小车直立程序.doc
#include <hidef.h> /* common defines and macros */#include <MC9S12XS128.h> /* derivative information */#include <stdio.h>#include <math.h>#include <stdlib.h>#pragma LINK_INFO DERIVATIVE "mc9s12xs128" uchar i=0; char k,z=0; float fP, fI; void delay(unsigned int h) unsigned int j,tk; for(tk=0;tk<h;tk+) for(j=0;j<100;j+); /设置时钟 24mvoid pllclk(void)/24MHz ，外部时钟为 16MHzCLKSEL=0X00;PLLCTL=0xe1;SYNR=0xc7;/PLLCLK =2*OSCCLK*(SYNR + 1)/(REFDV + 1)REFDV=0x81;PLLCTL=0X60;asm NOP;asm NOP;asm NOP;while(CRGFLG&0X08)=0);/ 时钟校正同步CLKSEL=0X80;/设置中断5msvoid initPIT(void)/ 定时中断初始化函数 50MS 定时中断设置PITCFLMT_PITE=0; / 定时中断通道 0 关PITCE_PCE0=1;/ 定时器通道 0 使能PITMTLD0=160-1;/逼鞒踔瞪瓒?240 分频，在 24MHzBusClock 下，为 0.1M/即10us.PITLD0=2000-1;/16 位定时器初值设定。 PITTIME*0.01MSPITINTE_PINTE0=1;/ 定时器中断通道 0 中断使能PITCFLMT_PITE=1;/ 定时器通道 0 使能/ad初始化void ADC_Init(void) /printf("ADC_Initn"); ATD0CTL1=0x40; /7:1-外部触发,65:00-8位精度,4:放电,3210:ch ATD0CTL2=0x40; /禁止外部触发, 中断禁止 ATD0CTL3=0xC0; /右对齐无符号,每次转换8个序列, No FIFO, Freeze模式下继续转 ATD0CTL4=0x05; /765:采样时间为4个AD时钟周期,ATDClock=BusClock*0.5/PRS+1 ATD0CTL5=0x20; /6:0特殊通道禁止,5:1连续转换 ,4:1多通道轮流采样 ATD0DIEN=0x00; /禁止数字输入 /pwm初始化void PWM() PWMPRCLK=0X11; /对总线时钟进行预分频，总线时钟为 8M，分频后为500K PWMCLK=0x0f; /设 sA sb为其时钟源 PWMSCLA=0X05; PWMSCLB=0X05; /A时钟为 2000Hz PWMPOL=0X00;/上升沿翻转 PWMCAE=0X00;/左对齐输出 PWMPER0=0XF0; PWMPER1=0XF0; PWMPER2=0XF0; PWMPER3=0XF0; PWMCNT0=0X00;/0通道计数器清 0 PWMCNT2=0X00; int getad(char m) int ad; ATD0CTL5=(0X20+m); while(!ATD0STAT0_SCF); switch(m) case 0:ad=ATD0DR0; case 1:ad=ATD0DR1; case 2:ad=ATD0DR2; case 3:ad=ATD0DR3; case 4:ad=ATD0DR4; return ad;float filter(char n) float sum = 0; char count; int jieguo; for ( count=0;count<10;count+) jieguo= getad(n); sum = sum+jieguo; asm NOP; asm NOP; sum=sum/10; return sum;void SpeedControl(void) float fDelta; int g_fCarSpeed; g_fCarSpeed=PACNT; PACNT=0X0000; g_fCarSpeed =g_fCarSpeed; fDelta =0-g_fCarSpeed; fP = fDelta*1.2; /SPEED_CONTROL_P; fI = fDelta*0.001;/ SPEED_CONTROL_I; void PACAInit() PACTL=0X50; PACNT=0X0000;void main() float gry=0,gav=0,gry1,gry11; float carangle=2,gavangle,pouty,poutz; float p,h; int dianjiy,dianjiz,g_nSpeedControlCount=0; int zuo,you,cha; DDRB=0XFD; PORTB=0X00; PORTB_PB0=1; pllclk(); initPIT(); ADC_Init(); PACAInit(); PWM(); PWME=0x00; if(PORTB_PB1=0) gry1=1185; else gry1=1200; /delay(3000); /gry1=filter(2); /gry1=filter(2)+gry1; /gry1=filter(2)+gry1; /gry1=filter(2)+gry1; /gry1=filter(2)+gry1; /gry1=filter(2)+gry1; /gry1=gry1/6; gry11=filter(0); gry11=filter(0)+gry11; gry11=filter(0)+gry11; gry11=filter(0)+gry11; gry11=filter(0)+gry11; gry11=filter(0)+gry11; gry11=gry11/6; delay(1000); EnableInterrupts; for(;) if(z=1) zuo=filter(2); you=filter(3); cha=you-zuo; cha=cha/4; z=0; if(i=1) gry=filter(0); gry=gry11-gry; gry=gry*0.42; gav=filter(1); gav=gry1-gav; gavangle=gav/7-fI; /jiaodu=(gavangle-carangle)/4; /carangle=carangle+(gry+jiaodu)/200; carangle=carangle+gry/200; p=p+0.0025; h=p/(p+60); carangle=carangle+h*(gavangle-carangle); p=(1-h)*p; /if(carangle>0) / PORTB_PB3=1; /else /PORTB_PB3=0; g_nSpeedControlCount +; if(g_nSpeedControlCount>=20) SpeedControl();待添加的隐藏文字内容3 g_nSpeedControlCount = 0; pouty=carangle*32+gry*1.4-fP-cha;poutz=carangle*32+gry*1.4-fP+cha;dianjiy=(int)pouty; dianjiz=(int)poutz;PWME=0x00; if(dianjiy>0) k=1; if(carangle>30) dianjiy=0; if(dianjiy>240) dianjiy=240; PWMDTY1=240-dianjiy; PWMDTY0=240; else k=-1; if(carangle<-30) dianjiy=0; if(dianjiy<-240) dianjiy=-240; PWMDTY1=240; PWMDTY0=240+dianjiy; if(dianjiz>0) k=1; if(carangle>30) dianjiz=0; if(dianjiz>240) dianjiz=240; PWMDTY2=240-dianjiz; PWMDTY3=240; else k=-1; if(carangle<-30) dianjiz=0; if(dianjiz<-240) dianjiz=-240; PWMDTY2=240; PWMDTY3=240+dianjiz; PWME=0X0f; i=0; #pragma CODE_SEG _NEAR_SEG NON_BANKED void interrupt 66 PIT0(void) i+ ;z+;PITTF_PTF0=1;
