From ff06f37de072528e8eeaea0e1430a437476a8637 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?XiongJ=28=E7=86=8A=E5=81=A5/=E6=B7=B1=E5=9C=B3=29?=
 <xiongj@paxsz.local>
Date: Tue, 12 Sep 2017 19:54:28 +0800
Subject: [PATCH] update the test code of new speed sensor

---
 .../SI-Project/BBear_balance_car_SI.WK3       | Bin 21677 -> 0 bytes
 sourcecode/source_code/APP/main.c             |  10 +++----
 sourcecode/source_code/BSP/BSP.C              |  27 ++++++++++++------
 3 files changed, 24 insertions(+), 13 deletions(-)
 delete mode 100644 sourcecode/SI-Project/BBear_balance_car_SI.WK3

diff --git a/sourcecode/SI-Project/BBear_balance_car_SI.WK3 b/sourcecode/SI-Project/BBear_balance_car_SI.WK3
deleted file mode 100644
index bb15501f7d3fb05b1148cbbcd7c5940d04b383e5..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 21677
zcmeHP4RjRM6&@IbC?Ek*@qfXph-Td+{0o(Y@M}WWB%rmc%Vc+wjqL6$v$GJb3iS_;
zo)&tlE!Lh>)T5<pkJhTyqM}DdDryk~Q>9hg+ET3*ZT+v>@0)#Z@;1bfjX&79_ndF;
zd+)w?=e|2L_r1BZiC&~>)moW;jHc-ts1FZcbDA+Z^!PoSUVGw!P;-kDN?RE_Vn(c}
z8LFRC611)J%!m`JtTYWf+-Ss&WW)?dP_CcTTio`k^Ut~>?E0dzJ{SW0(|gOT+vl+#
ziv8QGUTNiEulS`Ew)NAr4~J`7{UO;?`cMy{cp>=Bz^%Y-z_LR%?MytxJH~6;YWGRb
z_HUZ3X(Re-+Qm~eZ6}(}o~mh+q3h~;O*^a`5Bnz@meqc;2fd-REL)~jM6q4o)hSNU
z_6OA^oO;JNern*XnSoQ;;L<6lJpRgt?e}kd;-ii4?yvPL3j_k%sB=T3zipIUP*HOB
zIsP%B6Gx*OD4BGQdqDj}|CsEgI~+0n0u?+^@Ib)>1rHQFQ1HOl&jWu~wnT$CeX%DP
zB3$u#^8JNQ?8-DBummuGIFJEMzz2|I9}DFszy|~c=lcZfRX`GG0URI=gfX8KICa^g
z&i2JhIf62Y=U_k9c^>MD0wl^vU2)pp3h?~$+~l-{dTEDj?`RX}tJ=<TBfxPa^}IgR
zrHp0OUY?8dr2X{cbHLNUEx_HtO`^VD)E@=EAJ_(L2L1rt2Ydwl8h8@e0c-)D1=!~v
z;C6ueIQ~K4CEy|8HK3zD_TL1^{?y0v^}r1PiSuLqMpi)Td}aO9<YRPA`>JB1JDco$
zzDhPqpGtlT3STArz6e{?xw2fKf(Hs7*t-W#Ko<fTP?wgUFspCT%4)q2YR3UZ@6Xp4
zBIPss=X3Q&!6Sl41vdq661-XPnBXmfpC|Yt!Q+A_1WyWX37!&svEa7gX~7-AGlDM>
ze5v5Af}bz=1%iJ^@CyaMNbrjVUncl+!M`i`C4yfHPQP3RzU#)h`sJei3h>$Gv-++8
zFHrYAun=9Fk!$2V#(n8K;hUCi+qSjO${CvW`mKk5!1AxEG_4M)z5Vv0_UoRu-HUsA
zy|`*}XnxwX)1j!*+F~V}Llvo1mEjnnYAa&ILk(sk6>6AyR#~9D-0vi~Q}12W&H0ZF
zOzM@>*N(;IlsHmc+I4r$)dP>!x@#Jnn4e$!Y!Gi2?ZowNG{E@6bxtM9P6mzuxb~?;
z*;P1j9M?mYDBFp{ao}7dRif-qIGhB|byFqEUc})jaIU2)QT7rJBfz=7szlk#IPe1i
z*Ibn-`wI?y_u@LN5@mnI0pV5S+N=^~ui)SV=X$LYWq-qg^Wz$>5@mnKf!BcRx=NJo
z!h!zeTCWmi|G<HM;rg!<Wv}8uo!k?sMA>UNP$%~ZDpB@N9H^6f2bCy$U5w*?LM6)n
zg#)hx_ZTWswi^fD7u<KKMA@5S9QPtBQT7%Nhl6u}q7r3;k(1$mjC&T9C>sRXC~)p$
zRHAI4ka2IL5@kan<J`I5QHipHAS(gq9!Mq1hC?<Iockh`C_5N3`kH$sl_*<<1IKay
zq!MMTao{-asZ^ru8XS0SxzAFGvLE3<pK<S{5@meG_^FcnFO_5*koksU>@V)<Q{%>g
zQ!yq4Y<aP!@4^EX=*(Bqt`guh;0z!FWPlaGwZN^w1HkWrmw|r+`$5N{z==Q^-~$c>
z{tMZwKpU_TxC^)eSPfhZ#DTMc*}!<<8^ADt#8~1I3(%Eqfy1)}H*Qhn&Wi<i01xzn
zTN@w??!KNPPS6z{APWO!fqO1j<ob`D50ouKWT99VhRT9#Eju41TZYTR!Lo3OEa1az
z_7sd;?zs+=1zuIRh3<C?ya(I@A3V2kv@9@0xh+0f7%2;*SWwATgN9xG7U<f33v$Ch
zw(V+PS(dlT=<T)oG{E(~5VqbjPhSmi`B;dyw*hYVImz@5$Aq?HoBA>wAG;{trf<!b
z&vFe$hb}0uEi3Pr0u?;ai#*WHE$j60<9g?ooiT=BK$0<Q&7f+1(-qk?3@<ffPGCiK
zPR!z%kpM${$CLwQ4D>Rd?cQ9g@7hr3#xt%2QJ@w2Rtues<2j@n6Z@c6Z~NI?FBsC8
zX>0ckpy~-%LcZmR_5jKgu0>lB4B_~NsB;Z0Iw`1gxtMX|Xg7cs!Sc}IuT)*WcxxY)
z=YL)Sv?3S`rIsfAF`TSG1rPKh4|FqtmQI*Z*(+cA8BgTpRO6QROikZ=zn2?Cec#Uw
zq8z8jt>s!!kD(6(D2Z`v4cgYCO~x&5{FwLUes|WnC2rjMGj@UfYeJijx^8P9mK#3r
zxD~<43RLhwFY-V)<JQdam8HEhZZXCXYRua8)46)_56|%84`WU%>gr|Z7`~5l)5dR4
zDp97!vxhLYP3V&wzv8RU(6>Ba<0TZ-@j1p6ubZon{>8i;V^*V{GoZr>cVk1>ri@_#
zEyi2(d)LkN0_f4Ok{{4$(5mCCCH%m16tuqDdae86hvfkXpqxxs)U7vXZu}BPOVS_d
zN>xEt@WB6_2f7(RtEwu?dSw7*1S1%b<eT$|qM#nw9?XeZMN8(hi${zr%wsZ8^2ZG-
zQN|=CQ>pyGuM*Ft2G=z>PjJetz8u4Js2l4}MjOuO=3CL`y;-x66VOzvS0d6*+c_u4
z>UF4NOb)4M-wpX%jFU=v_M-XKx)0#8(e}>iI-_ik0#qJB%X|!CDw^~%-~(h|&R%-J
zO(>(@8S&Fc9~^kDu4s?3TWb39wO_WMjsj8C4=IAq>{9y5F<tSV+SU4Coz88&)Ln)G
zk$_z*I<ZUkmG+NBU!o&biiV!r75j0u&OEc!%j-;xgkAS_VwdbI?O}e1H!`~Bko%1Q
zEj_iX_?|kQKiQB<nb9Y9q9uuw@$(3&3S}R-?90zJ1oQoF&L3Q*XCNb$06n_DFixI}
zdcG=l@pBr#mGIeOna>PAA(CDY{3*eIC-?<|bH_yDCo<A61%E*Bvjv|gI6p;^c;Au+
z3O+#a53<eLF2UOb-y*n`NEpfJfW}NyOEPK?F(MH&ZrX-}pHzg?&d|oV6<HL9bniWy
zOgkJijp(3s$~2?lCL`ilwq6<-H_S2YX445f_(=v;XKeGJNXE9!WKP==owS7;p~*Iu
z4m6TR+-fePieoaVsNtCWfrrqRo@rZ&I%DYqBc3tSgMxFa!bZlioJ`UjjM*8@CJl2;
z`_Rr#0rf+uH=HnyblAoW&L5~K*ISa#U^&ip$MDYn8ur*v-J-Vt87;T+#314Od*7_q
z+kPu{-9CKQ#5LOtSq1nu;CYmr0sckfPrzrQtrq3AC{IUO_FsT9>l@JC5BxOrS&uS5
zS>6u(2IULE*8qP+xfnbM{2XP*7sd^O>5dWvi}%3S0xQwy32?3<H)Dag59R(SKMV{4
z&IIm6J8fogKvgRR7)uedT)G!OGu-r_>>S_5N5&VB175p+o*sB~jvhpP1@Is+0yq<2
zBd-Cr0S5ukAegNJF2jnt0Q?Z(Iyi4Ta1P*Od7!4<fyJ@{{C)8AfETbNuL3H7AE5nB
z*myH0xDYrJcnbP1!8|7b!yp@pF<Vjo5VD(4{}w=c4U>of>oBq509WbffQRAVt04D-
zuW)-pU;FjH;}7?2dUoSex83=`V^4;nz#|)W><pETd-T=E-?;nv((yZXmXuCFOL_FJ
zx3*os{)79Ty#M2^8+Y6({`NZi2glFe_4K3nf4u#}hh7)WCGOuLmjz14m6nx`4MkF^
zP>o^7Taw}IJ5MTgxiDq<muyN)G7`_=@5R%OnZhIKkIDVURr|=0=~l9-r8$$0V)ckZ
zrayLxaLz^h$fi_FGVPD85>{NfkF3as=D1}o%A_2lF%HLECQMqkk4$PZ(pYT#u`7ig
zm+vDxvJX?eX}1`0e{7|&=F%_On)b(9Sb~Oqb%kh4ChpiqJQDSza*goG>Mz+RGQLEu
z=0q5_gj*7+xS7EA!QH0#V>5(d(_mQIYI2quwi$LTD~<@c$Sj{&icnjUvayhxcBrce
zS|Joo$y-qh{~05R*atUF7fQaFml8QisVFvEsF|LZ8eX%6<?h}hR?@MpI8ExAE@@Kk
zlTj(`nwpngxw`zZSwc%?kF;>RCiZ^*ShY|!D=$@aR43~Mnr8}q6?yB+aTGL76PixV
zTT><0^+h$jbf3-LLQjl8awApeWr@6K?t|Ba+bN8Vw}Jfzw;lf2XERO4{kd7ov>AKk
zxT?(bBF9Q~`tVBAI^65+PfcFhcr$d+q`E#YUDC4b&7cIQytL4wtOjp;=eavCMbaGU
zZZB5mrG@6G4;|`N;<}xdmm+D-Qp1VFa9=5pZ;$jiG1E@8q_M|yw=>vcO%ryV+9Q40
zZJHOIdZa^jRBVzkXDpsP@o$#Oqn+N;om}$CV(_>;2Dk4U#*5LVdmSyWio9p1ijfn$
zJu)Yh`eRdsf(d(7z*+D4=#3NO1Kk=g*G%a8rWiP>ec-GXCuSwg?)tn38q^C88>R^x
z81}^_@5%=0d{s-VlPlkq4ti0(exclh(TWe%T~Igd=ehU1f@6gfPHA^Shkq}o{(G(V
zPj}^FoWEP+ynoA;-!ShdVm%uc=_`yRLw>-e5pPxN0RVXdk7lF35MXkIi4j8f-}N>=
zufCH_jGTx@q7C)kz>z2y16O0<6yQZ*1Mmx=AKK&KX94d5Oal49`vbdS*h|1>U_G!7
z_%Uz=kO87V1HcsXMBsSfFyLe8;NLO)5qJc+1GpXtK<8rcg#eRJe&7(`EzILDz-EAy
z1{#5Bz!*SHat+9)5FP$_nlv;gRD_M_l3`haHaJJ({t_IL!;TdX$fz8#KQ;>4AeV}o
zkZ;7xzS$reYR7!O<o?_px`&vpj*U!50&hhvsrdOwExFV`y*Ptc4xgwVA)cjhlV#&o
zBpOZ`>2!FJX(!FNrz&Mz5fjakYy#G6H<NrV51Yv-7PVB`^IF<;8r(Fh8J%r85PP$)
znBP#_Fry|oRGfa0oBMPVnntVpb9@Lo$-#QoS2QHdW&`;*mk!8Q%f^ilcqgx^ZJ0fy
zuClhGuF5xcs;|797nn5g^m(;s&I`K|`5mmE8Bd$ud5y+&&^DQVooOWNnHl!_@f67N
zxwL=ONH&|cl}USM+2&HqUgY&g(jtX?pGyNGM%wh1mwG;M>!pE79U9649U4m8d(0Gh
z2XEft`WX%3IrD<^8@$tGv*JrV&zi}_8T@ZVH)Y<TlkMHb?){z)qi4p9dM@-5>0X*#
z&SkoVRCvTe?$IS?%=zJf)LEL`bG?!h|3<dEwzt%{HxV^O?irqwDwkhbKP_eM-LPD?
zl+?L*y=pKIZ%#O$SDsT}=XK&gx<fp3gCaR8_2E2yC4e~NW~-TbeF^p1tE%;z(PjY?
W0n*qk)4teM=Cdvr`K>bEn)W{-N{UGU

diff --git a/sourcecode/source_code/APP/main.c b/sourcecode/source_code/APP/main.c
index 358785e..3afab9e 100644
--- a/sourcecode/source_code/APP/main.c
+++ b/sourcecode/source_code/APP/main.c
@@ -20,11 +20,11 @@ int main()
 	GPIO_Configuration();
 	NVIC_Configuration();
 	EXTI_Configuration();
-	PID_Init(&Angle_PID, 150, 0,-100); //20170219 150,0,-100
-	PID_Init(&Speed_PID, 50, 0.5, 0);  //20170219 50,0.5,0
-	PWM_Motor_Configuration();
-	InitMPU6050();
-	Cal_angle();
+	//PID_Init(&Angle_PID, 150, 0,-100); //20170219 150,0,-100
+	//PID_Init(&Speed_PID, 50, 0.5, 0);  //20170219 50,0.5,0
+	//PWM_Motor_Configuration();
+	//InitMPU6050();
+	//Cal_angle();
 	Heart_TIM();
 	while(1)
 	{
diff --git a/sourcecode/source_code/BSP/BSP.C b/sourcecode/source_code/BSP/BSP.C
index 80e51e1..832c226 100644
--- a/sourcecode/source_code/BSP/BSP.C
+++ b/sourcecode/source_code/BSP/BSP.C
@@ -207,11 +207,11 @@ void NVIC_Configuration(void)
 	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 
 	NVIC_Init(&NVIC_InitStructure); 
 
-  NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
+/*  NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
   NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;  
   NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-  NVIC_Init(&NVIC_InitStructure);
+  NVIC_Init(&NVIC_InitStructure);*/
  
   NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;		
   NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
@@ -268,23 +268,33 @@ Description:
 ******************************************************************************/
 void EXTI15_10_IRQHandler(void)
 {  
-	if(EXTI_GetITStatus(EXTI_Line10) != RESET){
+/*	if(EXTI_GetITStatus(EXTI_Line10) != RESET){
 	if(speed_dir == 1)	
 		leftspeed++; 
 	if(speed_dir == 2)
 		leftspeed--;
 	
 	EXTI_ClearITPendingBit(EXTI_Line10);
-	}
+	}*/
 	
 	if(EXTI_GetITStatus(EXTI_Line11) != RESET){
-	if(speed_dir == 1)
+/*	if(speed_dir == 1)
 		rightspeed++;
 	if(speed_dir == 2)
-		rightspeed--;
+		rightspeed--;*/
 	
 	EXTI_ClearITPendingBit(EXTI_Line11);
 	}	
+	if(EXTI_GetITStatus(EXTI_Line10) != RESET){
+		if(GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_11) == 0){
+			speed_dir = 1;
+			leftspeed++;
+		}else{
+			speed_dir = 2;
+			leftspeed--;
+		}
+		EXTI_ClearITPendingBit(EXTI_Line10);
+	}
 }
 
 /******************************************************************************
@@ -328,7 +338,7 @@ Description:
 void TIM3_IRQHandler(void)
 {
 	if(TIM_GetITStatus(TIM3, TIM_IT_Update) == SET){
-		if(leftspeed > 20)
+/*		if(leftspeed > 20)
 			leftspeed = 20;
 			res_l = leftspeed;
 
@@ -343,7 +353,8 @@ void TIM3_IRQHandler(void)
 		if((leftspeed == 0 && rightspeed != 0)||(leftspeed != 0 && rightspeed == 0))
 			dir = 5;
 		if(leftspeed - rightspeed > 10 || leftspeed - rightspeed < -10)
-			dir = 5;
+			dir = 5;*/
+		printf("dir=%d spd=%d\r\n", speed_dir, leftspeed);
 
 		TIM_ClearITPendingBit(TIM3, TIM_FLAG_Update);