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【数字电路】课程设计
2024-02-23
2024-11-08
项目总结
嵌入式硬件
/
数字电路

设计题目： 智能消防系统#

题目来源： 2023 年全国大学生电子设计竞赛试题试题 G 题

一、 任务：#

  • 设计一套智能消防系统， 采用 FPGA 实验板。 防区区域为 40dm× 48dm，
  • 可能出现的火源如图所示的 1、 2、 3、 4。 当消防车接收到火源地点位置信息即刻前往熄灭火源， 消防工作完成时间越短越好。 其中白色部分是街区， 消防车不得驶入， 红色区域是消防车停车点。

二、 要求：#

  • 消防车起始停留在红色区域， 接收到火情信息并显示火源地点位置坐标后，
  • 出发前往火源地点， 途中不得碾压街区及其边界线。 消防车距离火源地点 5dm内停车， 发出声光报警， 持续 5 秒， 表示将模拟火源熄灭， 之后消防车返回红色区域。 从消防车出发到返回红色区域， 用时越短越好

三、硬件部分#

  • 主要结构：4驱直流电机小车
  • 主控：FPGA
  • 传感器：1.四路循迹模块（避线） 2.红外计数器（测速/里程计算）
  • 代码主要语法：状态机

四、解题四路#

一、调试小车基本运动模式#

什么是分频器？#

分频器原理

  • 通过检测输入时钟信号下降沿（上升沿），或者说采样的方法，控制输出的时钟信号频率。

如将50MHZ的时钟信号12分频：

process(clk,q1)
begin
  if clk'event and clk='1' then
    if q1<=2 then CLKFMQ<='1';q1<=q1+1;
    --改变q1<=2参数可变更占空比
     elsif q1=11 then CLKFMQ<='0';q1<=0;
     --改变q1=11参数可以变更CLKFMQ的频率
     else CLKFMQ<='0';q1<=q1+1;
    end if;
  end if;
end process ;

分频器模块

  • 用于产生各种所需频率的方波信号
--------------------------------------
LIBRARY IEEE;
USE IEEE.STD_LOGIC_1164.ALL;
USE IEEE.STD_LOGIC_ARITH.ALL;
USE IEEE.STD_LOGIC_UNSIGNED.ALL;
--------------------------------------
ENTITY   CLK_mode is--分频器模块
  PORT(  clk:in std_logic; --系统晶振源 50MHZ
        CLK1hz,clk01s,CLKFMQ,clk1ms:out std_logic--1hz,1000hz,蜂鸣器频率
    );
END CLK_mode   ;
--------------------------------------
ARCHITECTURE abc OF CLK_mode   IS
signal q1:integer range 0 to 24999; --中间信号
signal q2:integer range 0 to 4999999;
signal q3:integer range 0 to 49999;
BEGIN
--蜂鸣器频率--
process(clk,q1)
begin
  if clk'event and clk='1' then
    if q1<=12999 then CLKFMQ<='1';q1<=q1+1;
     elsif q1=24999 then CLKFMQ<='0';q1<=0;
     else CLKFMQ<='0';q1<=q1+1;
    end if;
  end if;
end process ;
--0.1s的分频--
process(clk)
  begin
  if clk'event and clk='1'then
    if q2<=5 then clk01s<='1';q2<=q2+1;
    elsif q2=4999999 then clk01s<='0';q2<=0;
    else clk01s<='0';q2<=q2+1;
    end if;
  end if;
end process;
--1ms--
process(clk)
  begin
  if clk'event and clk='1'then
    if q3<=40000 then clk1ms<='1';q3<=q3+1;
    elsif q3=49999 then clk1ms<='0';q3<=0;
    else clk1ms<='0';q3<=q3+1;
    end if;
  end if;
end process;
end abc;

什么是PWM？#

  • PWM（Pulse Width Modulation）即脉冲宽度调制，在具有惯性的系统中，可以通过对一系列脉冲的宽度进行调制，来等效地获得所需要的模拟参量，常应用于电机控速、开关电源等领域
  • PWM重要参数： 频率 = 1 / TS 占空比 = TON / TS 精度 = 占空比变化步距

信号接口/变量定义：

-----------------------------------------------------------------------------------------
LIBRARY IEEE;
USE IEEE.STD_LOGIC_1164.ALL;
USE IEEE.STD_LOGIC_ARITH.ALL;
USE IEEE.STD_LOGIC_UNSIGNED.ALL;
-----------------------------------------------------------------------------------------
ENTITY   Carcontrol_4  is--路线四控制模块
PORT(CLK,CLKFMQ,clk01s,clk1ms:in std_logic; --pwm,时钟信号,复位信号
      RESET:IN STD_LOGIC;
      Mapan:in std_logic;--码盘信号
      X1,X2:in std_logic_vector(3 downto 0);--巡线信号
      en11,en12,en21,en22,FMQ:OUT std_logic;--通道A B 的驱动电压
      turn_timer1,LED:out std_logic_vector(7 downto 0):="00000000";--计数器
      contrologic:OUT std_logic_vector(7 downto 0):="00000000"--电机驱动/制动的信号--输出到数据选择器上
    );
END Carcontrol_4;
-----------------------------------------------------------------------------------------
ARCHITECTURE abc OF  Carcontrol_4  IS
  type Sreg0_type is--状态枚举
  (T0,T00,T01,T20,T1,T2,T21,T3,
  stop1,stop2,stop3,stop4,
  TX1,TX1fix,TX1end,
  TX2,TX2fix,TX2end,
  TX3,TX3fix,TX3end,
  TBX1,TBX1fix,TBX1end,
  TBX2,TBX2fix,TBX2end,
  TBX3,TBX3fix,TBX3end,
  TB1,TB2,TB3,TB4,TB5,HT);
  signal XJ :std_logic_vector(7 downto 0);--两个四路循迹模块的并置信号
  signal Sreg0: Sreg0_type;--状态类型
  signal FMQEN: std_logic:='1';--蜂鸣器的使能信号，低电平有效
  signal Z11,Z12,Z21,Z22:integer;--PWM脉宽调制占空比
  signal left1,left2,right1,right2:std_logic;
  signal q1:integer range 0 to 100;
  signal q2:integer range 0 to 100;
  signal q3:integer range 0 to 100;
  signal q4:integer range 0 to 100;
  signal turn_timer:INTEGER  range 0 to 100000 ;
BEGIN
XJ<=X1&X2;--循迹信号（八位）
LED<=XJ;--通过LED观察循迹模块是否正常运行
EN11<=left1;EN12<=right1;EN21<=left2;EN22<=right2;--电机的PWM信号输入
--------------------------------------------
--四个模块，分别控制小车四个电机的PWM信号输入
--占空比定义为 变量（整型），在没有pid控制的情况下，便于对小车进行校准，以及调速。
process(clk,q1)
begin
  if clk'event and clk='1' then
    if q1<=Z11 then left1<='1';q1<=q1+1;--高电平有效值定义为整型，便于在状态机中进行变速
     elsif q1=100 then left1<='0';q1<=0;
     else left1<='0';q1<=q1+1;
    end if;
  end if;
end process;
process(clk,q2)
begin
  if clk'event and clk='1' then
    if q2<=Z12 then right1<='1';q2<=q2+1;
     elsif q2=100 then right1<='0';q2<=0;
     else right1<='0';q2<=q2+1;
    end if;
  end if;
end process;
process(clk,q3)
begin
  if clk'event and clk='1' then
    if q3<=Z21 then left2<='1';q3<=q3+1;
     elsif q3=100 then left2<='0';q3<=0;
     else left2<='0';q3<=q3+1;
    end if;
  end if;
end process;
process(clk,q4)
begin
  if clk'event and clk='1' then
    if q4<=Z22 then right2<='1'; q4<= q4+1;
     elsif  q4=100 then right2<='0'; q4<=0;
     else right2<='0';q4<=q4+1;
    end if;
  end if;
end process;
-----------------------------------------------------------------------------

路线规划（以路线4为例）#

计时器（控制小车在不同状态下定时运动）#

process(clk1ms,Timer_flag)
begin
  if Timer_flag = 1 THEN
    if rising_edge(clk1ms) THEN
      turn_timer <= turn_timer +1;
    end if;
  else
    turn_timer<=0;
  end if;
end process;

程序主要部分（状态机）#

不同状态下，根据路径规划，小车的运动姿态（转向，直行）不同，每个状态有特定的状态转移条件（运动时间（用红外计数里程判断更精准），特征值（黑线）

  • 小车碰到黑线（居民楼）进行偏移转向
  • 车头碰到黑线（关键点检测）进行直角转弯
  • 小车要精确地行驶，到底指定地点，需要利用好黑线，既不能触线，也不能过偏，即贴线行驶，这就要使得小车在贴线行驶的路段在规定的 时间 / 里程 内，进行贴线行驶->避线->贴线行驶，三个状态的闭环，在小车行驶姿态垂直于黑线时的路径，循迹模块检测黑线直接进行直角转弯即可（这样就不需要控制里程/时间）。
  • 规划好前往火源点的路径后，返回的路径按照相反的逻辑控制即可。
-----------------------------------------------------------------------------
PROCESS(reset, clk1ms)--1ms的时钟信号，用于状态机的状态检测以及计时器的计时精度
BEGIN
    IF reset = '1' THEN--复位信号
      Sreg0 <= T0;FMQEN<='1';Z11<=36;Z12<=29;Z21<=36;Z22<=29;--蜂鸣器无效，状态机初始化
      contrologic <= "00000000";--控制逻辑均置零
    turn_timer<= 0 ;--计数器清零
    ELSIF rising_edge(clk1ms) THEN
      CASE Sreg0 IS
        WHEN T0 =>contrologic <= "01100110";Z11<=38;Z12<=34;Z21<=38;Z22<=34; --直行
       if turn_timer = 1000 then
           Sreg0 <= T00;
          Timer_flag<=1;
         else
          Timer_flag<=0;
         end if;
      WHEN T00 =>
          if  XJ(3)='0' then--检测黑线
          Sreg0<=T01;
       ELSE  Sreg0<=T00;
          end if;
      WHEN T01 =>contrologic <= "10011001"; Z11<=36;Z12<=29;Z21<=36;Z22<=29;--碰到黑线回退
       if turn_timer = 700 then --1450
           Sreg0 <= T1;
          Timer_flag<=1;
         else
          Timer_flag<=0;
         end if;
        WHEN T1 =>contrologic <= "00100010";Z12<=40;Z22<=40;--转弯
        if turn_timer = 1250 then
           Sreg0 <= stop1;
          Timer_flag<=1;
         else
          Timer_flag<=0;
         end if;
      WHEN stop1 =>contrologic <= "00000000" ;--停止
        if turn_timer = 300 then
           Sreg0 <= T2;
          Timer_flag<=1;
         else
          Timer_flag<=0;
         end if;
-----------------------------------------------------------------------------
--贴线
      WHEN T2 =>contrologic <= "01100110";Z11<=38;Z12<=34;Z21<=38;Z22<=34; --空白区域直行
      if turn_timer = 1500 then
           Sreg0 <= TX1;
          Timer_flag<=1;
         else
          Timer_flag<=0;
       end if;
     When TX1 =>contrologic <= "01100110";Z11<=38;Z12<=34;Z21<=38;Z22<=34; --贴线循迹(街区2）
        if (XJ(0) and XJ(1) and XJ(2) and XJ(3))  = '0' then
        Sreg0 <= TX1fix;
        elsif turn_timer = 2800 then--完成贴线
           Sreg0 <= TX1end;
          Timer_flag<=1;
         else
          Timer_flag<=0;
        end if;
     WHEN TX1fix => contrologic <= "10101010";Z11<=40;Z12<=40;Z21<=40;Z22<=40;--修正
        if (XJ(0) and XJ(1) and XJ(2) and XJ(3)) = '1'then Sreg0 <= TX1;
        end if;
     When TX1end => contrologic <= "01100110";Z11<=38;Z12<=34;Z21<=38;Z22<=34; --完成贴线,直行小段
         if turn_timer = 500 then
           Sreg0 <= T20;
          Timer_flag<=1;
         else
          Timer_flag<=0;
          end if;
-----------------------------------------------------------------------------
       WHEN T20 =>
          if  XJ(3)='0' then  --前端检测黑线
          Sreg0<=T21;
          end if;
      WHEN T21 =>contrologic <= "10011001"; Z11<=36;Z12<=29;Z21<=36;Z22<=29;--检测到黑线，回退
          if turn_timer = 600 then
           Sreg0 <= T3;
          Timer_flag<=1;
         else
          Timer_flag<=0;
         end if;
      WHEN T3 =>contrologic <= "00100010";Z11<=40;Z12<=40;Z21<=40;Z22<=40;--直角转弯
        if turn_timer = 1500 then
           Sreg0 <= TX2; --进入第二段循迹贴线（火源区3）
          Timer_flag<=1;
         else
          Timer_flag<=0;
         end if;
-----------------------------------------------------------------------------
      WHEN TX2 =>contrologic <= "10011001"; Z11<=36;Z12<=29;Z21<=36;Z22<=29;--进入第二段循迹贴线（火源区3）
      if XJ(4) = '0' then
        Sreg0 <= TX2fix;
        elsif turn_timer = 2000 then--限制贴线时间
           Sreg0 <= TX2end;
          Timer_flag<=1;
         else
          Timer_flag<=0;
        end if;
     WHEN TX2fix => contrologic <= "01010101";Z11<=40;Z12<=40;Z21<=40;Z22<=40;
        if XJ(4) = '1'then Sreg0 <= TX2;
        end if;
     When TX2end => contrologic <= "10011001"; Z11<=36;Z12<=29;Z21<=36;Z22<=29;
         if turn_timer = 500 then --贴线结束，空白区直行
           Sreg0 <= TX3;
          Timer_flag<=1;
         else
          Timer_flag<=0;
          end if;
-----------------------------------------------------------------------------
      WHEN TX3 =>contrologic <= "10011001";  Z11<=36;Z12<=29;Z21<=36;Z22<=29;--进入第三段循迹贴线（火源区4）
      if (XJ(4) and XJ(5) and XJ(6) and XJ(7)) = '0' then
        Sreg0 <= TX3fix;
        elsif turn_timer = 1900 then--限制时间
           Sreg0 <= TX3end;
          Timer_flag<=1;
         else
          Timer_flag<=0;
        end if;
     WHEN TX3fix => contrologic <= "01010101";Z11<=40;Z12<=40;Z21<=40;Z22<=40;
        if (XJ(4) and XJ(5) and XJ(6) and XJ(7)) = '1'then Sreg0 <= TX3;
        end if;
      WHEN TX3end=>FMQEN<='0';contrologic <= "00000000"; --报警
          if turn_timer =4999 then
          Sreg0 <= TBX1;FMQEN<='1';
          Timer_flag<=1;
         else
          Timer_flag<=0;
        end if;
-----------------------------------------------------------------------------
-----------------------------------------------------------------------------
    WHEN TBX1 =>contrologic <= "01100110"; Z11<=38;Z12<=34;Z21<=38;Z22<=34; --进入返回第一段循迹贴线（火源区4）
      if (XJ(0) and XJ(1) and XJ(2) and XJ(3)) = '0' then
        Sreg0 <= TBX1fix;
        elsif turn_timer = 1200 then
           Sreg0 <= TBX1end;
          Timer_flag<=1;
         else
          Timer_flag<=0;
        end if;
     WHEN TBX1fix => contrologic <= "10101010";Z11<=40;Z12<=40;Z21<=40;Z22<=40;
        if (XJ(0) and XJ(1) and XJ(2) and XJ(3))= '1'then Sreg0 <= TBX1;
        end if;
-----------------------------------------------------------------------------
     When TBX1end => contrologic <= "01100110";Z11<=38;Z12<=34;Z21<=38;Z22<=34; --空白区域
         if turn_timer = 500 then
           Sreg0 <= TBX2;
          Timer_flag<=1;
         else
          Timer_flag<=0;
          end if;
      WHEN TBX2 =>contrologic <= "01100110";Z11<=38;Z12<=34;Z21<=38;Z22<=34;--进入返回第二段循迹贴线（火源区3）
        if (XJ(0) and XJ(1) and XJ(2) and XJ(3)) = '0' then
          Sreg0 <= TBX2fix;
        elsif turn_timer = 3500 then
           Sreg0 <= TBX2end;
          Timer_flag<=1;
         else
          Timer_flag<=0;
        end if;
     WHEN TBX2fix => contrologic <= "10101010";Z11<=40;Z12<=40;Z21<=40;Z22<=40;
        if (XJ(0) and XJ(1) and XJ(2) and XJ(3)) = '1'then Sreg0 <= TBX2;
        end if;
------------------------------------------------------------------------------
      WHEN TBX2end=>contrologic <= "01100110";Z11<=38;Z12<=34;Z21<=38;Z22<=34;--前端检测黑线
          if  XJ(3)='0' then
          Sreg0<=HT;
       Else  Sreg0<=TBX2end;
          end if;
      WHEN HT =>contrologic <= "10011001"; Z11<=36;Z12<=29;Z21<=36;Z22<=29;--碰到黑线回退
       if turn_timer = 500 then --1450
           Sreg0 <= TB3;
          Timer_flag<=1;
         else
          Timer_flag<=0;
         end if;
        WHEN TB3=>contrologic <= "00100010";Z11<=40;Z12<=40;Z21<=40;Z22<=40;--转向
        if turn_timer = 900 then
           Sreg0 <= TBX3;
          Timer_flag<=1;
         else
          Timer_flag<=0;
         end if;
------------------------------------------------------------------------------
      WHEN TBX3 =>contrologic <= "01100110";Z11<=38;Z12<=34;Z21<=38;Z22<=34; --贴线循迹，回到起点
        if (XJ(0) and XJ(1) and XJ(2) and XJ(3)) = '0' then
          Sreg0 <= TBX3fix;
        elsif turn_timer = 4200 then
           Sreg0 <= TBX3end;
          Timer_flag<=1;
         else
          Timer_flag<=0;
        end if;
     WHEN TBX3fix => contrologic <= "10101010";Z11<=40;Z12<=40;Z21<=40;Z22<=40;
        if (XJ(0) and XJ(1) and XJ(2) and XJ(3)) = '1'then Sreg0 <= TBX3;
        end if;
------------------------------------------------------------------------------
      WHEN OTHERS => null; contrologic<= "00000000";
      END CASE;
  END IF;
  END PROCESS;
PROCESS(FMQEN)
BEGIN
  IF FMQEN<='0'then FMQ<=CLKFMQ;
  ELSE FMQ<='1';
  END IF;
END PROCESS;
END abc;

四路数据选择器模块#

LIBRARY IEEE;
USE IEEE.STD_LOGIC_1164.ALL;
USE IEEE.STD_LOGIC_ARITH.ALL;
USE IEEE.STD_LOGIC_UNSIGNED.ALL;
--四路（总线式）数据选择器，通过四位按键控制电机逻辑/电机有效电压（PWM）/蜂鸣器信号/选择小车行驶路线
ENTITY MUX4 IS
PORT(C1,C2,C3,C4:IN STD_LOGIC_VECTOR(7 DOWNTO 0);
    EN11_1,EN12_1,EN21_1,EN22_1:in std_logic;
    EN11_2,EN12_2,EN21_2,EN22_2:in std_logic;
    EN11_3,EN12_3,EN21_3,EN22_3:in std_logic;
    EN11_4,EN12_4,EN21_4,EN22_4:in std_logic;
    FMQ1,FMQ2,FMQ3,FMQ4:in std_logic;
    RESET:IN STD_LOGIC_vector(3 downto 0);--路线选择信号
    FMQ:out std_logic;--蜂鸣器
    LOGIC:OUT STD_LOGIC_vector(7 DOWNTO 0);--小车运动控制逻辑
    EN11,EN12,EN21,EN22:OUT STD_LOGIC;--小车电机PWM方波输出信号
    CLK1MS:in std_logic;--光耦传感器脉冲，复位信号，1MS时钟
    LEDSEG: OUT STD_LOGIC_VECTOR(6 DOWNTO 0);--LED显示
    Y:out std_logic_VECTOR(5 DOWNTO 0)--共阴极
    );
END MUX4;--
ARCHITECTURE ABC OF MUX4 IS
signal ledin:std_logic_vector(3 downto 0);
signal SEL:std_logic_vector(2 downto 0):="000";
BEGIN
--显示译码器--
P11:process (ledin)
  BEGIN
  CASE ledin IS
      WHEN "0000"=>ledseg<="0111111";--"1111111110";
      WHEN "0001"=>ledseg<="0000110";--"1111111101";
      WHEN "0010"=>ledseg<="1011011";--"1111111011";
      WHEN "0011"=>ledseg<="1001111";--"1111110111";
      WHEN "0100"=>ledseg<="1100110";--"1111101111";
      WHEN "0101"=>ledseg<="1101101";--"1111011111";
      WHEN "0110"=>ledseg<="1111101";--"1110111111";
      WHEN "0111"=>ledseg<="0000111";--"1101111111";
      WHEN "1000"=>ledseg<="1111111";--"1011111111";
      WHEN "1001"=>ledseg<="1101111";--"0111111111";
      WHEN "1010"=>ledseg<="0000001";--"0111111111";
      WHEN OTHERS=>ledseg<="0000000";--共阴极，无效
  END CASE;
end process P11;
--四位脉冲分配器--
p22:process(clk1ms)
  begin
    IF clk1ms'event and clk1ms='1' then
      if sel="101" then sel<="000";
      else sel<=sel+1;
      end if;
    end if;
end process P22;
PROCESS(RESET)
BEGIN
CASE RESET IS
WHEN "1000" =>
          LOGIC <=C1;
          EN11<=EN11_1;
          EN12<=EN12_1;
          EN21<=EN21_1;
          EN22<=EN22_1;
          FMQ<=FMQ1;
    CASE SEL IS
    WHEN "001"=>ledin<="0000";y<="111101";
    WHEN "010"=>ledin<="1001";y<="111011";
    WHEN "011"=>ledin<="0011";y<="110111";
    WHEN "100"=>ledin<="0010";y<="101111";
    WHEN OTHERS =>ledin<="1111";y<="111111";
    END CASE;
WHEN "0100" => LOGIC <=C2;
          EN11<=EN11_2;
          EN12<=EN12_2;
          EN21<=EN21_2;
          EN22<=EN22_2;
          FMQ<=FMQ2;
  CASE SEL IS
    WHEN "000"=>ledin<="0010";y<="111101";
    WHEN "001"=>ledin<="1000";y<="111011";
    WHEN "010"=>ledin<="0010";y<="110111";
    WHEN "011"=>ledin<="1001";y<="101111";
    WHEN OTHERS =>ledin<="1111";y<="111111";
  END CASE;
WHEN "0010" => LOGIC <=C3;
          EN11<=EN11_3;
          EN12<=EN12_3;
          EN21<=EN21_3;
          EN22<=EN22_3;
          FMQ<=FMQ3;
    CASE SEL IS
    WHEN "000"=>ledin<="0010";y<="111101";
    WHEN "001"=>ledin<="1000";y<="111011";
    WHEN "010"=>ledin<="0010";y<="110111";
    WHEN "011"=>ledin<="1001";y<="101111";
    WHEN OTHERS =>ledin<="1111";y<="111111";
    END CASE;
WHEN "0001" => LOGIC <=C4;
          EN11<=EN11_4;
          EN12<=EN12_4;
          EN21<=EN21_4;
          EN22<=EN22_4;
          FMQ<=FMQ4;
    CASE SEL IS
    WHEN "000"=>ledin<="0010";y<="111101";
    WHEN "001"=>ledin<="1000";y<="111011";
    WHEN "010"=>ledin<="0010";y<="110111";
    WHEN "011"=>ledin<="1001";y<="101111";
    WHEN OTHERS =>ledin<="1111";y<="111111";
    end case;
WHEN OTHERS=>LOGIC<="00000000";
END CASE;
END PROCESS;
END ABC;
【数字电路】课程设计
http://www.turinblog.cn/posts/数字电路课程设计/
作者
Szturin
发布于
2024-02-23
许可协议
CC BY-NC-SA 4.0
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