飞思卡尔电磁组程序.doc

#include /* common defines and macros */#include derivative.h /* derivative-specific definitions */#include#pragma LINK_INFO DERIVATIVE MC9S12XS128#define border 100 /电感采集信号的边界值#define border_back 160 /背后两个电感的边界值float caiji_ad11;/存储七路AD采集量，caiji_ad0 caiji_ad8恒等于零unsigned int caiji_flag; /采集标志int angle_data; /舵机角度int KP,KI;/比例 几分系数int ek,ek1;/偏差int uk,duk;float position;char out;char flag_pulse;char outjudge_flag;int get_pulse;/ 脉冲数int speed,pre_speed;int check_stop;int upp;void data_init() unsigned int i; for(i=0;iborder|caiji_ad2border|caiji_ad3border|caiji_ad4border|caiji_ad5border|caiji_ad6border|caiji_ad7border|caiji_ad8border|caiji_ad9border) out=0; max=1; for(i=2;i10;i+) /找出最强的传感器 if(caiji_admax3) position=3; else if(positioncaiji_ad1) angle_data=0x020a+0x0010*3; /大角度左转 else angle_data=0x020a-0x0010*3; /大角度右转 outjudge_flag=1; PWMDTY01=angle_data; /给定舵机 /*速度给定 */ if(PORTB=0xfd) /特稳定速度 if(out=0) if(position-0.8&position-0.8&position-0.8&position-0.8&position-0.8&position-0.8&position1600) uk=1600; else if(uk=0) PWMDTY23=1800-uk;/200-11%min PWMDTY45=1818; else puk=uk*3; if(puk0;i-) for(j=60000;j0;j-); void main(void) unsigned int i; DisableInterrupts; data_init(); SET_PLL(); AD_Init(); IOC_Init(); pwm_init(); initPIT(); PWMDTY01=0x020a; /舵机中间位置 PWME=0x2a; /开级联的通道01，23,45 delay(800); PWMDTY23=1818; PWMDTY45=1818; DDRA=0x00; DDRB=0X00; PUCR_PUPBE=1; /使用拉电阻 EnableInterrupts; while(1) if(caiji_flag=1) caiji_flag=0; for(i=1;i2000) /检测停止 check_stop=1; if(PORTA_PA0=0&check_stop) PWMDTY23=1818; PWMDTY45=1818; while(1) for(i=1;i10;i+) caiji_adi=read_ad(i); car_position(); drive(); DDRB=0XFF; PORTB=0X00; delay(10); PORTB=0XFF; delay(10); #pragma CODE_SEG _NEAR_SEG NON_BANKEDvoid interrupt 66 PIT0(void) caiji_flag=1; flag_pulse+; upp+; get_p