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‎arc_design_contest/2019/XDU_iWheelchair/src/M6.c‎

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#include "M6.h"
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#include "drive_control.h"
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/*Voice control init*/
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/*Pmod5_pin8<-->M6_RX,Pmod5_pin9<-->M6_TX*/
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void M6_init(void)
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{
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M6 = uart_get_dev(DW_UART_2_ID);
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M6->uart_open(UART_BAUDRATE_9600);
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M6->uart_control(UART_CMD_SET_BAUD,(void*)(UART_BAUDRATE_9600));
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}
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void voice_control(uint8_t M6_rcv_buf[],uint32_t M6_rcv_cnt)
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{
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switch(M6_rcv_buf[M6_rcv_cnt-1])
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{
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case 1:
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car_set(0,PWM_L,PWM_R);//stop
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EMBARC_PRINTF("ble command is %s，停下\r\n",M6_rcv_buf);
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break;
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case 2:
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car_set(1,PWM_L,PWM_R);//forward
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EMBARC_PRINTF("ble command is %s，向前\r\n",M6_rcv_buf);
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break;
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case 3:
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car_set(2,PWM_L,PWM_R);//left
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EMBARC_PRINTF("ble command is %s，向左\r\n",M6_rcv_buf);
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break;
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case 4:
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car_set(3,PWM_L,PWM_R);//right
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EMBARC_PRINTF("ble command is %s，向右\r\n",M6_rcv_buf);
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break;
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case 5:
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car_set(6,PWM_L,PWM_R);//backward
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EMBARC_PRINTF("ble command is %s，向前\r\n",M6_rcv_buf);
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break;
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default:
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EMBARC_PRINTF("ble command error\r\n");
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break;
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}
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}

‎arc_design_contest/2019/XDU_iWheelchair/src/M6.h‎

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#include "embARC.h"
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#include "embARC_debug.h"
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#include "board.h"
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#include "dev_uart.h"
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#include "stdio.h"
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static DEV_UART_PTR M6;
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extern void M6_init(void);
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extern void voice_control(uint8_t M6_rcv_buf[],uint32_t M6_rcv_cnt);
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‎arc_design_contest/2019/XDU_iWheelchair/src/ble.c‎

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#include "ble.h"
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#include "buzzer.h"
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#include "drive_control.h"
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/*******Use PMOD1*******/
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void ble_control(uint8_t ble_rcv_buf[])
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{
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switch (ble_rcv_buf[0])
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{
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EMBARC_PRINTF("%s\n",ble_rcv_buf);
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case 'p':
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car_set(0,PWM_L,PWM_R);//stop
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EMBARC_PRINTF("ble command is %s，停下\r\n",ble_rcv_buf);
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break;
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case 'w':
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car_set(1,PWM_L,PWM_R);//forward
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EMBARC_PRINTF("ble command is %s，向前\r\n",ble_rcv_buf);
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break;
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case 'a':
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car_set(2,PWM_L,PWM_R);//left
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EMBARC_PRINTF("ble command is %s，向左\r\n",ble_rcv_buf);
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break;
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case 'd':
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car_set(3,PWM_L,PWM_R);//right
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EMBARC_PRINTF("ble command is %s，向右\r\n",ble_rcv_buf);
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break;
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case 's':
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car_set(6,PWM_L,PWM_R);//backward
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EMBARC_PRINTF("ble command is %s，向前\r\n",ble_rcv_buf);
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break;
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case 'u':
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car_set(4,PWM_L,PWM_R);//speed up
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EMBARC_PRINTF("ble command is %s,speed=%d，加速\r\n",ble_rcv_buf,speed);
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break;
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case 'i':
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car_set(5,PWM_L,PWM_R);//speed down
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EMBARC_PRINTF("ble command is %s，减速\r\n",ble_rcv_buf);
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break;
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case 'b':
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buzzer_open();
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EMBARC_PRINTF("buzzer_open\n");
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break;
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case 'n':
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buzzer_close();
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EMBARC_PRINTF("buzzer_close\n");
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break;
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default:
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EMBARC_PRINTF("ble command error\r\n");
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break;
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}
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}

‎arc_design_contest/2019/XDU_iWheelchair/src/ble.h‎

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#include "embARC.h"
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#include "embARC_debug.h"
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#include "board.h"
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#include "stdio.h"
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extern void ble_control(uint8_t ble_rcv_buf[]);

‎arc_design_contest/2019/XDU_iWheelchair/src/buzzer.c‎

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#include "buzzer.h"
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#define BUZZER_MASK 0x00010000
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void buzzer_init(void)
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{
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buzzer = gpio_get_dev(DW_GPIO_PORT_A);//Pmod3_pin7<--->BUZZER
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buzzer->gpio_open(BUZZER_MASK);
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buzzer->gpio_control(GPIO_CMD_SET_BIT_DIR_OUTPUT, (void *)BUZZER_MASK);
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buzzer->gpio_write(0x00010000,BUZZER_MASK);
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}
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void buzzer_open(void)
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{
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buzzer->gpio_write(0x00000000,BUZZER_MASK);
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}
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void buzzer_close(void)
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{
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buzzer->gpio_write(0x00010000,BUZZER_MASK);
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}

‎arc_design_contest/2019/XDU_iWheelchair/src/buzzer.h‎

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#include "embARC.h"
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#include "embARC_debug.h"
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#include "board.h"
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#include "dev_gpio.h"
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static DEV_GPIO_PTR buzzer;
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extern void buzzer_init(void);
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extern void buzzer_open(void);
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extern void buzzer_close(void);

‎arc_design_contest/2019/XDU_iWheelchair/src/drive_control.c‎

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#include "drive_control.h"
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/*L298N_init*/
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void L298N_init(void)
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{
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PMOD_L = gpio_get_dev(DW_GPIO_PORT_A);
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PMOD_L->gpio_open(L298N_L_MASK);
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PMOD_L->gpio_control(GPIO_CMD_SET_BIT_DIR_OUTPUT, (void *)L298N_L_MASK);
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PMOD_R = gpio_get_dev(DW_GPIO_PORT_A);
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PMOD_R->gpio_open(L298N_R_MASK);
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PMOD_R->gpio_control(GPIO_CMD_SET_BIT_DIR_OUTPUT, (void *)L298N_R_MASK);
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PMOD_F = gpio_get_dev(DW_GPIO_PORT_A);
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PMOD_F->gpio_open(L298N_F_MASK);
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PMOD_F->gpio_control(GPIO_CMD_SET_BIT_DIR_OUTPUT, (void *)L298N_F_MASK);
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PMOD_H = gpio_get_dev(DW_GPIO_PORT_C);
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PMOD_H->gpio_open(L298N_H_MASK);
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PMOD_H->gpio_control(GPIO_CMD_SET_BIT_DIR_OUTPUT, (void *)L298N_H_MASK);
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}
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/**
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* \brief Control move.
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* \param dire.Direction of move.
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* \param pwm_left.Left PWM control.
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* \param pwm_right.Right PWM control.
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*/
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void car_set(uint32_t dire,uint32_t pwm_left, uint32_t pwm_right)
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{
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switch(dire)
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{
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//stop
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case 0:
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PWM_L = 0;
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PWM_R = 0;
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break;
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//forward
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case 1:
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PMOD_F->gpio_write(0x30000000,L298N_F_MASK);
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PMOD_H->gpio_write(0x00000000,L298N_H_MASK);
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PWM_L = speed;
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PWM_R = speed;
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break;
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//left
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case 2:
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PMOD_F->gpio_write(0x30000000,L298N_F_MASK);
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PMOD_H->gpio_write(0x00000000,L298N_H_MASK);
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PMOD_R->gpio_write(0x80000000,L298N_R_MASK);
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PWM_L = 0;
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PWM_R = speed;
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break;
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//right
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case 3:
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PMOD_F->gpio_write(0x30000000,L298N_F_MASK);
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PMOD_H->gpio_write(0x00000000,L298N_H_MASK);
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PMOD_L->gpio_write(0x40000000,L298N_L_MASK);
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PWM_L = speed;
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PWM_R = 0;
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break;
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case 4: //speed up
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if(speed < 9)
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{
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speed = speed + 1;
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PWM_L = speed;
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PWM_R = speed;
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}
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break;
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case 5: //speed down
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if(speed > 0)
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{
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speed = speed - 1;
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PWM_L = speed;
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PWM_R = speed;
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}
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break;
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//backward
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case 6:
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PMOD_F->gpio_write(0x00000000,L298N_F_MASK);
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PMOD_H->gpio_write(0xC0000000,L298N_H_MASK);
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PWM_L = speed;
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PWM_R = speed;
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break;
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}
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}

‎arc_design_contest/2019/XDU_iWheelchair/src/drive_control.h‎

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#include "embARC.h"
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#include "embARC_debug.h"
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#include "board.h"
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#include "dev_gpio.h"
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#define L298N_L_MASK 0x40000000 //Pmod6_pin9<--->L298N_LEFT_EN
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#define L298N_R_MASK 0x80000000 //Pmod6_pin10<--->L298N_RIGHT_EN
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#define L298N_F_MASK 0x30000000 //Pmod6_pin7,pin8<--->L298N_FORWORD_EN
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#define L298N_H_MASK 0xC0000000 //Pmod6_pin3,pin4<--->L298N_BACK_EN
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static DEV_GPIO_PTR PMOD_L;
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static DEV_GPIO_PTR PMOD_R;
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static DEV_GPIO_PTR PMOD_F;
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static DEV_GPIO_PTR PMOD_H;
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static uint32_t PWM_L = 0;
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static uint32_t PWM_R = 0;
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static uint32_t speed = 4;
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extern void L298N_init(void);
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extern void car_set(uint32_t dire,uint32_t pwm_left, uint32_t pwm_right);

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