小车直立程序.doc

#include /* common defines and macros */#include /* derivative information */#include #include #include #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;tkh;tk+) for(j=0;j100;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;count0) / portb_pb3=1; /else /portb_pb3=0; g_nspeedcontrolcount +; if(g_nspeedcontrolcount=20) speedcontrol(); 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(dianjiy0) k=1; if(carangle30) dianjiy=0; if(dianjiy240) dianjiy=240; pwmdty1=240-dianjiy; pwmdty0=240; else k=-1; if(carangle-30) dianjiy=0; if(dianjiy0) k=1; if(carangle30) dianjiz=0; if(dianjiz240) dianjiz=240; pwmdty2=240-dianjiz; pwmdty3=240; else k=-1; if(carangle-30) dianjiz=0; if(dianjiz-240) dianjiz=-240; pwmdty2=240; pwmdty3=240