飞思科尔光电组程序.doc

我是光电组的，下面是程序，小车可以跑起来，但速度有待提升#include /* common defines and macros */#include /* derivative information */#pragma LINK_INFO DERIVATIVE mc9s12xs128 /static unsigned char direction_turn12=888,1098,1208,1328,1481,1612,1730,1856,1988,2100,2222,2368;/Chapter 12/Periodic Interrupt Timer (S12PIT24B4CV1) Page349/The PIT module has no external pins./PIT 模式没有外部引脚/=unsigned char light=0; /激光管检测标志unsigned short turn_value=0; /转向的PWM数值unsigned short direction_turn7=333,430,560,647,705,780,888; /转向给定值初始化short speed_set7=250,300,350,400,350,300,250; /速度给定值short speed_flag=0; /速度档位标志位 short speed3=0,0,0; /速度检测函数short pulse_count=0; /编码器脉冲计数值short speed_expect=0; /理想速度short kp=2; /比例环节short ki=0; /积分环节short kd=1; /微分环节short ek1=0; /误差1short ek2=0; /误差2short ek3=0; /误差3short speed_add=0; /速度增量/=void PLL_Init() /时钟初始化 REFDV=0x81; /* PLLCLK=2*OSCCLK*(SYNR+1)/(REFDV+1)*/ SYNR=2; /* 锁相环时钟=2*16*(2+1)/(1+1)=48MHZ */ while(!(CRGFLG&0x08); /* 总线时钟=48/2=24MHZ */ CLKSEL=0x80; void PWM_Init() /PWM初始化 PWME=0x00; /关闭PWM使能 PWMPRCLK=0x66; /A,B时钟均为总线的64分频,375KHZ /PWMSCLA=0x01; /clockSA=clockA/(2*PWMSCLA) = 1500KHZ /PWMSCLB=0X01; /clockSB=clockB/(2*PWMSCLB) =1500KHZ PWMCLK=0x00; PWMPOL=0xFF; /PWM输出起始电平为高电平 PWMCAE=0x00; /输出左对齐 PWMCTL=0xf0; /通道01，23，45，67级联 PWMPER01=5999; /舵机频率为62.5Hz PWMDTY01=647; /占空比a=（PWMDTY01+1）/(PWMPER01+1) PWMPER23=1000; /PWM通道3周期为375HZ PWMDTY23=0; /占空比a=（PWMDTY01+1）/(PWMPER01+1)占空比50% 150 PWMPER45=1000; /PWM通道5周期为0.10ms 10KZH 300=0.00010/(1/3000000) PWMDTY45=300; /占空比a=（PWMDTY01+1）/(PWMPER01+1) PWMPER67=375; /频率为1000Hz PWMDTY67=200; / PWME=0xff; /使能pwm void Pit0_Init() /PIT初始化 PITCFLMT_PITE=0; /关PIT使能 PITCE_PCE0=1; /通道0使能 PITMUX_PMUX0=0; /通道0接微时钟0 PITMTLD0=99; /微时钟0值设置为7f PITLD0=3839; /time-out period = (PITMTLD + 1) * (PITLD + 1) / fBUS. /时间计算 100*3840/24000000=0.016s PITINTE_PINTE0=1; /通道0中断时能 PITCFLMT_PITE=1; /PIT使能 void ECT_Init() TIOS=0x00; /* OC0路为输出比较，OC1路为输入捕捉 */ TSCR2=0x06; /* 定时器溢出中断禁止，计数器自由运行禁止复位，64分频 */ TSCR1=0x80; /* 定时器使能 */ TIE=0x01; /* 输出比较相应中断使能 */ TCTL4=0x01; void dly_1ms() int i,j; for(i=0;i200;i+) for(j=0;j1000;j+); void sam_position() /车位检测函数 int i=0,j=0; unsigned char m=0,n=0; n=PORTA; for(i;i6) light=n; void check_start() /检测起始线 if(light&4)|(light&16) start_flag+; void check_start() void turning() /舵机转向函数 switch(light) case 1:if(turn_value=direction_turn1) /出界判断算法 turn_value=direction_turn0; speed_expect=speed_set0; else if(turn_value=direction_turn0) turn_value=direction_turn0; speed_expect=speed_set0; break; case 2:if(turn_value=direction_turn0) turn_value=direction_turn1; speed_expect=speed_set1; else if(turn_value=direction_turn1) turn_value=direction_turn1; speed_expect=speed_set1; else if(turn_value=direction_turn2) turn_value=direction_turn1; speed_expect=speed_set1; break; case 4:if(turn_value=direction_turn1) turn_value=direction_turn2; speed_expect=speed_set2; else if(turn_value=direction_turn2) turn_value=direction_turn2; speed_expect=speed_set2; else if(turn_value=direction_turn3) turn_value=direction_turn2; speed_expect=speed_set2; break; case 8:if(turn_value=direction_turn2) turn_value=direction_turn3; speed_expect=speed_set3; else if(turn_value=direction_turn3) turn_value=direction_turn3; speed_expect=speed_set3; else if(turn_value=direction_turn4) turn_value=direction_turn3; speed_expect=speed_set3; break; case 16:if(turn_value=direction_turn3) turn_value=direction_turn4; speed_expect=speed_set4; else if(turn_value=direction_turn4) turn_value=direction_turn4; speed_expect=speed_set4; else if(turn_value=direction_turn5) turn_value=direction_turn4; speed_expect=speed_set4; break; case 32:if(turn_value=direction_turn4) turn_value=direction_turn5; speed_expect=speed_set5; else if(turn_value=direction_turn5) turn_value=direction_turn5; speed_expect=speed_set5; else if(turn_value=direction_turn6) turn_value=direction_turn5; speed_expect=speed_set5; break; case 64:if(turn_value=direction_turn5) /出界判断算法 turn_value=direction_turn6; speed_expect=speed_set6; else if(turn_value=direction_turn6) turn_value=direction_turn6; speed_expect=speed_set6; break; default:break; PWMDTY01=turn_value; void check_speed() /速度检测函数 ek3=ek2; /计算速度差值 ek2=ek1; ek1=speed_expect-pulse_count; speed2=speed1; /当前速度放在0,之前放在1,2 speed1=speed0; speed0=pulse_count; pulse_count=0; void speed_down() /制动函数 PWMDTY23=300; /电机反向供电 PWMDTY45=0; void speed_pid() /PID算法 speed_add=kp*(ek1-ek2)+ki*ek1+kd*(ek1-2*ek2+ek3); /PID增量式 void driver() /驱动电机控制函数 /if(turn_value705)|(turn_value200) /当前速度若远超给定速度 / /speed_down(); / /else / PWMDTY23=0; speed_pid(); PWMDTY45=PWMDTY45+speed_add; / if(PWMDTY45600) PWMDTY45=600; void main() DisableInterrupts; /* 关中断 */ PLL_Init(); PWM_Init(); Pit0_Init(); ECT_Init(); turn_value=direction_turn3; DDRA=0x00; DDRB=0xFF; PORTB=0X00; EnableInterrupts; for(;) /sam_position(); /turning(); #pragma C