIN,x); 53 | 54 | //-------常用颜色---------- 55 | #define RED 0XF800 //红色 56 | #define GREEN 0X07E0 //绿色 57 | #define BLUE 0X001F //蓝色 58 | #define BRED 0XF81F 59 | #define GRED 0XFFE0 //灰色 60 | #define GBLUE 0X07FF // 61 | #define BLACK 0X0000 //黑色 62 | #define WHITE 0XFFFF //白色 63 | #define YELLOW 0xFFE0 //黄色 64 | 65 | 66 | 67 | //定义写字笔的颜色 68 | #define PENCOLOR RED 69 | 70 | //定义背景颜色 71 | #define BGCOLOR WHITE 72 | 73 | 74 | extern const unsigned char gImage_qq[3200]; 75 | 76 | 77 | 78 | void lcd_init(void); 79 | void dsp_single_colour(int color); 80 | void lcd_showchar(uint16 x,uint16 y,uint8 dat); 81 | void lcd_showstr(uint16 x,uint16 y,uint8 dat[]); 82 | void lcd_showint8(uint16 x,uint16 y,int8 dat); 83 | void lcd_showint16(uint16 x,uint16 y,int16 dat); 84 | void showimage(const unsigned char *p); 85 | 86 | 87 | 88 | #endif 89 | -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/SEEKFREE_FUN.c: -------------------------------------------------------------------------------- 1 | /********************************************************************************************************************* 2 | * COPYRIGHT NOTICE 3 | * Copyright (c) 2017,逐飞科技 4 | * All rights reserved. 5 | * 技术讨论QQ群：179029047 6 | * 7 | * 以下所有内容版权均属逐飞科技所有，未经允许不得用于商业用途， 8 | * 欢迎各位使用并传播本程序，修改内容时必须保留逐飞科技的版权声明。 9 | * 10 | * @file FUN 11 | * @company 成都逐飞科技有限公司 12 | * @author 逐飞科技(QQ3184284598) 13 | * @version v2.0 14 | * @Software IAR 7.7 or MDK 5.23 15 | * @Target core S9KEA128AMLK 16 | * @Taobao https://seekfree.taobao.com/ 17 | * @date 2017-11-6 18 | ********************************************************************************************************************/ 19 | 20 | 21 | 22 | #include "SEEKFREE_FUN.h" 23 | 24 | 25 | //------------------------------------------------------------------------------------------------------------------- 26 | // @brief 绝对值函数 27 | // @param dat 需要求绝对值的数 28 | // @return int 返回绝对值 29 | // @since v1.0 30 | // Sample usage: dat = myabs(dat);//将dat变成正数 31 | //------------------------------------------------------------------------------------------------------------------- 32 | int myabs(int dat) 33 | { 34 | if(dat>=0) return dat; 35 | else return -dat; 36 | } 37 | 38 | 39 | //------------------------------------------------------------------------------------------------------------------- 40 | // @brief 软件延时 41 | // @param t 延时时间 42 | // @return void 43 | // @since v1.0 44 | // Sample usage: 45 | //------------------------------------------------------------------------------------------------------------------- 46 | void my_delay(long t) 47 | { 48 | while(t--); 49 | } 50 | 51 | 52 | //------------------------------------------------------------------------------------------------------------------- 53 | // @brief 限幅 54 | // @param x 被限幅的数据 55 | // @param y 限幅范围(数据会被限制在-y至+y之间) 56 | // @return float 限幅之后的数据 57 | // @since v1.0 58 | // Sample usage: float dat = limit(500,300);//数据被限制在-300至+300之间 因此返回的结果是300 59 | //------------------------------------------------------------------------------------------------------------------- 60 | float limit(float x, uint16 y) 61 | { 62 | if(x>y) return y; 63 | else if(x<-y) return -y; 64 | else return x; 65 | } 66 | 67 | 68 | //------------------------------------------------------------------------------------------------------------------- 69 | // @brief 双边限幅 70 | // @param x 被限幅的数据 71 | // @param a 限幅范围左边界 72 | // @param b 限幅范围右边界 73 | // @return float 限幅之后的数据 74 | // @since v1.0 75 | // Sample usage: int16 dat = limit_ab(500,-300，400);//数据被限制在-300至+400之间 因此返回的结果是400 76 | //------------------------------------------------------------------------------------------------------------------- 77 | int16 limit_ab(int16 x, uint16 a, uint16 b) 78 | { 79 | if(xb) x = b; 81 | return x; 82 | } 83 | 84 | -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/SEEKFREE_FUN.h: -------------------------------------------------------------------------------- 1 | /********************************************************************************************************************* 2 | * COPYRIGHT NOTICE 3 | * Copyright (c) 2017,逐飞科技 4 | * All rights reserved. 5 | * 技术讨论QQ群：179029047 6 | * 7 | * 以下所有内容版权均属逐飞科技所有，未经允许不得用于商业用途， 8 | * 欢迎各位使用并传播本程序，修改内容时必须保留逐飞科技的版权声明。 9 | * 10 | * @file FUN 11 | * @company 成都逐飞科技有限公司 12 | * @author 逐飞科技(QQ3184284598) 13 | * @version v2.0 14 | * @Software IAR 7.7 or MDK 5.23 15 | * @Target core S9KEA128AMLK 16 | * @Taobao https://seekfree.taobao.com/ 17 | * @date 2017-11-6 18 | ********************************************************************************************************************/ 19 | 20 | 21 | 22 | #ifndef _SEEKFREE_FUN_h 23 | #define _SEEKFREE_FUN_h 24 | 25 | #include "headfile.h" 26 | 27 | 28 | int myabs(int dat); 29 | void my_delay(long t); 30 | float limit(float x, uint16 y); 31 | int16 limit_ab(int16 x, uint16 a, uint16 b); 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | #endif 44 | -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/SEEKFREE_IIC.c: -------------------------------------------------------------------------------- 1 | /********************************************************************************************************************* 2 | * COPYRIGHT NOTICE 3 | * Copyright (c) 2017,逐飞科技 4 | * All rights reserved. 5 | * 技术讨论QQ群：179029047 6 | * 7 | * 以下所有内容版权均属逐飞科技所有，未经允许不得用于商业用途， 8 | * 欢迎各位使用并传播本程序，修改内容时必须保留逐飞科技的版权声明。 9 | * 10 | * @file 模拟IIC 11 | * @company 成都逐飞科技有限公司 12 | * @author 逐飞科技(QQ3184284598) 13 | * @version v2.0 14 | * @Software IAR 7.7 or MDK 5.23 15 | * @Target core S9KEA128AMLK 16 | * @Taobao https://seekfree.taobao.com/ 17 | * @date 2017-11-6 18 | * @note 19 | 模拟IIC接线定义 20 | ------------------------------------ 21 | SCL 查看SEEKFREE_IIC文件内的SEEKFREE_SCL宏定义 22 | SDA 查看SEEKFREE_IIC文件内的SEEKFREE_SDA宏定义 23 | ------------------------------------ 24 | ********************************************************************************************************************/ 25 | 26 | 27 | 28 | #include "SEEKFREE_IIC.h" 29 | 30 | 31 | #define SDA gpio_get (SEEKFREE_SDA) 32 | #define SDA0() gpio_set (SEEKFREE_SDA, 0) //IO口输出低电平 33 | #define SDA1() gpio_set (SEEKFREE_SDA, 1) //IO口输出高电平 34 | #define SCL0() gpio_set (SEEKFREE_SCL, 0) //IO口输出低电平 35 | #define SCL1() gpio_set (SEEKFREE_SCL, 1) //IO口输出高电平 36 | #define DIR_OUT() gpio_ddr (SEEKFREE_SDA, GPO) //输出方向 37 | #define DIR_IN() gpio_ddr (SEEKFREE_SDA, GPI) //输入方向 38 | 39 | 40 | //内部数据定义 41 | uint8 IIC_ad_main; //器件从地址 42 | uint8 IIC_ad_sub; //器件子地址 43 | uint8 *IIC_buf; //发送|接收数据缓冲区 44 | uint8 IIC_num; //发送|接收数据个数 45 | 46 | #define ack 1 //主应答 47 | #define no_ack 0 //从应答 48 | 49 | 50 | 51 | //------------------------------------------------------------------------------------------------------------------- 52 | // @brief 模拟IIC延时 53 | // @return void 54 | // @since v1.0 55 | // Sample usage: 如果IIC通讯失败可以尝试增加j的值 56 | //------------------------------------------------------------------------------------------------------------------- 57 | void simiic_delay(void) 58 | { 59 | //j=10通讯速率大约为100K （内核频率40M） 60 | //j=0 通讯速率大约为140K （内核频率40M） 61 | uint16 j=0; 62 | while(j--); 63 | } 64 | 65 | 66 | //内部使用，用户无需调用 67 | void IIC_start(void) 68 | { 69 | SDA1(); 70 | SCL1(); 71 | simiic_delay(); 72 | SDA0(); 73 | simiic_delay(); 74 | SCL0(); 75 | } 76 | 77 | //内部使用，用户无需调用 78 | void IIC_stop(void) 79 | { 80 | SDA0(); 81 | SCL0(); 82 | simiic_delay(); 83 | SCL1(); 84 | simiic_delay(); 85 | SDA1(); 86 | simiic_delay(); 87 | } 88 | 89 | //主应答(包含ack:SDA=0和no_ack:SDA=0) 90 | //内部使用，用户无需调用 91 | void I2C_SendACK(unsigned char ack_dat) 92 | { 93 | SCL0(); 94 | simiic_delay(); 95 | if(ack_dat) SDA0(); 96 | else SDA1(); 97 | 98 | SCL1(); 99 | simiic_delay(); 100 | SCL0(); 101 | simiic_delay(); 102 | } 103 | 104 | 105 | static int SCCB_WaitAck(void) 106 | { 107 | SCL0(); 108 | DIR_IN(); 109 | simiic_delay(); 110 | 111 | SCL1(); 112 | simiic_delay(); 113 | 114 | if(SDA) //应答为高电平，异常，通信失败 115 | { 116 | DIR_OUT(); 117 | SCL0(); 118 | return 0; 119 | } 120 | DIR_OUT(); 121 | SCL0(); 122 | simiic_delay(); 123 | return 1; 124 | } 125 | 126 | //字节发送程序 127 | //发送c(可以是数据也可是地址)，送完后接收从应答 128 | //不考虑从应答位 129 | //内部使用，用户无需调用 130 | void send_ch(uint8 c) 131 | { 132 | uint8 i = 8; 133 | while(i--) 134 | { 135 | if(c & 0x80) SDA1();//SDA 输出数据 136 | else SDA0(); 137 | c <<= 1; 138 | simiic_delay(); 139 | SCL1(); //SCL 拉高，采集信号 140 | simiic_delay(); 141 | SCL0(); //SCL 时钟线拉低 142 | } 143 | SCCB_WaitAck(); 144 | } 145 | 146 | //字节接收程序 147 | //接收器件传来的数据，此程序应配合|主应答函数|IIC_ack_main()使用 148 | //内部使用，用户无需调用 149 | uint8 read_ch(uint8 ack_x) 150 | { 151 | uint8 i; 152 | uint8 c; 153 | c=0; 154 | SCL0(); 155 | simiic_delay(); 156 | SDA1(); //置数据线为输入方式 157 | DIR_IN(); 158 | for(i=0;i<8;i++) 159 | { 160 | simiic_delay(); 161 | SCL0(); //置时钟线为低，准备接收数据位 162 | simiic_delay(); 163 | SCL1(); //置时钟线为高，使数据线上数据有效 164 | simiic_delay(); 165 | c<<=1; 166 | if(SDA) c+=1; //读数据位，将接收的数据存c 167 | } 168 | DIR_OUT(); 169 | SCL0(); 170 | simiic_delay(); 171 | I2C_SendACK(ack_x); 172 | 173 | return c; 174 | } 175 | 176 | //------------------------------------------------------------------------------------------------------------------- 177 | // @brief 模拟IIC写数据到设备寄存器函数 178 | // @param dev_add 设备地址(低七位地址) 179 | // @param reg 寄存器地址 180 | // @param dat 写入的数据 181 | // @return void 182 | // @since v1.0 183 | // Sample usage: 184 | //------------------------------------------------------------------------------------------------------------------- 185 | void simiic_write_reg(uint8 dev_add, uint8 reg, uint8 dat) 186 | { 187 | IIC_start(); 188 | send_ch( (dev_add<<1) | 0x00); //发送器件地址加写位 189 | send_ch( reg ); //发送从机寄存器地址 190 | send_ch( dat ); //发送需要写入的数据 191 | IIC_stop(); 192 | } 193 | 194 | 195 | //------------------------------------------------------------------------------------------------------------------- 196 | // @brief 模拟IIC从设备寄存器读取数据 197 | // @param dev_add 设备地址(低七位地址) 198 | // @param reg 寄存器地址 199 | // @param type 选择通信方式是IIC 还是 SCCB 200 | // @return uint8 返回寄存器的数据 201 | // @since v1.0 202 | // Sample usage: 203 | //------------------------------------------------------------------------------------------------------------------- 204 | uint8 simiic_read_reg(uint8 dev_add, uint8 reg, IIC_type type) 205 | { 206 | uint8 dat; 207 | IIC_start(); 208 | send_ch( (dev_add<<1) | 0x00); //发送器件地址加写位 209 | send_ch( reg ); //发送从机寄存器地址 210 | if(type == SCCB)IIC_stop(); 211 | 212 | IIC_start(); 213 | send_ch( (dev_add<<1) | 0x01); //发送器件地址加读位 214 | dat = read_ch(no_ack); //读取数据 215 | IIC_stop(); 216 | 217 | return dat; 218 | } 219 | 220 | //------------------------------------------------------------------------------------------------------------------- 221 | // @brief 模拟IIC读取多字节数据 222 | // @param dev_add 设备地址(低七位地址) 223 | // @param reg 寄存器地址 224 | // @param dat_add 数据保存的地址指针 225 | // @param num 读取字节数量 226 | // @param type 选择通信方式是IIC 还是 SCCB 227 | // @return uint8 返回寄存器的数据 228 | // @since v1.0 229 | // Sample usage: 230 | //------------------------------------------------------------------------------------------------------------------- 231 | void simiic_read_regs(uint8 dev_add, uint8 reg, uint8 *dat_add, uint8 num, IIC_type type) 232 | { 233 | IIC_start(); 234 | send_ch( (dev_add<<1) | 0x00); //发送器件地址加写位 235 | send_ch( reg ); //发送从机寄存器地址 236 | if(type == SCCB)IIC_stop(); 237 | 238 | IIC_start(); 239 | send_ch( (dev_add<<1) | 0x01); //发送器件地址加读位 240 | while(--num) 241 | { 242 | *dat_add = read_ch(ack); //读取数据 243 | dat_add++; 244 | } 245 | *dat_add = read_ch(no_ack); //读取数据 246 | IIC_stop(); 247 | } 248 | 249 | 250 | //------------------------------------------------------------------------------------------------------------------- 251 | // @brief 模拟IIC端口初始化 252 | // @param NULL 253 | // @return void 254 | // @since v1.0 255 | // Sample usage: 256 | //------------------------------------------------------------------------------------------------------------------- 257 | void IIC_init(void) 258 | { 259 | gpio_init (SEEKFREE_SCL, GPO,1); 260 | gpio_init (SEEKFREE_SDA, GPO,1); 261 | 262 | port_pull (SEEKFREE_SDA); 263 | } 264 | 265 | -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/SEEKFREE_IIC.h: -------------------------------------------------------------------------------- 1 | /********************************************************************************************************************* 2 | * COPYRIGHT NOTICE 3 | * Copyright (c) 2017,逐飞科技 4 | * All rights reserved. 5 | * 技术讨论QQ群：179029047 6 | * 7 | * 以下所有内容版权均属逐飞科技所有，未经允许不得用于商业用途， 8 | * 欢迎各位使用并传播本程序，修改内容时必须保留逐飞科技的版权声明。 9 | * 10 | * @file 模拟IIC 11 | * @company 成都逐飞科技有限公司 12 | * @author 逐飞科技(QQ3184284598) 13 | * @version v2.0 14 | * @Software IAR 7.7 or MDK 5.23 15 | * @Target core S9KEA128AMLK 16 | * @Taobao https://seekfree.taobao.com/ 17 | * @date 2017-11-6 18 | * @note 19 | 模拟IIC接线定义 20 | ------------------------------------ 21 | SCL 查看SEEKFREE_IIC文件内的SEEKFREE_SCL宏定义 22 | SDA 查看SEEKFREE_IIC文件内的SEEKFREE_SDA宏定义 23 | ------------------------------------ 24 | ********************************************************************************************************************/ 25 | 26 | 27 | 28 | #ifndef _SEEKFREE_IIC_h 29 | #define _SEEKFREE_IIC_h 30 | 31 | 32 | 33 | #include "headfile.h" 34 | 35 | 36 | 37 | #define SEEKFREE_SCL E1 //定义SCL引脚 可任意更改为其他IO 38 | #define SEEKFREE_SDA E0 //定义SDA引脚 可任意更改为其他IO 39 | 40 | typedef enum IIC //DAC模块 41 | { 42 | IIC, 43 | SCCB 44 | } IIC_type; 45 | 46 | 47 | 48 | void IIC_start(void); 49 | void IIC_stop(void); 50 | void IIC_ack_main(uint8 ack_main); 51 | void send_ch(uint8 c); 52 | uint8 read_ch(uint8 ack); 53 | void simiic_write_reg(uint8 dev_add, uint8 reg, uint8 dat); 54 | uint8 simiic_read_reg(uint8 dev_add, uint8 reg, IIC_type type); 55 | void simiic_read_regs(uint8 dev_add, uint8 reg, uint8 *dat_add, uint8 num, IIC_type type); 56 | void IIC_init(void); 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | #endif 69 | 70 | -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/SEEKFREE_L3G4200D.c: -------------------------------------------------------------------------------- 1 | /********************************************************************************************************************* 2 | * COPYRIGHT NOTICE 3 | * Copyright (c) 2017,逐飞科技 4 | * All rights reserved. 5 | * 技术讨论QQ群：179029047 6 | * 7 | * 以下所有内容版权均属逐飞科技所有，未经允许不得用于商业用途， 8 | * 欢迎各位使用并传播本程序，修改内容时必须保留逐飞科技的版权声明。 9 | * 10 | * @file L3G4200D陀螺仪 11 | * @company 成都逐飞科技有限公司 12 | * @author 逐飞科技(QQ3184284598) 13 | * @version v2.0 14 | * @Software IAR 7.7 or MDK 5.23 15 | * @Target core S9KEA128AMLK 16 | * @Taobao https://seekfree.taobao.com/ 17 | * @date 2017-11-6 18 | * @note 19 | L3G4200D接线定义 20 | ------------------------------------ 21 | SCL 查看SEEKFREE_IIC文件内的SEEKFREE_SCL宏定义 22 | SDA 查看SEEKFREE_IIC文件内的SEEKFREE_SDA宏定义 23 | ------------------------------------ 24 | ********************************************************************************************************************/ 25 | 26 | 27 | 28 | #include "SEEKFREE_L3G4200D.h" 29 | 30 | int16 gyro_x = 0, gyro_y = 0, gyro_z = 0; 31 | 32 | uint8 Temperature = 0; 33 | 34 | 35 | 36 | 37 | //------------------------------------------------------------------------------------------------------------------- 38 | // @brief 初始化L3G4200D陀螺仪 39 | // @param NULL 40 | // @return void 41 | // @since v1.0 42 | // Sample usage: 调用该函数前，请先调用模拟IIC的初始化 43 | //------------------------------------------------------------------------------------------------------------------- 44 | void InitL3G4200D(void) 45 | { 46 | simiic_write_reg(L3G4200_DEV_ADD, CTRL_REG1_4200, 0x4f); // 47 | simiic_write_reg(L3G4200_DEV_ADD, CTRL_REG2_4200, 0x00); //00 48 | simiic_write_reg(L3G4200_DEV_ADD, CTRL_REG3_4200, 0x08); // 49 | simiic_write_reg(L3G4200_DEV_ADD, CTRL_REG4_4200, 0xB0); //+-2000dps 50 | simiic_write_reg(L3G4200_DEV_ADD, CTRL_REG5_4200, 0x00); 51 | Temperature = simiic_read_reg(L3G4200_DEV_ADD, OUT_TEMP_4200, IIC); 52 | } 53 | uint32 time; 54 | //------------------------------------------------------------------------------------------------------------------- 55 | // @brief 获取L3G4200D陀螺仪数据 56 | // @param NULL 57 | // @return void 58 | // @since v1.0 59 | // Sample usage: 执行该函数后，直接查看对应的变量即可 60 | //------------------------------------------------------------------------------------------------------------------- 61 | void get_l3g4200d(void) 62 | { 63 | uint8 dat[6]; 64 | uint8 status; 65 | status = simiic_read_reg(L3G4200_DEV_ADD, STATUS_REG_4200, IIC); 66 | if(status>15) 67 | { 68 | status = status; 69 | } 70 | if( status&0x80 )//查看数据是否准备好了。如果没有准备好，读取则可能读取到错误数据。读取频率最好是高于数据输出频率 71 | { 72 | simiic_read_regs(L3G4200_DEV_ADD, OUT_X_L_4200|0X80, dat, 6, IIC); //或上0x80是因为需要多字节读取数据 73 | gyro_x = (int16)((uint16)dat[1]<<8 | dat[0])>>3; 74 | gyro_y = (int16)((uint16)dat[3]<<8 | dat[2])>>3; 75 | gyro_z = (int16)((uint16)dat[5]<<8 | dat[4])>>3; 76 | } 77 | } 78 | 79 | -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/SEEKFREE_L3G4200D.h: -------------------------------------------------------------------------------- 1 | /********************************************************************************************************************* 2 | * COPYRIGHT NOTICE 3 | * Copyright (c) 2017,逐飞科技 4 | * All rights reserved. 5 | * 技术讨论QQ群：179029047 6 | * 7 | * 以下所有内容版权均属逐飞科技所有，未经允许不得用于商业用途， 8 | * 欢迎各位使用并传播本程序，修改内容时必须保留逐飞科技的版权声明。 9 | * 10 | * @file L3G4200D陀螺仪 11 | * @company 成都逐飞科技有限公司 12 | * @author 逐飞科技(QQ3184284598) 13 | * @version v2.0 14 | * @Software IAR 7.7 or MDK 5.23 15 | * @Target core S9KEA128AMLK 16 | * @Taobao https://seekfree.taobao.com/ 17 | * @date 2017-11-6 18 | * @note 19 | L3G4200D接线定义 20 | ------------------------------------ 21 | SCL 查看SEEKFREE_IIC文件内的SEEKFREE_SCL宏定义 22 | SDA 查看SEEKFREE_IIC文件内的SEEKFREE_SDA宏定义 23 | ------------------------------------ 24 | ********************************************************************************************************************/ 25 | 26 | 27 | 28 | #ifndef _SEEKFREE_L3G4200D_H 29 | #define _SEEKFREE_L3G4200D_H 30 | 31 | #include "headfile.h" 32 | 33 | 34 | //----------L3G4200D内部寄存器地址--------- 35 | #define L3G4200D_ID 0x69 36 | #define WHO_AM_I_4200 0x0F 37 | #define CTRL_REG1_4200 0x20 38 | #define CTRL_REG2_4200 0x21 39 | #define CTRL_REG3_4200 0x22 40 | #define CTRL_REG4_4200 0x23 41 | #define CTRL_REG5_4200 0x24 42 | #define REFERENCE_4200 0x25 43 | #define OUT_TEMP_4200 0x26 44 | #define STATUS_REG_4200 0x27 45 | #define OUT_X_L_4200 0x28 46 | #define OUT_X_H_4200 0x29 47 | #define OUT_Y_L_4200 0x2A 48 | #define OUT_Y_H_4200 0x2B 49 | #define OUT_Z_L_4200 0x2C 50 | #define OUT_Z_H_4200 0x2D 51 | #define FIFO_CTRL_REG_4200 0x2E 52 | #define FIFO_SRC_REG_4200 0x2F 53 | #define INT1_CFG_4200 0x30 54 | #define INT1_SRC_4200 0x31 55 | #define INT1_TSH_XH_4200 0x32 56 | #define INT1_TSH_XL_4200 0x33 57 | #define INT1_TSH_YH_4200 0x34 58 | #define INT1_TSH_YL_4200 0x35 59 | #define INT1_TSH_ZH_4200 0x36 60 | #define INT1_TSH_ZL_4200 0x37 61 | #define INT1_DURATION_4200 0x38 62 | 63 | 64 | #define L3G4200_DEV_ADD 0xD2>>1 //定义器件在IIC总线中的从地址,根据ALT ADDRESS地址引脚不同修改 65 | 66 | 67 | 68 | 69 | extern int16 gyro_x, gyro_y, gyro_z; 70 | 71 | 72 | void InitL3G4200D(void); 73 | void get_l3g4200d(void); 74 | 75 | 76 | 77 | 78 | 79 | 80 | #endif 81 | -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/SEEKFREE_MMA8451.c: -------------------------------------------------------------------------------- 1 | /********************************************************************************************************************* 2 | * COPYRIGHT NOTICE 3 | * Copyright (c) 2017,逐飞科技 4 | * All rights reserved. 5 | * 技术讨论QQ群：179029047 6 | * 7 | * 以下所有内容版权均属逐飞科技所有，未经允许不得用于商业用途， 8 | * 欢迎各位使用并传播本程序，修改内容时必须保留逐飞科技的版权声明。 9 | * 10 | * @file MMA8451加速度计 11 | * @company 成都逐飞科技有限公司 12 | * @author 逐飞科技(QQ3184284598) 13 | * @version v2.0 14 | * @Software IAR 7.7 or MDK 5.23 15 | * @Target core S9KEA128AMLK 16 | * @Taobao https://seekfree.taobao.com/ 17 | * @date 2017-11-6 18 | * @note 19 | L3G4200D接线定义 20 | ------------------------------------ 21 | SCL 查看SEEKFREE_IIC文件内的SEEKFREE_SCL宏定义 22 | SDA 查看SEEKFREE_IIC文件内的SEEKFREE_SDA宏定义 23 | ------------------------------------ 24 | ********************************************************************************************************************/ 25 | 26 | 27 | 28 | #include "SEEKFREE_MMA8451.h" 29 | 30 | 31 | //SA0必须接地 32 | 33 | int16 acc_x = 0, acc_y = 0, acc_z = 0; 34 | 35 | 36 | //------------------------------------------------------------------------------------------------------------------- 37 | // @brief 初始化MMA8451加速度计 38 | // @param NULL 39 | // @return uint8 返回1成功，返回0失败 40 | // @since v1.0 41 | // Sample usage: 调用该函数前，请先调用模拟IIC的初始化 42 | //------------------------------------------------------------------------------------------------------------------- 43 | uint8 MMA845x_init(void) 44 | { 45 | uint16 v; 46 | simiic_write_reg(MMA8451_DEV_ADD, CTRL_REG1,ASLP_RATE_20MS+DATA_RATE_2500US); 47 | 48 | simiic_write_reg(MMA8451_DEV_ADD, XYZ_DATA_CFG_REG, FULL_SCALE_2G); //2G 49 | 50 | simiic_write_reg(MMA8451_DEV_ADD, CTRL_REG1, (ACTIVE_MASK+ASLP_RATE_20MS+DATA_RATE_5MS)&(~FREAD_MASK)); //激活状态 14bit 51 | 52 | 53 | v= simiic_read_reg(MMA8451_DEV_ADD, WHO_AM_I_REG, IIC); 54 | if((v == MMA8451Q_ID)||(v == MMA8452Q_ID)||(v == MMA8453Q_ID)) return 1; 55 | 56 | return 0; 57 | } 58 | 59 | //------------------------------------------------------------------------------------------------------------------- 60 | // @brief 获取MMA8451加速度计数据 61 | // @param NULL 62 | // @return void 63 | // @since v1.0 64 | // Sample usage: 执行该函数后，直接查看对应的变量即可 65 | //------------------------------------------------------------------------------------------------------------------- 66 | void get_mma8451(void) 67 | { 68 | uint8 dat[6]; 69 | uint16 wx,wy,wz; 70 | 71 | simiic_read_regs(MMA8451_DEV_ADD, OUT_X_MSB_REG, dat, 6, IIC); 72 | 73 | wx = (uint16)dat[0]<<8 | dat[1]; 74 | //补码求出加速度原始对应数值 75 | if(dat[0]>0x7f) acc_x=-(int16)((~(wx>>2) + 1)&0X3FFF); //移位取反加一再去掉无效字符 76 | else acc_x=(wx>>2)&0X3FFF; //移位掉无效字符 77 | 78 | 79 | wy = (uint16)dat[2]<<8 | dat[3]; 80 | //补码求出加速度原始对应数值 81 | if(dat[2]>0x7f) acc_y=-(int16)((~(wy>>2) + 1)&0X3FFF); //移位取反加一再去掉无效字符 82 | else acc_y=(wy>>2)&0X3FFF; //移位掉无效字符 83 | 84 | 85 | wz = (uint16)dat[4]<<8 | dat[5]; 86 | //补码求出加速度原始对应数值 87 | if(dat[4]>0x7f) acc_z=-(int16)((~(wz>>2) + 1)&0X3FFF); //移位取反加一再去掉无效字符 88 | else acc_z=(wz>>2)&0X3FFF; //移位掉无效字符 89 | 90 | } 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/SEEKFREE_MPU6050.c: -------------------------------------------------------------------------------- 1 | /********************************************************************************************************************* 2 | * COPYRIGHT NOTICE 3 | * Copyright (c) 2017,逐飞科技 4 | * All rights reserved. 5 | * 技术讨论QQ群：179029047 6 | * 7 | * 以下所有内容版权均属逐飞科技所有，未经允许不得用于商业用途， 8 | * 欢迎各位使用并传播本程序，修改内容时必须保留逐飞科技的版权声明。 9 | * 10 | * @file MPU6050 11 | * @company 成都逐飞科技有限公司 12 | * @author 逐飞科技(QQ3184284598) 13 | * @version v2.0 14 | * @Software IAR 7.7 or MDK 5.23 15 | * @Target core S9KEA128AMLK 16 | * @Taobao https://seekfree.taobao.com/ 17 | * @date 2017-11-6 18 | * @note 19 | L3G4200D接线定义 20 | ------------------------------------ 21 | SCL 查看SEEKFREE_IIC文件内的SEEKFREE_SCL宏定义 22 | SDA 查看SEEKFREE_IIC文件内的SEEKFREE_SDA宏定义 23 | ------------------------------------ 24 | ********************************************************************************************************************/ 25 | 26 | 27 | 28 | #include "SEEKFREE_MPU6050.h" 29 | 30 | int16 mpu_gyro_x,mpu_gyro_y,mpu_gyro_z; 31 | int16 mpu_acc_x,mpu_acc_y,mpu_acc_z; 32 | 33 | 34 | 35 | //------------------------------------------------------------------------------------------------------------------- 36 | // @brief 初始化MPU6050 37 | // @param NULL 38 | // @return void 39 | // @since v1.0 40 | // Sample usage: 调用该函数前，请先调用模拟IIC的初始化 41 | //------------------------------------------------------------------------------------------------------------------- 42 | void InitMPU6050(void) 43 | { 44 | IIC_init(); 45 | simiic_write_reg(MPU6050_DEV_ADDR, PWR_MGMT_1, 0x00); //解除休眠状态 46 | simiic_write_reg(MPU6050_DEV_ADDR, SMPLRT_DIV, 0x00); 47 | //simiic_write_reg(MPU6050_DEV_ADDR, SMPLRT_DIV, 0x07); //125HZ采样率 48 | simiic_write_reg(MPU6050_DEV_ADDR, CONFIG, 0x02); 49 | //simiic_write_reg(MPU6050_DEV_ADDR, CONFIG, 0x04); // 50 | simiic_write_reg(MPU6050_DEV_ADDR, GYRO_CONFIG, 0x18); //2000 51 | //simiic_write_reg(MPU6050_DEV_ADDR, ACCEL_CONFIG, 0x18); //16g 52 | simiic_write_reg(MPU6050_DEV_ADDR, ACCEL_CONFIG, 0x10); //8g 53 | simiic_write_reg(MPU6050_DEV_ADDR, User_Control, 0x00); 54 | simiic_write_reg(MPU6050_DEV_ADDR, INT_PIN_CFG, 0x02); 55 | } 56 | 57 | 58 | 59 | //------------------------------------------------------------------------------------------------------------------- 60 | // @brief 获取MPU6050加速度计数据 61 | // @param NULL 62 | // @return void 63 | // @since v1.0 64 | // Sample usage: 执行该函数后，直接查看对应的变量即可 65 | //------------------------------------------------------------------------------------------------------------------- 66 | void Get_AccData(void) 67 | { 68 | uint8 dat[6]; 69 | 70 | simiic_read_regs(MPU6050_DEV_ADDR, ACCEL_XOUT_H, dat, 6, IIC); 71 | mpu_acc_x = (int16)(((uint16)dat[0]<<8 | dat[1]))>>2; 72 | mpu_acc_y = (int16)(((uint16)dat[2]<<8 | dat[3]))>>2; 73 | mpu_acc_z = (int16)(((uint16)dat[4]<<8 | dat[5]))>>2; 74 | } 75 | 76 | 77 | //------------------------------------------------------------------------------------------------------------------- 78 | // @brief 获取MPU6050陀螺仪数据 79 | // @param NULL 80 | // @return void 81 | // @since v1.0 82 | // Sample usage: 执行该函数后，直接查看对应的变量即可 83 | //------------------------------------------------------------------------------------------------------------------- 84 | void Get_Gyro(void) 85 | { 86 | uint8 dat[6]; 87 | 88 | simiic_read_regs(MPU6050_DEV_ADDR, GYRO_XOUT_H, dat, 6, IIC); 89 | mpu_gyro_x = (int16)(((uint16)dat[0]<<8 | dat[1]))>>3; 90 | mpu_gyro_y = (int16)(((uint16)dat[2]<<8 | dat[3]))>>3; 91 | mpu_gyro_z = (int16)(((uint16)dat[4]<<8 | dat[5]))>>3; 92 | } 93 | int16 GetData(uint8 REG_Address) 94 | { 95 | uint8 L; uint16 H ; 96 | H=simiic_read_reg(MPU6050_DEV_ADDR, REG_Address, IIC); 97 | L=simiic_read_reg(MPU6050_DEV_ADDR, REG_Address+1, IIC); 98 | return (H<<8)+L; //合成数据 99 | } 100 | 101 | -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/SEEKFREE_MPU6050.h: -------------------------------------------------------------------------------- 1 | /********************************************************************************************************************* 2 | * COPYRIGHT NOTICE 3 | * Copyright (c) 2017,逐飞科技 4 | * All rights reserved. 5 | * 技术讨论QQ群：179029047 6 | * 7 | * 以下所有内容版权均属逐飞科技所有，未经允许不得用于商业用途， 8 | * 欢迎各位使用并传播本程序，修改内容时必须保留逐飞科技的版权声明。 9 | * 10 | * @file MPU6050 11 | * @company 成都逐飞科技有限公司 12 | * @author 逐飞科技(QQ3184284598) 13 | * @version v2.0 14 | * @Software IAR 7.7 or MDK 5.23 15 | * @Target core S9KEA128AMLK 16 | * @Taobao https://seekfree.taobao.com/ 17 | * @date 2017-11-6 18 | * @note 19 | L3G4200D接线定义 20 | ------------------------------------ 21 | SCL 查看SEEKFREE_IIC文件内的SEEKFREE_SCL宏定义 22 | SDA 查看SEEKFREE_IIC文件内的SEEKFREE_SDA宏定义 23 | ------------------------------------ 24 | ********************************************************************************************************************/ 25 | 26 | 27 | 28 | #ifndef _SEEKFREE_MPU6050_H_ 29 | #define _SEEKFREE_MPU6050_H_ 30 | 31 | #include "headfile.h" 32 | 33 | 34 | // 定义MPU6050内部地址 35 | 36 | #define MPU6050_DEV_ADDR 0xD0>>1 //IIC写入时的地址字节数据，+1为读取 37 | 38 | #define SMPLRT_DIV 0x19 //陀螺仪采样率，典型值：0x07(125Hz) 39 | #define CONFIG 0x1A //低通滤波频率，典型值：0x06(5Hz) 40 | #define GYRO_CONFIG 0x1B //陀螺仪自检及测量范围，典型值：0x18(不自检，2000deg/s) 41 | #define ACCEL_CONFIG 0x1C //加速计自检、测量范围及高通滤波频率，典型值：0x01(不自检，2G，5Hz) 42 | #define INT_PIN_CFG 0x37 //设置6050辅助I2C为直通模式寄存器 43 | #define ACCEL_XOUT_H 0x3B 44 | #define ACCEL_XOUT_L 0x3C 45 | #define ACCEL_YOUT_H 0x3D 46 | #define ACCEL_YOUT_L 0x3E 47 | #define ACCEL_ZOUT_H 0x3F 48 | #define ACCEL_ZOUT_L 0x40 49 | #define GYRO_XOUT_H 0x43 50 | #define GYRO_XOUT_L 0x44 51 | #define GYRO_YOUT_H 0x45 52 | #define GYRO_YOUT_L 0x46 53 | #define GYRO_ZOUT_H 0x47 54 | #define GYRO_ZOUT_L 0x48 55 | #define User_Control 0x6A //关闭6050对辅助I2C设备的控制 56 | #define PWR_MGMT_1 0x6B //电源管理，典型值：0x00(正常启用) 57 | #define WHO_AM_I 0x75 //IIC地址寄存器(默认数值0x68，只读) 58 | 59 | 60 | 61 | extern int16 mpu_gyro_x,mpu_gyro_y,mpu_gyro_z; 62 | extern int16 mpu_acc_x,mpu_acc_y,mpu_acc_z; 63 | 64 | void InitMPU6050(void); //初始化MPU6050 65 | void Get_Gyro(void); 66 | void Get_AccData(void); 67 | int16 GetData(uint8 REG_Address); 68 | #endif 69 | -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/SEEKFREE_OLED.h: -------------------------------------------------------------------------------- 1 | /********************************************************************************************************************* 2 | * COPYRIGHT NOTICE 3 | * Copyright (c) 2017,逐飞科技 4 | * All rights reserved. 5 | * 技术讨论QQ群：179029047 6 | * 7 | * 以下所有内容版权均属逐飞科技所有，未经允许不得用于商业用途， 8 | * 欢迎各位使用并传播本程序，修改内容时必须保留逐飞科技的版权声明。 9 | * 10 | * @file NRF24L01 11 | * @company 成都逐飞科技有限公司 12 | * @author 逐飞科技(QQ3184284598) 13 | * @version v2.0 14 | * @Software IAR 7.7 or MDK 5.23 15 | * @Target core S9KEA128AMLK 16 | * @Taobao https://seekfree.taobao.com/ 17 | * @date 2017-11-6 18 | * @note 19 | NRF24L01接线定义： 20 | ------------------------------------ 21 | OLED液晶 单片机 22 | D0 H0 23 | D1 H1 24 | RES E5 25 | DC E6 26 | ------------------------------------ 27 | ********************************************************************************************************************/ 28 | 29 | 30 | 31 | #ifndef _SEEKFREE_OELD_H 32 | #define _SEEKFREE_OELD_H 33 | 34 | #include "headfile.h" 35 | 36 | 37 | 38 | //----宏定义OLED引脚---- 39 | #define OLED_SCL_PIN G4 40 | #define OLED_SDA_PIN G5 41 | #define OLED_RST_PIN G6 42 | #define OLED_DC_PIN G7 43 | //#define OLED_CS_PIN E4 44 | 45 | 46 | void Dly_ms(uint16 ms); 47 | void OLED_Init(void); 48 | void OLED_Fill(uint8 dat); 49 | void OLED_WrDat(uint8 data); 50 | void OLED_Wr6Dat(uint8 data); 51 | void OLED_PutPixel(uint8 x,uint8 y); 52 | void OLED_ClrPixel(uint8 x,uint8 y); 53 | void OLED_Set_Pos(uint8 x, uint8 y); 54 | void OLED_P6x8Str(uint8 x,uint8 y,uint8 ch[]); 55 | void OLED_P8x16Str(uint8 x,uint8 y,uint8 ch[]); 56 | void OLED_HEXACSII(uint16 hex,uint8* Print); 57 | void OLED_Print_Num(uint8 x, uint8 y, uint16 num); 58 | void OLED_Print_Num1(uint8 x, uint8 y, int16 num); 59 | void dis_bmp(uint16 high, uint16 width, uint8 *p,uint8 value); 60 | extern void OLED_P14x16Str(unsigned char x,unsigned char y,unsigned char ch[]); 61 | void OLED_fill(uint8 x,uint8 y,uint8 bmp_data); 62 | 63 | 64 | /********************************************************************/ 65 | 66 | #endif 67 | -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/SEEKFREE_OLED1.h: -------------------------------------------------------------------------------- 1 | /********************************************************************************************************************* 2 | * COPYRIGHT NOTICE 3 | * Copyright (c) 2017,逐飞科技 4 | * All rights reserved. 5 | * 技术讨论QQ群：179029047 6 | * 7 | * 以下所有内容版权均属逐飞科技所有，未经允许不得用于商业用途， 8 | * 欢迎各位使用并传播本程序，修改内容时必须保留逐飞科技的版权声明。 9 | * 10 | * @file NRF24L01 11 | * @company 成都逐飞科技有限公司 12 | * @author 逐飞科技(QQ3184284598) 13 | * @version v2.0 14 | * @Software IAR 7.7 or MDK 5.23 15 | * @Target core S9KEA128AMLK 16 | * @Taobao https://seekfree.taobao.com/ 17 | * @date 2017-11-6 18 | * @note 19 | NRF24L01接线定义： 20 | ------------------------------------ 21 | OLED液晶 单片机 22 | D0 H0 23 | D1 H1 24 | RES E5 25 | DC E6 26 | ------------------------------------ 27 | ********************************************************************************************************************/ 28 | 29 | 30 | 31 | #ifndef _SEEKFREE_OELD_H 32 | #define _SEEKFREE_OELD_H 33 | 34 | #include "headfile.h" 35 | 36 | 37 | 38 | //----宏定义OLED引脚---- 39 | #define OLED_SCL_PIN G4 40 | #define OLED_SDA_PIN G5 41 | #define OLED_RST_PIN G6 42 | #define OLED_DC_PIN G7 43 | //#define OLED_CS_PIN E4 44 | 45 | 46 | void Dly_ms(uint16 ms); 47 | void OLED_Init(void); 48 | void OLED_Fill(uint8 dat); 49 | void OLED_WrDat(uint8 data); 50 | void OLED_Wr6Dat(uint8 data); 51 | void OLED_PutPixel(uint8 x,uint8 y); 52 | void OLED_ClrPixel(uint8 x,uint8 y); 53 | void OLED_Set_Pos(uint8 x, uint8 y); 54 | void OLED_P6x8Str(uint8 x,uint8 y,uint8 ch[]); 55 | void OLED_P8x16Str(uint8 x,uint8 y,uint8 ch[]); 56 | void OLED_HEXACSII(uint16 hex,uint8* Print); 57 | void OLED_Print_Num(uint8 x, uint8 y, uint16 num); 58 | void OLED_Print_Num1(uint8 x, uint8 y, int16 num); 59 | void dis_bmp(uint16 high, uint16 width, uint8 *p,uint8 value); 60 | extern void OLED_P14x16Str(unsigned char x,unsigned char y,unsigned char ch[]); 61 | void OLED_fill(uint8 x,uint8 y,uint8 bmp_data); 62 | 63 | 64 | /********************************************************************/ 65 | 66 | #endif 67 | -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/SEEKFREE_TSL1401.c: -------------------------------------------------------------------------------- 1 | /********************************************************************************************************************* 2 | * COPYRIGHT NOTICE 3 | * Copyright (c) 2017,逐飞科技 4 | * All rights reserved. 5 | * 技术讨论QQ群：179029047 6 | * 7 | * 以下所有内容版权均属逐飞科技所有，未经允许不得用于商业用途， 8 | * 欢迎各位使用并传播本程序，修改内容时必须保留逐飞科技的版权声明。 9 | * 10 | * @file NRF24L01 11 | * @company 成都逐飞科技有限公司 12 | * @author 逐飞科技(QQ3184284598) 13 | * @version v2.0 14 | * @Software IAR 7.7 or MDK 5.23 15 | * @Target core S9KEA128AMLK 16 | * @Taobao https://seekfree.taobao.com/ 17 | * @date 2017-11-6 18 | * @note 19 | TSL1401接线定义： 20 | ------------------------------------ 21 | 模块管脚 单片机管脚 22 | CCD_AO B0 23 | CCD_CLK B2 24 | CCD_SI B3 25 | ------------------------------------ 26 | ********************************************************************************************************************/ 27 | 28 | 29 | 30 | #include "SEEKFREE_TSL1401.h" 31 | 32 | 33 | 34 | 35 | #define CCD_CLK_PORT B2 //CCD CLK引脚定义 36 | #define CCD_SI_PORT B3 //CCD SI 引脚定义 37 | #define AD_CHANNEL ADC0_SE4 //定义AD采集通道 B0 38 | #define EXPOSURE_TIME 10 //定义CCD曝光时间 单位MS 39 | 40 | 41 | 42 | #define CCD_CLK(x) gpio_set (CCD_CLK_PORT, x) 43 | #define CCD_SI(x) gpio_set (CCD_SI_PORT, x) 44 | 45 | 46 | uint16 ccd_data[128]; //CCD数据 47 | 48 | //------------------------------------------------------------------------------------------------------------------- 49 | // @brief TSL1401线阵CCD初始化 50 | // @param NULL 51 | // @return void 52 | // @since v1.0 53 | // Sample usage: 54 | //------------------------------------------------------------------------------------------------------------------- 55 | void ccd_init(void) 56 | { 57 | adc_init (AD_CHANNEL); //B0 58 | gpio_init(CCD_CLK_PORT, GPO, 1); //CLK 59 | gpio_init(CCD_SI_PORT, GPO, 1); //SI 60 | 61 | DisableInterrupts; 62 | pit_init_ms(pit0, EXPOSURE_TIME); //定时EXPOSURE_TIME(ms) 后中断 63 | set_irq_priority(PIT_CH0_IRQn,1); //设置优先级,根据自己的需求设置 可设置范围为 0 - 3 越小优先级越高 64 | enable_irq(PIT_CH0_IRQn); //使能PIT0中断 65 | EnableInterrupts; 66 | } 67 | 68 | 69 | //------------------------------------------------------------------------------------------------------------------- 70 | // @brief TSL1401线阵CCD数据采集 71 | // @param NULL 72 | // @return void 73 | // @since v1.0 74 | // Sample usage: 在isr.c里面先创建对应的中断函数，然后调用该函数(之后别忘记清除中断标志位) 75 | //------------------------------------------------------------------------------------------------------------------- 76 | void ccd_collect(void) 77 | { 78 | uint16 i = 0; 79 | 80 | 81 | CCD_CLK(1); 82 | CCD_SI(0); 83 | 84 | 85 | CCD_SI(1); 86 | CCD_CLK(0); 87 | 88 | 89 | CCD_CLK(1); 90 | CCD_SI(0); 91 | 92 | 93 | for(i=0;i<128;i++) 94 | { 95 | CCD_CLK(0); 96 | ccd_data[i] = adc_once(AD_CHANNEL, ADC_12bit); 97 | CCD_CLK(1); 98 | } 99 | } 100 | -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/SEEKFREE_TSL1401.h: -------------------------------------------------------------------------------- 1 | /********************************************************************************************************************* 2 | * COPYRIGHT NOTICE 3 | * Copyright (c) 2017,逐飞科技 4 | * All rights reserved. 5 | * 技术讨论QQ群：179029047 6 | * 7 | * 以下所有内容版权均属逐飞科技所有，未经允许不得用于商业用途， 8 | * 欢迎各位使用并传播本程序，修改内容时必须保留逐飞科技的版权声明。 9 | * 10 | * @file NRF24L01 11 | * @company 成都逐飞科技有限公司 12 | * @author 逐飞科技(QQ3184284598) 13 | * @version v2.0 14 | * @Software IAR 7.7 or MDK 5.23 15 | * @Target core S9KEA128AMLK 16 | * @Taobao https://seekfree.taobao.com/ 17 | * @date 2017-11-6 18 | * @note 19 | TSL1401接线定义： 20 | ------------------------------------ 21 | 模块管脚 单片机管脚 22 | CCD_AO B0 23 | CCD_CLK B2 24 | CCD_SI B3 25 | ------------------------------------ 26 | ********************************************************************************************************************/ 27 | 28 | 29 | 30 | #ifndef _TSL1401_c 31 | #define _TSL1401_c 32 | 33 | #include "headfile.h" 34 | 35 | extern uint16 ccd_data[128]; //CCD数据 36 | 37 | 38 | void ccd_init(void); 39 | void ccd_collect(void); 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | #endif 57 | 58 | -------------------------------------------------------------------------------- /KEA128/Libraries/seekfree/font.h: -------------------------------------------------------------------------------- 1 | #ifndef _font_h 2 | #define _font_h 3 | 4 | #include "common.h" 5 | 6 | 7 | extern const uint8 tft_ascii[95][16]; 8 | extern const uint8 asc2_1608[1520]; 9 | #endif 10 | -------------------------------------------------------------------------------- /KEA128/Libraries/startup/DeviceSupport/IAR-ARM/startup_SKEAZ1284.s: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/shengjiangcong/13th-Intelligence-Car-Race_Electromagnetic-tricycle/68e19d8e017533febfb17b25b2fcb5959f114ea2/KEA128/Libraries/startup/DeviceSupport/IAR-ARM/startup_SKEAZ1284.s -------------------------------------------------------------------------------- /KEA128/Libraries/startup/DeviceSupport/system_SKEAZ1284.c: -------------------------------------------------------------------------------- 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https://raw.githubusercontent.com/shengjiangcong/13th-Intelligence-Car-Race_Electromagnetic-tricycle/68e19d8e017533febfb17b25b2fcb5959f114ea2/KEA128/Projecct/IAR/program/Debug/Obj/welcom.pbi -------------------------------------------------------------------------------- /KEA128/Projecct/IAR/program/KEA128.icf: -------------------------------------------------------------------------------- 1 | /*###ICF### Section handled by ICF editor, don't touch! ****/ 2 | /*-Editor annotation file-*/ 3 | /* IcfEditorFile="$TOOLKIT_DIR$\config\ide\IcfEditor\cortex_v1_0.xml" */ 4 | /*-Specials-*/ 5 | define symbol __ICFEDIT_intvec_start__ = 0x00000000; 6 | /*-Memory Regions-*/ 7 | define symbol __ICFEDIT_region_ROM_start__ = 0x00000000; 8 | define symbol __ICFEDIT_region_ROM_end__ = 0x0001ffff; 9 | define symbol __ICFEDIT_region_RAM_start__ = 0x1ffff000; 10 | define symbol __ICFEDIT_region_RAM_end__ = 0x20002FFF; 11 | /*-Sizes-*/ 12 | define symbol __ICFEDIT_size_cstack__ = 0x100; 13 | define symbol __ICFEDIT_size_heap__ = 0x100; 14 | /**** End of ICF editor section. ###ICF###*/ 15 | 16 | define symbol __region_RAM2_start__ = 0x20000000; 17 | define symbol __region_RAM2_end__ = 0x20002fff; 18 | 19 | define symbol __FlashConfig_start__ = 0x00000400; 20 | define symbol __FlashConfig_end__ = 0x0000040f; 21 | 22 | define memory mem with size = 4G; 23 | define region ROM_region = mem:[from __ICFEDIT_region_ROM_start__ to (__FlashConfig_start__ - 1)] | mem:[from (__FlashConfig_end__+1) to __ICFEDIT_region_ROM_end__]; 24 | define region RAM_region = mem:[from __ICFEDIT_region_RAM_start__ to __ICFEDIT_region_RAM_end__] | mem:[from __region_RAM2_start__ to __region_RAM2_end__]; 25 | 26 | define block CSTACK with alignment = 8, size = __ICFEDIT_size_cstack__ { }; 27 | define block HEAP with alignment = 8, size = __ICFEDIT_size_heap__ { }; 28 | 29 | define region FlashConfig_region = mem:[from __FlashConfig_start__ to __FlashConfig_end__]; 30 | 31 | initialize by copy { readwrite }; 32 | do not initialize { section .noinit }; 33 | 34 | place at address mem:__ICFEDIT_intvec_start__ { readonly section .intvec }; 35 | 36 | place in FlashConfig_region {section FlashConfig}; 37 | 38 | place in ROM_region { readonly }; 39 | 40 | place in RAM_region { readwrite, block CSTACK, block HEAP }; -------------------------------------------------------------------------------- /KEA128/Projecct/IAR/program/settings/KEA128.Debug.cspy.bat: -------------------------------------------------------------------------------- 1 | @REM This batch file has been generated by the IAR Embedded Workbench 2 | @REM C-SPY Debugger, as an aid to preparing a command line for running 3 | @REM the cspybat command line utility using the appropriate settings. 4 | @REM 5 | @REM Note that this file is generated every time a new debug session 6 | @REM is initialized, so you may want to move or rename the file before 7 | @REM making changes. 8 | @REM 9 | @REM You can launch cspybat by typing the name of this batch file followed 10 | @REM by the name of the debug file (usually an ELF/DWARF or UBROF file). 11 | @REM 12 | @REM Read about available command line parameters in the C-SPY Debugging 13 | @REM Guide. Hints about additional command line parameters that may be 14 | @REM useful in specific cases: 15 | @REM --download_only Downloads a code image without starting a debug 16 | @REM session afterwards. 17 | @REM --silent Omits the sign-on message. 18 | @REM --timeout Limits the maximum allowed execution time. 19 | @REM 20 | 21 | 22 | @echo off 23 | 24 | if not "%~1" == "" goto debugFile 25 | 26 | @echo on 27 | 28 | "F:\IARR\common\bin\cspybat" -f "E:\四月份\比赛程序\KEA128\Projecct\IAR\program\settings\KEA128.Debug.general.xcl" --backend -f "E:\四月份\比赛程序\KEA128\Projecct\IAR\program\settings\KEA128.Debug.driver.xcl" 29 | 30 | @echo off 31 | goto end 32 | 33 | :debugFile 34 | 35 | @echo on 36 | 37 | "F:\IARR\common\bin\cspybat" -f "E:\四月份\比赛程序\KEA128\Projecct\IAR\program\settings\KEA128.Debug.general.xcl" "--debug_file=%~1" --backend -f "E:\四月份\比赛程序\KEA128\Projecct\IAR\program\settings\KEA128.Debug.driver.xcl" 38 | 39 | @echo off 40 | :end -------------------------------------------------------------------------------- /KEA128/Projecct/IAR/program/settings/KEA128.Debug.cspy.ps1: -------------------------------------------------------------------------------- 1 | param([String]$debugfile = ""); 2 | 3 | # This powershell file has been generated by the IAR Embedded Workbench 4 | # C - SPY Debugger, as an aid to preparing a command line for running 5 | # the cspybat command line utility using the appropriate settings. 6 | # 7 | # Note that this file is generated every time a new debug session 8 | # is initialized, so you may want to move or rename the file before 9 | # making changes. 10 | # 11 | # You can launch cspybat by typing Powershell.exe -File followed by the name of this batch file, followed 12 | # by the name of the debug file (usually an ELF / DWARF or UBROF file). 13 | # 14 | # Read about available command line parameters in the C - SPY Debugging 15 | # Guide. Hints about additional command line parameters that may be 16 | # useful in specific cases : 17 | # --download_only Downloads a code image without starting a debug 18 | # session afterwards. 19 | # --silent Omits the sign - on message. 20 | # --timeout Limits the maximum allowed execution time. 21 | # 22 | 23 | 24 | if ($debugfile -eq "") 25 | { 26 | & "F:\IARR\common\bin\cspybat" -f "E:\四月份\比赛程序\KEA128\Projecct\IAR\program\settings\KEA128.Debug.general.xcl" --backend -f "E:\四月份\比赛程序\KEA128\Projecct\IAR\program\settings\KEA128.Debug.driver.xcl" 27 | } 28 | else 29 | { 30 | & "F:\IARR\common\bin\cspybat" -f "E:\四月份\比赛程序\KEA128\Projecct\IAR\program\settings\KEA128.Debug.general.xcl" --debug_file=$debugfile --backend -f "E:\四月份\比赛程序\KEA128\Projecct\IAR\program\settings\KEA128.Debug.driver.xcl" 31 | } 32 | -------------------------------------------------------------------------------- /KEA128/Projecct/IAR/program/settings/KEA128.Debug.driver.xcl: -------------------------------------------------------------------------------- 1 | "--endian=little" 2 | 3 | "--cpu=Cortex-M0+" 4 | 5 | "--fpu=None" 6 | 7 | "-p" 8 | 9 | "F:\IARR\arm\CONFIG\debugger\NXP\KEAZ128xxx4.ddf" 10 | 11 | "--semihosting" 12 | 13 | "--device=KEAZ128xxx4" 14 | 15 | "--drv_communication=USB0" 16 | 17 | "--drv_interface_speed=auto" 18 | 19 | "--jlink_initial_speed=1000" 20 | 21 | "--jlink_reset_strategy=0,0" 22 | 23 | "--drv_interface=SWD" 24 | 25 | "--drv_catch_exceptions=0x000" 26 | 27 | 28 | 29 | 30 | -------------------------------------------------------------------------------- /KEA128/Projecct/IAR/program/settings/KEA128.Debug.general.xcl: -------------------------------------------------------------------------------- 1 | "F:\IARR\arm\bin\armproc.dll" 2 | 3 | "F:\IARR\arm\bin\armjlink2.dll" 4 | 5 | "E:\四月份\比赛程序\KEA128\Projecct\IAR\program\Debug\Exe\KEA128.out" 6 | 7 | --plugin "F:\IARR\arm\bin\armbat.dll" 8 | 9 | --device_macro "F:\IARR\arm\config\debugger\NXP\KExx.dmac" 10 | 11 | --flash_loader "F:\IARR\arm\config\flashloader\NXP\FlashKE04Z128_4.board" 12 | 13 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /KEA128/Projecct/IAR/program/settings/KEA128.crun: -------------------------------------------------------------------------------- 1 | 2 | 3 | 1 4 | 5 | 6 | * 7 | * 8 | * 9 | 0 10 | 1 11 | 12 | 13 | 14 | -------------------------------------------------------------------------------- /KEA128/Projecct/IAR/program/settings/KEA128.dni: -------------------------------------------------------------------------------- 1 | [Stack] 2 | FillEnabled=0 3 | OverflowWarningsEnabled=1 4 | WarningThreshold=90 5 | SpWarningsEnabled=1 6 | WarnLogOnly=1 7 | UseTrigger=1 8 | TriggerName=main 9 | LimitSize=0 10 | ByteLimit=50 11 | [InterruptLog] 12 | LogEnabled=0 13 | GraphEnabled=0 14 | ShowTimeLog=1 15 | SumEnabled=0 16 | ShowTimeSum=1 17 | SumSortOrder=0 18 | [DataLog] 19 | LogEnabled=0 20 | GraphEnabled=0 21 | ShowTimeLog=1 22 | SumEnabled=0 23 | ShowTimeSum=1 24 | [Interrupts] 25 | Enabled=1 26 | [MemConfig] 27 | Base=1 28 | Manual=0 29 | Ddf=1 30 | TypeViol=0 31 | Stop=1 32 | [Simulator] 33 | Freq=10000000 34 | MultiCoreRunAll=1 35 | [JLinkDriver] 36 | CStepIntDis=_ 0 37 | LeaveTargetRunning=_ 0 38 | TraceBufferSize=0x00010000 39 | TraceStallIfFIFOFull=0x00000000 40 | TracePortSize=0x00000000 41 | [DebugChecksum] 42 | Checksum=1779874045 43 | [Exceptions] 44 | StopOnUncaught=_ 0 45 | StopOnThrow=_ 0 46 | [CodeCoverage] 47 | Enabled=_ 0 48 | [CallStack] 49 | ShowArgs=0 50 | [Disassembly] 51 | MixedMode=1 52 | [array_types] 53 | Fmt0=uint8[2] 3 0 54 | Fmt1=uint8[8] 3 0 55 | [watch_formats] 56 | Fmt0={W}42:dd 4 0 57 | Fmt1={W}42:tt 4 0 58 | [Trace1] 59 | Enabled=0 60 | ShowSource=1 61 | [Log file] 62 | LoggingEnabled=_ 0 63 | LogFile=_ "" 64 | Category=_ 0 65 | [TermIOLog] 66 | LoggingEnabled=_ 0 67 | LogFile=_ "" 68 | [DriverProfiling] 69 | Enabled=0 70 | Mode=1 71 | Graph=0 72 | Symbiont=0 73 | Exclusions= 74 | [CallStackLog] 75 | Enabled=0 76 | [CallStackStripe] 77 | ShowTiming=1 78 | [Disassemble mode] 79 | mode=0 80 | [Breakpoints2] 81 | Count=0 82 | [Aliases] 83 | Count=0 84 | SuppressDialog=0 85 | -------------------------------------------------------------------------------- /KEA128/Projecct/IAR/program/settings/KEA128.dnx: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 0 5 | 1 6 | 90 7 | 1 8 | 1 9 | 1 10 | main 11 | 0 12 | 50 13 | 14 | 15 | _ 0 16 | _ 0 17 | 18 | 19 | 586246865 20 | 21 | 22 | _ 0 23 | _ 0 24 | 25 | 26 | _ 0 27 | 28 | 29 | 1 30 | 0 31 | 32 | 33 | 0 34 | 35 | 36 | 0 37 | 1 38 | 39 | 40 | _ 0 41 | _ "" 42 | _ 0 43 | 44 | 45 | _ 0 46 | _ "" 47 | 48 | 49 | 0 50 | 1 51 | 0 52 | 0 53 | 54 | 55 | 56 | 0 57 | 58 | 59 | 1 60 | 61 | 62 | 0 63 | 64 | 65 | 0 66 | 67 | 68 | 0 69 | 0 70 | 71 | 72 | -------------------------------------------------------------------------------- /KEA128/Projecct/IAR/program/settings/KEA128_Debug.jlink: -------------------------------------------------------------------------------- 1 | [BREAKPOINTS] 2 | ForceImpTypeAny = 0 3 | ShowInfoWin = 1 4 | EnableFlashBP = 2 5 | BPDuringExecution = 0 6 | [CFI] 7 | CFISize = 0x00 8 | CFIAddr = 0x00 9 | [CPU] 10 | MonModeVTableAddr = 0xFFFFFFFF 11 | MonModeDebug = 0 12 | MaxNumAPs = 0 13 | LowPowerHandlingMode = 0 14 | OverrideMemMap = 0 15 | AllowSimulation = 1 16 | ScriptFile="" 17 | [FLASH] 18 | CacheExcludeSize = 0x00 19 | CacheExcludeAddr = 0x00 20 | MinNumBytesFlashDL = 0 21 | SkipProgOnCRCMatch = 1 22 | VerifyDownload = 1 23 | AllowCaching = 1 24 | EnableFlashDL = 2 25 | Override = 0 26 | Device="ARM7" 27 | [GENERAL] 28 | WorkRAMSize = 0x00 29 | WorkRAMAddr = 0x00 30 | RAMUsageLimit = 0x00 31 | [SWO] 32 | SWOLogFile="" 33 | [MEM] 34 | RdOverrideOrMask = 0x00 35 | RdOverrideAndMask = 0xFFFFFFFF 36 | RdOverrideAddr = 0xFFFFFFFF 37 | WrOverrideOrMask = 0x00 38 | WrOverrideAndMask = 0xFFFFFFFF 39 | WrOverrideAddr = 0xFFFFFFFF 40 | -------------------------------------------------------------------------------- /KEA128/Projecct/IAR/settings/KEA128.wspos: -------------------------------------------------------------------------------- 1 | [MainWindow] 2 | WindowPlacement=_ 439 181 1879 940 3 3 | -------------------------------------------------------------------------------- /KEA128/Projecct/MDK/EventRecorderStub.scvd: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | -------------------------------------------------------------------------------- /KEA128/Projecct/MDK/JLinkLog.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/shengjiangcong/13th-Intelligence-Car-Race_Electromagnetic-tricycle/68e19d8e017533febfb17b25b2fcb5959f114ea2/KEA128/Projecct/MDK/JLinkLog.txt -------------------------------------------------------------------------------- /KEA128/Projecct/MDK/JLinkSettings.ini: -------------------------------------------------------------------------------- 1 | [BREAKPOINTS] 2 | ForceImpTypeAny = 0 3 | ShowInfoWin = 1 4 | EnableFlashBP = 2 5 | BPDuringExecution = 0 6 | [CFI] 7 | CFISize = 0x00 8 | CFIAddr = 0x00 9 | [CPU] 10 | MonModeVTableAddr = 0xFFFFFFFF 11 | MonModeDebug = 0 12 | MaxNumAPs = 0 13 | LowPowerHandlingMode = 0 14 | OverrideMemMap = 0 15 | AllowSimulation = 1 16 | ScriptFile="" 17 | [FLASH] 18 | CacheExcludeSize = 0x00 19 | CacheExcludeAddr = 0x00 20 | MinNumBytesFlashDL = 0 21 | SkipProgOnCRCMatch = 1 22 | VerifyDownload = 1 23 | AllowCaching = 1 24 | EnableFlashDL = 2 25 | Override = 0 26 | Device="ARM7" 27 | [GENERAL] 28 | WorkRAMSize = 0x00 29 | WorkRAMAddr = 0x00 30 | RAMUsageLimit = 0x00 31 | [SWO] 32 | SWOLogFile="" 33 | [MEM] 34 | RdOverrideOrMask = 0x00 35 | RdOverrideAndMask = 0xFFFFFFFF 36 | RdOverrideAddr = 0xFFFFFFFF 37 | WrOverrideOrMask = 0x00 38 | WrOverrideAndMask = 0xFFFFFFFF 39 | WrOverrideAddr = 0xFFFFFFFF 40 | -------------------------------------------------------------------------------- /KEA128/Projecct/MDK/Objects/ExtDll.iex: -------------------------------------------------------------------------------- 1 | [EXTDLL] 2 | Count=0 3 | -------------------------------------------------------------------------------- /KEA128/Projecct/MDK/Objects/KEA128.axf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/shengjiangcong/13th-Intelligence-Car-Race_Electromagnetic-tricycle/68e19d8e017533febfb17b25b2fcb5959f114ea2/KEA128/Projecct/MDK/Objects/KEA128.axf -------------------------------------------------------------------------------- /KEA128/Projecct/MDK/Objects/KEA128.build_log.htm: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/shengjiangcong/13th-Intelligence-Car-Race_Electromagnetic-tricycle/68e19d8e017533febfb17b25b2fcb5959f114ea2/KEA128/Projecct/MDK/Objects/KEA128.build_log.htm -------------------------------------------------------------------------------- /KEA128/Projecct/MDK/Objects/KEA128.lnp: -------------------------------------------------------------------------------- 1 | --cpu Cortex-M0+ 2 | ".\objects\startup_skeaz1284.o" 3 | ".\objects\system_skeaz1284.o" 4 | ".\objects\misc.o" 5 | ".\objects\common.o" 6 | ".\objects\kea128_adc.o" 7 | ".\objects\kea128_flash.o" 8 | ".\objects\kea128_ftm.o" 9 | ".\objects\kea128_gpio.o" 10 | ".\objects\kea128_irq.o" 11 | ".\objects\kea128_kbi.o" 12 | ".\objects\kea128_pit.o" 13 | ".\objects\kea128_port.o" 14 | ".\objects\kea128_uart.o" 15 | ".\objects\kea128_systick.o" 16 | ".\objects\kea128_i2c.o" 17 | ".\objects\kea128_spi.o" 18 | ".\objects\font.o" 19 | ".\objects\seekfree_18tft.o" 20 | ".\objects\seekfree_fun.o" 21 | ".\objects\seekfree_iic.o" 22 | ".\objects\seekfree_l3g4200d.o" 23 | ".\objects\seekfree_mma8451.o" 24 | ".\objects\seekfree_mpu6050.o" 25 | ".\objects\seekfree_nrf24l01.o" 26 | ".\objects\seekfree_oled.o" 27 | ".\objects\seekfree_tsl1401.o" 28 | ".\objects\isr.o" 29 | ".\objects\main.o" 30 | --library_type=microlib --strict --scatter ".\Objects\KEA128.sct" 31 | --summary_stderr --info summarysizes --map --xref --callgraph --symbols 32 | --info sizes --info totals --info unused --info veneers 33 | --list ".\Listings\KEA128.map" -o .\Objects\KEA128.axf -------------------------------------------------------------------------------- /KEA128/Projecct/MDK/Objects/KEA128.sct: -------------------------------------------------------------------------------- 1 | ; ************************************************************* 2 | ; *** Scatter-Loading Description File generated by uVision *** 3 | ; ************************************************************* 4 | 5 | LR_IROM1 0x00000000 0x00020000 { ; load region size_region 6 | ER_IROM1 0x00000000 0x00020000 { ; load address = execution address 7 | *.o (RESET, +First) 8 | *(InRoot$$Sections) 9 | .ANY (+RO) 10 | } 11 | RW_IRAM1 0x1FFFF000 0x00004000 { ; RW data 12 | .ANY (+RW +ZI) 13 | } 14 | } 15 | 16 | -------------------------------------------------------------------------------- /KEA128/Projecct/MDK/Objects/common.crf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/shengjiangcong/13th-Intelligence-Car-Race_Electromagnetic-tricycle/68e19d8e017533febfb17b25b2fcb5959f114ea2/KEA128/Projecct/MDK/Objects/common.crf -------------------------------------------------------------------------------- /KEA128/Projecct/MDK/Objects/common.d: -------------------------------------------------------------------------------- 1 | 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-------------------------------------------------------------------------------- /三轮主控板基础板2.3.PcbDoc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/shengjiangcong/13th-Intelligence-Car-Race_Electromagnetic-tricycle/68e19d8e017533febfb17b25b2fcb5959f114ea2/三轮主控板基础板2.3.PcbDoc --------------------------------------------------------------------------------