高级组二等奖华南理工第五届智能控制设计大赛

华南理工大学第五届智能控制设计大自平衡载物小车作

自动化07自动化07自动化07一、方案论证与比 控制器部 换向部分 自平衡部 二、系统的具体设计及实 硬件设计 电源模 道路信息模 串口模 ID卡模 软件设计 道路信息策 三、测试、结果及分 基本功能 四、总 附录一、完整的系统原理 附录二、部分的系统源代 一、设计任10cm,宽5cm。板上放一元硬币，平板上表面要求视觉平整，并且贴标20cm2cm二、设计要小车载物完成任务总耗时不超过25s时)为不考虑罚时和物品掉延误时间的小车从始点到终点的运动时间。n为小车从始点到终点运动过程中物品掉落次数。本文介绍了我们准备第五届华南理工大学智能控制大赛高级组自平衡载物小车的工作情况。本小车硬件平台采用MC912DG128处理器软件平台为CodeariorDE开发环境车模采用大赛统一的规格：150mm*100mm，底板采用厚实的木板，然后在把其余各发流程。IC卡开启等功能，具有操作简单、运行平稳、人性化设计、功能强大的特点。本例使用Freescalecompany的33886作为电机驱动，使用1个舵机驱动前轮换向，再用1个舵机驱动自平衡载物台。基于LM2596制作成直流减压系统供电动机运行还有TX125系列读写模块，供ID卡开能。关键字：智能车，自平衡，自寻路，舵机一、方案，MC9S12DG128MC9S12DG128MotorolaM68HC1216CAN功能块部分组成，基本结构包括：处理器单元HCS12（CPU）、2个异步串SCI、2SPI，81个8通道脉宽调制模块以及49个独立数I/O口（其中20个具有外部中断及唤醒功能），在片内还拥有128KBFlashROM，8KBRAM2KBEEPROM，CAN功能块包括两个兼容CAN2.0A/B协议的msCAN控制器组成，这些丰富的内部ECUCAN，耗8位CMOS微控制器。由于其先进的指令集以及单时钟周期指令执行时间，ATmega161MIPS/MHz，从而可以缓减系统在功耗和处理速度之间的。ATmega16AVR32个通用工作寄存器。所有的寄存器都直接与算逻单元(ALU)CISC10倍的数据吞吐率。本系统是一个标准的嵌入式运动系统，对控制器要求高，而且量大，处理量MC9S12DG128方案二：使用2个电机，分别控制左右边。换向时一边正转，另一边轮二、系统的具体设计及实3388633886道路信息 道路信息上下坡信息采IC块、液晶实时显示模块，上下坡信息采ICMC9S12DG128主控模块，作为整个自平衡载物小车的“大脑将光电传感器、道路信息上下坡信息模块，为自平衡载物台改变输出角度输入数据。电源模为单片机供电（5V为传感器供电（5V为电机驱动供电（7.2V为舵机供电（转向舵机和自平衡舵机（6V；道路信息模块—红外传感85cm的地方排成一字形。电机驱动模块和舵机驱动模块--主电机及舵机驱2.31电机驱在本次比赛中，后轮电机驱动电路的MC33886驱动允许的频率范围是5KHZ－20KHZ,当频率低于5KHZ的时候，MC33886会发出刺耳的尖，而当频率大于30KHZ时，电机不转。因此采用了20KHZ的输出频率供给MC33886，选择01和23通道作为后轮电机的驱动源。2.32舵机驱持的控制系统。目前在高档玩具，如航模，包括飞机模型，潜艇模型；路，产生周期为20ms，宽度为1.5ms 舵机的控制一般需要一个20ms般为0.5ms~2.5ms范围内的角度控制脉冲部分。以180度角度伺服为例，那么 0 45 90 135 180串口模在智能车的制作和调试过程中需要将检测到的路面信息以及速度等参2.5.无线串口传送数据模异步串行通讯（SCI）是单片机和外界进行通讯的最常用方式之一。SCI最常用的标准是RS-232标准中电平采用负逻辑，即低电平-3～-15V代表逻辑“1+3～+15V代表逻辑“0代表逻辑“1电平0～0.8V代表逻辑“0。所以需要一个转换把与TTL电平兼容的CMOS电平转换RS-232电平。（TXD信号外，还有用于控制的通信应答信号。但在一般的数据通讯中可以只使用TXD、RXDGND。计算机的串行口是按照数据终端设备（DTE）定义的，如机的串行口直接对应相连；如果单片机的串行口也是按照DTE定义，则要把两个串行口的RXD和TXD交叉连接。50～11520bps。MC9S12DG128内集成两个SCISCI0和SCI1半双工/138位/98断类型标1/16IC模简硬件描软件道路信息策采用的光电传感器信 方式流程图如图所示2个传感器检测到黑线，则速度控制策速度的程序流程图如图参程序开根据红外传感器回来的道路信息，进行、分析和计算。当不同位置的传感器检测到黑线舵机的模块就给不同的值使舵机摆动不同的角度舵机函数的流程图如图程程序开N现在状态直线YN之前50个态是直线N之前50个状态左转或者右转YY两边参数变间参数变小直道入弯，在弯参数变自平衡控制策根据到上下坡数据，通过分析、调试、运算，输出电压供自平衡三、测试、结果及分ID四、总esae16位单片机MS1D128绍了小车各个主要模块的工作原理和设计思路，并叙述了系统开发过程中所用到的开发工具软件及种调试测试合来看小车分和软件2分硬件分主是的B附录一：完整的系统电机驱动33886主控板原理图和电路基于LM2596设计的电源板原理图和电路附录二：系统部分源代#include //MCU void{//BusFreq= //SetBusClockis //SetforSerial //waitforthefrqofthedesired{ {}}}voidIO_Init(void){}voidmain(void)/*putyourowncodeherefor(;;)_FEED_COP();/*feedsthedog}/*loopforever/*pleasemakesurethatyouneverleavemain}#include //MCUvoid{//BusFreq= //SetBusClockis //SetforSerial //waitforthefrqofthedesired{if(CRG{}}}void}voidmain(void)/*putyourowncodeherefor(;;)_FEED_COP();/*feedsthedog}/*loopforever/*pleasemakesurethatyouneverleavemain}#include#include"speed_control.h" unsignedchar } unsignedint}unsigned unsignedcharvoidmotor_reverse(unsignedcharspeed){ //4和5通道 //通道5赋予占空比值 //通道4所在IO口输出低电平，正转 //通道5使}voidmotor_forward(unsignedchar //4和5通道 //4 //5IO //4}void // //4和5通道 //通道4所在IO口输出低电平，反转 //5IO}voidsteering_control(unsignedintangle_control){ //通道67赋予占空比值} unsignedchar {casecasecasecasecasecasecasecase}ange_tend=pos_status_now-pos_status_before;if(ange_tend<0){} if((ange_tend==0)&&(pos_status_now==0)){}}}}voidsteering_balance(unsignedintbalance){}void{unsignedchar ||stop_line_state==0x3F||||stop_line_state==0x1F||||stop_line_state==0x8F||||stop_line_state==0xE3||||stop_line_state==0x9F||||stop_line_state==0xF3||||stop_line_state==0xF0||||stop_line_state==0x87||{if(start_line==2)// }}}#include initvoidCTL //671623位工作模式,OTHETSLECTED8T67= //计数器清零,16位模式，6、7通道合并用来控制舵T23=T4 //计数器清零,8位模T5 //45 //A,B//A0，1，4，5 //SA通道分频1/248,SA时钟控制0,1,4,5四个通道,分频系数2*//SB2,3,6,7 //0/*00000000X,1SX,XA //4，5，7/*0000000时，输出为低电平*/ /*0000000为1时通道x中心对齐输出此 为0时：通道x左边对齐输出，此

//通道5周期设置， 波频率为4.4M/(2*240)=8.8K //通道4周期设置， //通道67周期设置， 波频率为2.2M/44000=50Hz,给 //通道23周期设置 波频率为2.2M/44000=50Hz, //67 //67

//45 //通道7使能,初始化舵 //通道3使能,初始化舵 //通道2使能,初始化舵机}#include"includes.h"#includeunsignedintcount=0;unsignedinttime_counter=0;unsignedcharup_down=0;unsignedcharup_down_num=0;unsignedintstop_c_line=0;voidTSCR20x06*TCNTprescalersetup64分频，TCNT //1 //1 }#pragmaCODE_SEGNON_BANKEDinterrupt9voidC1I_ISR(void){ if(count>9){}if(start_line==0){}if(start_line==1){}{}}if(up_down==1){if(up_down_num>70){steering_balance(3200);}}}}}start12.c-standardstartupcodeThestartupcodemaybeoptimizedtospecialuserCopyright(c)Metrowerks,Basel,AllNote:ROMlibrariesarenotimplementedinthisstartupNote:C++destructorsofglobalobjectsareNOTyetsupportedintheHIWAREObjectFileFormat.Tousethisfeature,pleasebuildyourapplicationwiththeELFobjectfile

/*thesemacrosremovesomeunusedfieldsinthestartupdescriptor#defineNO_FLAGS_OFFSET /*wedonotneedtheflagsfieldinthestartupdatadescriptor*/#defineNO_MAIN_OFFSET /*wedonotneedthemainfieldinthestartupdatadescriptor*/#defineNO_STACKOFFSET_OFFSET/*wedonotneedthestackOffsetfieldinthestartupdatadescriptor*//*#defineBANKED_COPY_DOWN:allowtoallocate.copyinflasharea defined( (!defined(HCS12X||!defined(ELF_OBJECT_FILE_FORMAT#error/*theBANKED_COPY_DOWNswitchisonlysupportedfortheHCS12XwithELF*//*(andnotfortheHC12,HCS12orfortheHIWAREobjectfileformat)#include"hidef.h"#include"start12.h"/*Macrostocontrolhowthestartupcodehandlesthe /*#define :dofeedthe /*#define_DO_ENABLE_COP_:doenablethe /*#define_DO_DISABLE_COP_:disablethe /*Withoutdefininganyofthese,thestartupcodedoesNOThandletheCOP/*ONLY_INIT_SP /*Thisdefineselectsanshorterversionofthestartup /*whichonlyloadsthestackpointeranddirectlyafterwards /*main.ThisversiondoeshoweverNOTinitializedglobal /*(SothisversionisnotANSIcompliant!) #ifdefcplusplus#defineEXTERN_C extern"C"#defineEXTERN_CEXTERN_Cvoidmain(void);/*prototypeofmainfunction#ifndef#pragmaDATA_SEGNEAR_SEGSTARTUP_DATA/*_startupDatacanbeaccessedusing16bitaccesses.*//*Thisisneededbecauseitcontainsthestacktop,andwithoutstack,fardatacannotbeaccessed*//*lint-e1065struct_tagStartup _startupDataisallocatedinROMand initializedbythelinker/*lint+e1065#endif/*ONLY_INIT_SP*/ (!defined(HCS12X) defined(BANKED_COPY_DOWN))#include/*theinitfunctionmustbeinnonbankedmemoryifbankedvariablesareused/*because_SET_PAGEiscalled,whichmaychangeanypageregister.EXTERN_Cvoid /*theinlineassemblerneedsaprototype/*thisisaruntimeroutinewithaspecial/*callingconvention,donotuseitinccode!#include (!defined(HCS12X) defined(BANKED_COPY_DOWN))*//*definevalueandbitsforWindefRegister*/#ifdefHC812A4#defineWINDEF(*(volatileunsignedchar*)#ifdefined(BANKED)||defined(LARGE)||defined(PPAGE)#defineENABLE_PPAGE #define #ifdefined(DPAGE#define #define #ifdefined(EPAGE#define #define /*HC812A4#ifdef/*forMonitorbasedsoftwareremaptheRAM&EEPROMtotoEB386.EditRAMandEEPROMsectionsinPRMfiletomatchthese.*/#defineINITRM (*(volatileunsignedchar*)0x0010)#defineINITRG (*(volatileunsignedchar*)0x0011)#defineINITEE (*(volatileunsignedchar*)0x0012)#if#defineFEED_COP_IN_HLI() }asmmovb#0x55,_COP_RST_ADR;asmmovb#0xAA,_COP_RST_ADR;asm{#defineFEED_COP_IN_HLI()/*donothing*/#ifndef#if(!defined(FAR_DATA)||defined(HCS12X))&&(defined(defined(LARGE)||defined(BANKED_COPY_DOWN))staticvoidfarInit(void)staticvoidInit(void){/* 1)zerooutRAM-areaswheredatais 2)copyinitializationdatafromROMto 3)callglobalconstructorsin calledfrom:_Startup, asm{

BANKED)#ifdefined(HIWARE_OBJECT_FILE_FORMAT)&&defined(LARGE ;inthelargememorymodelintheHIWAREformat,pZeroOutisa24bitpointer

; ;ifnothingtozeroNextZeroOut:PSHY ;savenofZeroOuts#ifdefined(FAR_DATA) ;loadpageofdestination ;loadoffsetofdestinationaddress#ifdefined(HCS12X) GPAGE_ADR #else/*defined(HCS12X) ;setsthepageinthecorrect#endif/*defined(HCS12X)*/ /*FAR_DATA*/ ;startaddressand*pZeroOut(X=X+4) #ifdefined(HCS12X)&&defined(FAR_DATA) ;byte#ifdefined(OPTIMIZE_FOR_SIZE ;clearmemory ;feedtheCOPif/*lint!e505!e522asmcode X, ;decbyte

LDD#0 ;dowecopymorethan1 GSTD ;clearmemory ;feedtheCOPif/*lint!e505!e522asmcode X, ;decword

;handlelast ;handle

#elifdefined(OPTIMIZE_FOR_SIZE) /*-os,default*/ ;bytecount ;clearmemory ;feedtheCOPif/*lint!e505!e522asmcode D,NextWord ;decbytecount#else/*OPTIMIZE_FOR_TIME ;byte ;/2andsavebit0inthe ;dowecopymorethan1byte? ;feedtheCOPif/*lint!e505!e522asmcode D,LoopClrW

;handlelastbyte #endif/*OPTIMIZE_FOR_SIZE/ ;restorenofZeroOuts ;dec #ifdefined( _startupData.toCopyDownBeg:0;getPAGEaddressof

;setPPAGE _startupData.toCopyDownBeg:1;loadaddressofcopydowndesc.#elifdefined(ELF_OBJECT_FILE_FORMAT) _startupData.toCopyDownBeg;loadaddressofcopydown

_startupData.toCopyDownBeg:2;loadaddressofcopydown ;sizeofinit-data-> ;endofcopydown#ifdef ;save ;loaddestination ;destinationaddress#ifdefined(HCS12X) GPAGE_ADR /* PIC_JSR(_SET_PAGE) ;setsthedestinationspageregister#endif/*HCS12X ;restore ;loaddestinationaddress#endif/*FAR_DATA*/#ifdefined(HCS12X)&&#ifdefined(OPTIMIZE_FOR_SIZE) /*-os,default*/ ;moveabytefromROMtothe

;feedtheCOPif/*lint!e505!e522asmcode ;copy-byte

;/2andsavebit0inthe ;dowecopymorethan1 ;moveawordfromROMtodata

;feedtheCOPif/*lint!e505!e522asmcode ;copy-word

;handlelastbyte? ;moveabytefromROMtothe#elifdefined(OPTIMIZE_FOR_SIZE /*-os,default ;moveabytefromROMtothedata ;feedtheCOPif/*lint!e505!e522asmcode ;copy-byteloop#else/*OPTIMIZE_FOR_TIME ;/2andsavebit0inthe ;dowecopymorethan1 ;moveawordfromROMtothedataarea ;feedtheCOPif/*lint!e505!e522asmcode ;copy-word

;handlelast ;copythelast#endif/*OPTIMIZE_FOR_SIZE/ ;callofglobalconstrutorsisonlyinc++#ifdefined(#ifdefined(ELF_OBJECT_FILE_FORMAT)#ifdefined(BANKED)||defined(LARGE) _startupData.nofInitBodies;loadnumberof ;ifcppcount==0,goto ;loadaddressoffirstmodule

;incrementtonext ;saveaddressofnextfunction ;savecppCALL[- ;usedoubleindirectcalltoloadpageregister;restorecpp;restoreactual;decrementcpp /*defined(BANKED)||defined(LARGE)

_startupData.nofInitBodies;loadnumberof ;ifcppcount==0,goto ;loadaddressoffirstmodule ;loadaddressoffirstmodule

;saveactual ;callinitialization ;restoreactual ;restorecppDBNED,#endif/*defined(BANKED)||defined(LARGE)#else/* */ ;loadaddressoffirstmodule#ifdefined(BANKED)||defined(LARGE ;loadaddressofinitializationfunction ;stopwhenaddress ==0;incommonenvironmentstheofafunctionisnever0,sothistestcouldbeavoided#ifdefInitFunctionsMayHaveOffset0 BRCLR-1,X,done,0xff ;stopwhenaddress ==0 /*InitFunctionsMayHaveOffset0 ;saveaddressofnextfunctionCALL[- ;usedoubleindirectcalltoloadpageregister /*defined(BANKED)||defined(LARGE)*/

;loadaddressoffirstmodule ;stopwhenaddressoffunction== ;saveactual ;callinitialization#endif/*defined(BANKED)||defined(LARGE) ;restoreactual /*ELF_OBJECT_FILE_FORMAT */#endif/*cplusplus}}#endif/*ONLY_INIT_SP#ifdefined(ELF_OBJECT_FILE_FORMAT)&&defined(cplusplus)&&0/*thecalltomaindoesnotsupporttoreturnanymore*/#if!defined(FAR_DATA)&&(defined(BANKED)||defined(LARGEstaticvoidfarFini(void)staticvoidFini(void){/* 1)callglobaldestructorsinC++asm#ifdefined(BANKED)||defined(LARGE

_startupData.nofFiniBodies;loadnumberof ;ifcppcount==0,goto ;loadaddressoffirstmoduleto ;incrementtonext ;saveaddressofnextfunction ;savecppCALL[- ;usedoubleindirectcalltoloadpageregister ;restorecpp ;restoreactual ;decrementcpp /*defined(BANKED)||defined(LARGE)

_startupData.nofFiniBodies;loadnumberof ;ifcppcount==0,goto ;loadaddressoffirstmoduleto ;loadaddressoffirstmoduleto ;saveactual ;callfinalize ;restoreactual ;restorecppDBNED,#endif/*defined(BANKED)||defined(LARGE)*/}}#include debugging-information*/#pragmaNO_FRAME#pragma#if!defined(SMALL)#pragmaNO_EXIT/*Thefunction_Startupmustbecalledinordertoinitializeglobalvariablesandtocallmain*//*Youcanadaptthisfunctionorcallitfromyourstartupcodetoimplementadifferentstartup*//*YoushouldalsosetuptheneededIOregistersasWINDEF(HC12A4only)ortheCOPregisterstorun*//*onhardware/*tosettheresetvectorseveralwaysarepossible:/*1.definethefunctionwith"interrupt0"asdonebelowinthefirstcase/*2.addthefollowinglinetoyourprmfile:VECTORADDRESS0xfffe_Startup/*ofcourse,evenmoreposibilitiesexists/*theresetvectormustbesetsothattheapplicationhasadefinedentrypoint#ifdefined(SET_RESET_VECTOREXTERN_Cvoidinterrupt0_Startup(void){EXTERN_Cvoid_Startup(void){ initializetheinitializetheRAM,copydowninitdataetccallmain;parameters:NONEcalledfrom:_PRESTART-codegeneratedbytheLinkerordirectlyreferencedbytheresetvector*//*initializethestackpointerINIT_SP_FROM_STARTUP_DESC();/*lint!e522asmcode*//*HLImacrodefinitioninhidef.h*/#if/*forMonitorbasedsoftwareremaptheRAM&EEPROMtotoEB386.EditRAMandEEPROMsectionsinPRMfiletomatchthese. INITRG= /*lockregistersblockto0x0000 INITRM= /*lockRamtoendat0x3FFF INITEE=0x09; /*lockEEPROMblocktoendat0x0fff*//*Hereuserdefinedcodecouldbeinserted,thestackcouldbeused*/#ifdefined(_DO_DISABLE_COP_)/*Example:SetupWinDefRegistertoallowPaging#ifdefHC812A4/*HC12A4derivativeneedsWINDEFtoconfigurewhichpagesareavailable*/ ( !=

ENABLE_PPAGE (defined(MAP_RAM) defined(MAP_FLASH) defined(MAP_EXTERNAL))&&!defined(DO_SET_MMCTL1)#defineDO_SET_MMCTL1 #ifdefined(DO_SET_MMCTL1/*SettheMMCTL1byte.PleaseuseforHCS12XEandchangethebits /*Note:MMCTL1iswriteoncethereforepleaseadaptthisinitializationhere./*Thishastobedonepriortothecallto #define_MMCTL1_ADR #define_MMCTL1_BIT_TGMRAMON /*EEETagRAMandFTMRAMvisibleinthememorymap#define_MMCTL1_BIT_EEEIFRON /*EEEIFRvisibleinthememory#define_MMCTL1_BIT_PGMIFRON(1<<4) /*ProgramIFRvisibleinthememory #define_MMCTL1_BIT_RAMHM /*RAMonlyinthehigherhalfofthememorymap #define_MMCTL1_BIT_EROMON /*EnablesemulatedFlashorROMmemoryinthememorymap #define_MMCTL1_BIT_ROMHM /*FLASHorROMonlyinhigherHalfofMemoryMap #define_MMCTL1_BIT_ROMON /*EnableFLASHorROMinthememorymap #define_MMCTL1_SET(value) ((*(volatileunsigned #ifdefined(MAP_FLASH#elifdefined(MAP_EXTERNAL #else/*RAM _MMCTL1_BIT_RAMHM|#ifndefInit();/*zeroout,copydown,callconstructors*//*Hereuserdefinedcodecouldbeinserted,allglobalvariablesareinitilized*/#ifdefined(_DO_ENABLE_COP_)/*callmain()*/}6．/*BasedonCPUDBMC9S12DG128_112,version2.87.344(RegistersPrgV2.23)/*DataSheet:9S12DT128BDGV1/DV01.05*/#include<mc9s12dg128.h>/*lint-save-esym(765,*)/**** 8-BIT ***************volatilePORTESTR_PORTE; /*PortERegister; volatileDDRESTR_DDRE; /*PortEDataDirectionRegister;0x volatilePEARSTR /*PortAssignmentRegister; AvolatileMODESTR_MODE; /*ModeRegister; B*/volatilePUCRSTR_PUCR; /*Pull-UpControlRegister;0x C*/volatileRDRIVSTR_RDRIV; /*ReducedDriveofI/OLines;0x D*/volatileEBICTLSTR_EBICTL; /*ExternalBusInterfaceControl;0x E*/volatileINITRMSTR /*InitializationInternalRAMPositionRegister;volatileINITRGSTRInternalRegistersPositionRegister;volatileINITEESTRInternalEEPROMPositionRegister;volatileMISCSTR/*SystemControlRegister; volatileITCRSTR/*InterruptControlRegister; volatileITESTSTR/*InterruptRegister; volatileMEMSIZ0STR/*MemoryRegisterZero; CvolatileMEMSIZ1STR/*MemoryRegisterOne; DvolatileINTCRSTR/*InterruptRegister; EvolatileHPRIOSTR/*HighestPriorityInterrupt; FvolatileBKPCT0STR_BKPCT0; /*BreakpointControlRegister0;0x volatileBKPCT1STR_BKPCT1; /*BreakpointControlRegister1;0x volatileBKP0XSTR/*MemoryExpansionBreakpointAvolatileBKP0HSTR/*HighByteBreakpointRegister;BvolatileBKP0LSTR/*LowByteBreakpointRegister;CvolatileBKP1XSTR/*MemoryExpansionBreakpointRegister;DvolatileBKP1HSTR/*DataAddress)HighByteBreakpointRegister;EvolatileBKP1LSTR/*DataAddress)LowByteBreakpointRegister;FvolatilePPAGESTR/*PageRegister; volatilePORTKSTR/*PortKRegister; volatileDDRKSTR/*PortKDirectionRegister; volatileSYNRSTR/*CRGRegister; volatileREFDVSTR/*CRGDividerRegister; volatileCRGSTR_CRG/*CRGRegister; volatileCRGINTSTR/*CRGEnableRegister; volatileCLKSELSTR/*CRGSelectRegister; volatilePLLCTLSTR/*CRGControlRegister; AvolatileRTICTLSTR/*CRGControlRegister; BvolatileCOPCTLSTR_COPCTL; /*CRGCOPControlRegister;0x C*/volatileARMCOPSTR/*CRGTimerArm/ResetRegister;FvolatileTIOSSTR/*TimerCapture/OutputCompareSelect;volatileCFORCSTR/*TimerForceRegister; volatileOC7MSTR/*Compare7MaskRegister;volatileOC7DSTR/*Output7DataRegister; volatileTSCR1STR/*TimerControlRegister1;volatileTTOVSTR/*TimerToggleOverflowRegister;volatileTCTL1STR/*TimerRegister1; volatileTCTL2STR/*TimerRegister2; volatileTCTL3STR/*TimerRegister3; AvolatileTCTL4STR/*TimerRegister4; BvolatileTIESTR /*TimerEnableRegister; CvolatileTSCR2STR_TSCR2; /*TimerSystemControlRegister2;0x D*/volatileT 1STR_T1; /*MainTimerInterruptFlag1;0x E*/volatileT2STR_T2; /*MainTimerInterruptFlag2;0x F*/volatilePACTLSTR_PACTL; /*16-BitPulseAccumulatorAControlRegister;0x volatilePASTR_PA /*AccumulatorAFlagRegister; volatileMCCTLSTR_MCCTL; /*ModulusDownCounterunderflow;0x volatileMCSTR_MC; /*16-BitModulusDownCounterFlagRegister;0x volatileICPARSTR_ICPAR; /*InputControlPulseAccumulatorRegister;0x volatileDLYCTSTR_DLYCT; /*DelayCounterControlRegister;0x volatileICOVWSTR_ICOVW; /*InputControlOverwriteRegister;0x A*/volatileICSYSSTR_ICSYS; /*InputControlSystemControlRegister;0x B*/volatilePBCTLSTR_PBCTL; /*16-BitPulseAccumulatorBControlRegister;0x volatilePBSTR /*AccumulatorBFlagRegister; volatileATD0STAT0STR_ATD0STAT0; /*ATD0StatusRegister0;0x volatileATD0TEST1STR_ATD0TEST1; /*ATD0TestRegister;0x volatileATD0STAT1STR_ATD0STAT1; /*ATD0StatusRegister1;0x B*/volatileATD0DIENSTR_ATD0DIEN; /*ATD0InputEnableRegister;0x D*/volatilePORTAD0STR_PORTAD0; /*PortAD0Register;0x F*/ ESTR_E; Register;0x000000A0*/ POLSTR_ PolarityRegister;0x000000A1 CLKSTR_CLK; SelectRegister;0x000000A2*/ PRCLKSTR_PRCLK; PrescaleClockSelectRegister;0x000000A3*/ CAESTR_CAE; AlignEnableRegister;0x000000A4*/ CTLSTR_ ControlRegister;0x000000A5volatileSCLASTR_SCLA; /*ScaleARegister;0x000000A8*/volatileSCLBSTR_SCLB; /*ScaleBRegister;0x000000A9*/volatileSDNSTR_ /*ShutdownRegister;0x000000C4volatileSCI0CR1STR_SCI0CR1; /*SCI0ControlRegister1;0x000000CA*/volatileSCI0CR2STR_SCI0CR2; /*SCI0ControlRegister2;0x000000CB*/volatileSCI0SR1STR_SCI0SR1; /*SCI0StatusRegister1;0x000000CC*/volatileSCI0SR2STR_SCI0SR2; /*SCI0StatusRegister2;0x000000CD*/volatileSCI0DRHSTR_SCI0DRH; /*SCI0DataRegisterHigh;0x000000CE*/volatileSCI0DRLSTR_SCI0DRL; /*SCI0DataRegisterLow;0x000000CF*/volatileSCI1CR1STR_SCI1CR1; /*SCI1ControlRegister1;0x000000D2*/volatileSCI1CR2STR_SCI1CR2; /*SCI1ControlRegister2;0x000000D3*/volatileSCI1SR1STR_SCI1SR1; /*SCI1StatusRegister1;0x000000D4*/volatileSCI1SR2STR_SCI1SR2; /*SCI1StatusRegister2;0x000000D5*/volatileSCI1DRHSTR_SCI1DRH; /*SCI1DataRegisterHigh;0x000000D6*/volatileSCI1DRLSTR_SCI1DRL; /*SCI1DataRegisterLow;0x000000D7*/volatileSPI0CR1STR_SPI0CR1; /*SPI0ControlRegister;0x000000D8*/volatileSPI0CR2STR_SPI0CR2; /*SPI0ControlRegister2;0x000000D9*/volatileSPI0BRSTR_SPI0BR; /*SPI0BaudRateRegister;0x000000DA*/volatileSPI0SRSTR_SPI0SR; /*SPI0StatusRegister;0x000000DB*/volatileSPI0DRSTR_SPI0DR; /*SPI0DataRegister;0x000000DD*/volatileIBADSTR /*IICRegister;0x000000E0volatileIBFDSTR_IBFD; /*IICFrequencyDividerRegister;0x000000E1*/volatileIBCRSTR /*IICRegister;0x000000E2volatileIBSRSTR_IBSR; /*IICStatusRegister;0x000000E3*/volatileIBDRSTR /*IICDataRegister;0x000000E4volatileSPI1CR1STR_SPI1CR1; /*SPI1ControlRegister;0x000000F0*/volatileSPI1CR2STR_SPI1CR2; /*SPI1ControlRegister2;0x000000F1*/volatileSPI1BRSTR_SPI1BR; /*SPI1BaudRateRegister;0x000000F2*/volatileSPI1SRSTR_SPI1SR; /*SPI1StatusRegister;0x000000F3*/volatileSPI1DRSTR_SPI1DR; /*SPI1DataRegister;0x000000F5*/volatileFCLKDIVSTR_FCLKDIV; /*FlashClockDividerRegister;0x volatileFSECSTR_FSEC; /*FlashSecurityRegister;0x volatile /*ConfigurationRegister; volatileFPROTSTR_FPROT; /*FlashProtectionRegister;0x volatileFSTATSTR_FSTAT; /*FlashStatusRegister;0x volatileFCMDSTR_FCMD; /*FlashCommandBufferandRegister;0x volatileECLKDIVSTR_ECLKDIV; /*EEPROMClockDividerRegister;0x volatileECNFGSTR /*EEPROMConfigurationRegister;0x volatileEPROTSTR_EPROT; /*EEPROMProtectionRegister;0x volatileESTATSTR_ESTAT; /*EEPROMStatusRegister;0x volatileECMDSTR /*CommandBufferandRegister; volatileATD1STAT0STR_ATD1STAT0; /*ATD1StatusRegister0;0x volatileATD1TEST1STR_ATD1TEST1; /*ATD1TestRegister;0x volatileATD1STAT1STR_ATD1STAT1; /*ATD1StatusRegister1;0x B*/volatileATD1DIENSTR/*ATD1EnableRegister; DvolatilePORTAD1STR/*PortRegister; FvolatileCAN0CTL0STR/*MSCANControl0Register; volatileCAN0CTL1STR/*MSCANControl1Register; volatileCAN0BTR0STR/*MSCAN0TimingRegister0; volatileCAN0BTR1STR/*MSCAN0TimingRegister1; volatileCAN0RSTR_CAN0R/*MSCANReceiverFlagRegister; volatileCAN0RIERSTR/*MSCANReceiverInterruptEnableRegister;volatileCAN0TSTR /*MSCANTransmitterFlagRegister; volatileCAN0TIERSTR/*MSCANvolatileCAN0TARQSTR/*MSCANvolatileCAN0TAAKSTR /*MSCAN volatileCAN0TBSELSTR /*MSCAN AvolatileCAN0IDACSTR /*MSCANIdentifierAcceptanceControlRegister; BvolatileCAN0RXERRSTR /*MSCANReceiveErrorCounterRegister; EvolatileCAN0TXERRSTR /*MSCAN FvolatileCAN0IDAR0STR /*MSCANIdentifierAcceptanceRegister0; volatileCAN0IDAR1STR /*MSCANIdentifierAcceptanceRegister1; volatileCAN0IDAR2STR /*MSCANIdentifierAcceptanceRegister2; volatileCAN0IDAR3STR /*MSCANIdentifierAcceptanceRegister3; volatileCAN0IDMR0STR /*MSCANIdentifierMaskRegister0; volatileCAN0IDMR1STR /*MSCANIdentifierMaskRegister1; volatileCAN0IDMR2STR /*MSCANIdentifierMaskRegister2; volatileCAN0IDMR3STR /*MSCANIdentifierMaskRegister3; volatileCAN0IDAR4STR /*MSCANIdentifierAcceptanceRegister4; volatileCAN0IDAR5STR /*MSCANIdentifierAcceptanceRegister5; volatileCAN0IDAR6STR /*MSCANIdentifierAcceptanceRegister6; AvolatileCAN0IDAR7STR /*MSCANIdentifierAcceptanceRegister7; BvolatileCAN0IDMR4STR /*MSCANIdentifierMaskRegister4; CvolatileCAN0IDMR5STR /*MSCANIdentifierMaskRegister5; DvolatileCAN0IDMR6STR /*MSCANIdentifierMaskRegister6; EvolatileCAN0IDMR7STR /*MSCANIdentifierMaskRegister7; FvolatileCAN0RXIDR0STR /*MSCANReceiveIdentifierRegister0; volatileCAN0RXIDR1STR0ReceiveIdentifierRegister1; volatileCAN0RXIDR2STR0ReceiveIdentifierRegister2; volatileCAN0RXIDR3STR0ReceiveIdentifierRegister3; volatileCAN0RXDSR0STR0ReceiveDataSegmentRegister0; volatileCAN0RXDSR1STR0ReceiveDataSegmentRegister1; volatileCAN0RXDSR2STR0ReceiveDataSegmentRegister2; volatileCAN0RXDSR3STR0ReceiveDataSegmentRegister3; volatileCAN0RXDSR4STR0ReceiveDataSegmentRegister4; volatileCAN0RXDSR5STR0ReceiveDataSegmentRegister5; volatileCAN0RXDSR6STR0ReceiveDataSegmentRegister6; AvolatileCAN0RXDSR7STR0ReceiveDataSegmentRegister7; BvolatileCAN0RXDLRSTR0ReceiveDataLengthRegister; CvolatileCAN0TXIDR0STR0TransmitIdentifierRegister0; volatileCAN0TXIDR1STR0TransmitIdentifierRegister1; volatileCAN0TXIDR2STR0TransmitIdentifierRegister2; volatileCAN0TXIDR3STR0TransmitIdentifierRegister3; volatileCAN0TXDSR0STR0TransmitDataSegmentRegister0; volatileCAN0TXDSR1STR0TransmitDataSegmentRegister1; volatileCAN0TXDSR2STR0TransmitDataSegmentRegister2; volatileCAN0TXDSR3STR0TransmitDataSegmentRegister3; volatileCAN0TXDSR4STR0TransmitDataSegmentRegister4; volatileCAN0TXDSR5STR0TransmitDataSegmentRegister5; volatileCAN0TXDSR6STR /*MSCANTransmitDataSegmentRegister6; AvolatileCAN0TXDSR7STR /*MSCANTransmitDataSegmentRegister7; BvolatileCAN0TXDLRSTR /*MSCANTransmitDataLengthRegister; CvolatileCAN0TXTBPRSTR /*MSCANTransmitBufferPriority; DvolatilePTTSTR/*PortTI/O volatilePTITSTR/*PortTRegister; volatileDDRTSTR/*PortTDirectionRegister;volatileRDRTSTR/*PortTDriveRegister; volatilePERTSTR_PERT; /*PortTPullDeviceEnableRegister;0x volatilePPSTSTR_PPST; /*PortTPolaritySelectRegister;0x volatilePTSSTR_PTS; /*PortSI/ORegister; volatilePTISSTR /*PortSRegister; volatileDDRSSTR /*PortSDirectionRegister; AvolatileRDRSSTR_RDRS; /*PortSReducedDriveRegister;0x B*/volatilePERSSTR_PERS; /*PortSPullDeviceEnableRegister;0x C*/volatilePPSSSTR_PPSS; /*PortSPolaritySelectRegister;0x D*/volatileWOMSSTR /*PortWired-OrModeRegister; EvolatilePTMSTR /*PortMRegister; volatilePTIMSTR_PTIM; /*PortMInputRegister;0x volatileDDRMSTRDirectionRegister;/*PortMvolatileRDRMSTR/*PortReducedDriveRegister;volatilePERMSTR/*PortMDeviceEnableRegister;volatilePPSMSTR_PPSM; /*PortMPolaritySelectRegister;0x volatileWOMMSTR /*PortWired-OrModeRegister; volatileMODRRSTR_MODRR; /*ModuleRoutingRegister;0x volatilePTPSTR_PTP; /*PortPI/ORegister; volatilePTIPSTR /*PortPRegister; volatileDDRPSTR_DDRP; /*PortPDataDirectionRegister;0x A*/volatileRDRPSTR_RDRP; /*PortPReducedDriveRegister;0x B*/volatilePERPSTR_PERP; /*PortPPullDeviceEnableRegister;0x C*/volatilePPSPSTR_PPSP; /*PortPPolaritySelectRegister;0x D*/volatilePIEPSTR_PIEP; /*PortPInterruptEnableRegister;0x E*/volatilePIFPSTR_PIFP; /*PortPInterruptFlagRegister;0x F*/volatilePTHSTR /*PortHRegister; volatilePTIHSTR /*PortHRegister; volatileDDRHSTR_DDRH; /*PortHDataDirectionRegister;0x volatileRDRHSTR_RDRH; /*PortHReducedDriveRegister;0x volatilePERHSTR /*PortHDeviceEnableRegister; volatilePPSHSTR_PPSH; /*PortHPolaritySelectRegister;0x volatilePIEHSTR_PIEH; /*PortHInterrupt