飞思卡尔智能车程序汇总

1、1.流水灯程序：#include /* common defines and macros */#include derivative.h /* derivative-specific definitions */void delay(unsigned int ms) unsigned int i;unsigned char j;for(i=0;ims;i+) for(j=0;j100;j+);void main(void) /* put your own code here */EnableInterrupts;DDRA=0x00;DDRB_DDRB0=1;for(;) delay(2500

2、0); PORTB_PB0=1; delay(25000); PORTB_PB0=0; 2.液晶屏按键程序#include /* common defines and macros */#include derivative.h /* derivative-specific definitions */#include lcd5110.h#include 24c02.h#include button.hvoid delay(unsigned int ms) unsigned int i;unsigned char j;for(i=0;ims;i+) for(j=0;j100;j+);/*倍频*

3、/void vPLLInit(void) unsigned char refdv;refdv=3;CLKSEL=0X00;/disengage PLL to systemPLLCTL_PLLON=1;/turn on PLLSYNR =0xc0 | (80/(refdv+1)-1); REFDV=0x40 | refdv; POSTDIV=0x00; /pllclock=2*osc*(1+SYNR)/(1+REFDV)=160MHz;_asm(nop); /BUS CLOCK=80M_asm(nop);while(!(CRGFLG_LOCK=1); /when pll is steady ,t

4、hen use it;CLKSEL_PLLSEL =1; /engage PLL to system; /*倍频*/void main(void) /* put your own code here */ unsigned char i; unsigned char setnum12; unsigned char cur_sel; const char lcd_show124=MID0,LEF0,RIG0,Kp 0,Kd 0,K1 0,K2 0,STP0,MAX0,MIN0,HTM0,HTX0;vPLLInit();lcd_init();init_24c02();init_btn();/ En

5、ableInterrupts; for(i=0;i12;i+)setnumi=RdEEPROM(i); /读取24c02 for(i=0;i12;i+) /显示初值 disply_listchar(i/6)*42,i%6,lcd_showi,1); disply_number(i/6)*42+16,i%6,setnumi,5); if(btn_change() cur_sel=0;for(i=0;i11)cur_sel=0;for(i=0;i12;i+) disply_listchar(i/6)*42,i%6,lcd_showi,(cur_sel=i)?0:1);if(btn_sav() fo

6、r(i=0;i12;i+)WrEEPROM(i,setnumi); disply_listchar(0,0, SMART CAR ,1); disply_listchar(0,1, SAVE OK ,1); disply_listchar(0,2,=,1); disply_listchar(0,3, TURN POWER OFF ,1); disply_listchar(0,4,=,1); disply_listchar(0,5, ,1); while(1); DDRA=0x00;DDRB_DDRB0=1;for(;) delay(setnum0*100); PO

7、RTB_PB0=1; delay(setnum1*100); PORTB_PB0=0; 3.电机程序#include /* common defines and macros */#include derivative.h /* derivative-specific definitions */#include lcd5110.h#include 24c02.h#include button.h#define servo_period 20 /ms#define motor_pwm_frequ 1 /khz void delay(unsigned int ms) unsigned int i

8、;unsigned char j;for(i=0;ims;i+) for(j=0;j100;j+);/*倍频*/void vPLLInit(void) unsigned char refdv;refdv=3;CLKSEL=0X00;/disengage PLL to systemPLLCTL_PLLON=1;/turn on PLLSYNR =0xc0 | (80/(refdv+1)-1); REFDV=0x40 | refdv; POSTDIV=0x00; /pllclock=2*osc*(1+SYNR)/(1+REFDV)=160MHz;_asm(nop); /BUS CLOCK=80M_

9、asm(nop);while(!(CRGFLG_LOCK=1); /when pll is steady ,then use it;CLKSEL_PLLSEL =1; /engage PLL to system; /*倍频*/* PWM初始化*/void Init_PWMout(void)PWME = 0x00; /禁止输出PWMPOL = 0xff;/极性寄存器，1 先输出高电平 后为低电平 0 先输出低电平 后为高电平PWMCTL = 0xf0; /01 23 45 67 通道级联PWMPRCLK=0x55; /Clock A=Bus Clock/32 ; Clock B=Bus Cloc

10、k/32;PWMCLK=0b; /选择clock:7B,6B,5A,4A,3B,2B,1A,0APWME = 0xaa; /pp1,pp3,pp5,pp7口输出PWMPER67 = 80/4*125/motor_pwm_frequ; PWMPER45 = 80/4*125/motor_pwm_frequ;PWMPER23 = 80/4*servo_period*125; PWMPER01 = 80/4*servo_period*125; PWMDTY67 =0;PWMDTY45 =0;PWMDTY23 =0;PWMDTY01 =0;void main(void) /* put your own

11、 code here */ unsigned char i; unsigned char setnum12; unsigned char cur_sel; const char lcd_show124=MID0,LEF0,RIG0,Kp 0,Kd 0,K1 0,K2 0,STP0,MAX0,MIN0,HTM0,HTX0;vPLLInit();lcd_init();init_24c02();init_btn(); Init_PWMout();EnableInterrupts; for(i=0;i12;i+)setnumi=RdEEPROM(i); /读取24c02 for(i=0;i12;i+)

12、 /显示初值 disply_listchar(i/6)*42,i%6,lcd_showi,1); disply_number(i/6)*42+16,i%6,setnumi,5); if(btn_change() cur_sel=0;for(i=0;i11)cur_sel=0;for(i=0;i12;i+) disply_listchar(i/6)*42,i%6,lcd_showi,(cur_sel=i)?0:1);if(btn_sav() for(i=0;i12;i+)WrEEPROM(i,setnumi); disply_listchar(0,0, SMART CAR ,1); disply

13、_listchar(0,1, SAVE OK ,1); disply_listchar(0,2,=,1); disply_listchar(0,3, TURN POWER OFF ,1); disply_listchar(0,4,=,1); disply_listchar(0,5, ,1); while(1); DDRA=0x00;DDRB_DDRB0=1; for(;) delay(setnum0*1000); PORTB_PB0=1; PWMDTY67=0; PWMDTY45=1000; delay(setnum0*1000); PORTB_PB0=0; PW

14、MDTY67=0; PWMDTY45=0; delay(setnum0*1000); PORTB_PB0=0; PWMDTY45=0; PWMDTY67=1000; delay(setnum0*1000); PORTB_PB0=0; PWMDTY67=0; PWMDTY45=0; 4.码盘控速#include /* common defines and macros */#include derivative.h /* derivative-specific definitions */#include lcd5110.h#include 24c02.h#include button.h#de

15、fine servo_period 20 /ms#define motor_pwm_frequ 1 /khz void delay(unsigned int ms) unsigned int i;unsigned char j;for(i=0;ims;i+) for(j=0;j100;j+);/*倍频*/void vPLLInit(void) unsigned char refdv;refdv=3;CLKSEL=0X00;/disengage PLL to systemPLLCTL_PLLON=1;/turn on PLLSYNR =0xc0 | (80/(refdv+1)-1); REFDV

16、=0x40 | refdv; POSTDIV=0x00; /pllclock=2*osc*(1+SYNR)/(1+REFDV)=160MHz;_asm(nop); /BUS CLOCK=80M_asm(nop);while(!(CRGFLG_LOCK=1); /when pll is steady ,then use it;CLKSEL_PLLSEL =1; /engage PLL to system; /*倍频*/* PWM初始化*/void Init_PWMout(void)PWME = 0x00; /禁止输出PWMPOL = 0xff;/极性寄存器，1 先输出高电平 后为低电平 0 先输

17、出低电平 后为高电平PWMCTL = 0xf0; /01 23 45 67 通道级联PWMPRCLK=0x55; /Clock A=Bus Clock/32 ; Clock B=Bus Clock/32;PWMCLK=0b; /选择clock:7B,6B,5A,4A,3B,2B,1A,0APWME = 0xaa; /pp1,pp3,pp5,pp7口输出PWMPER67 = 80/4*125/motor_pwm_frequ; PWMPER45 = 80/4*125/motor_pwm_frequ;PWMPER23 = 80/4*servo_period*125; PWMPER01 = 80/4*

18、servo_period*125; PWMDTY67 =0;PWMDTY45 =0;PWMDTY23 =0;PWMDTY01 =0;/* PWM初始化*/测速增加部分/int cur_speed;int cur_time;/*测速初始化*/void speed_Init(void) PACTL_PAMOD=0;/0 Event counter mode.PACTL_PEDGE=1;/1 Rising edges on IOC7 pin cause the count to be incremented.PACTL_PAEN=1;/1 Pulse Accumulator system enabl

19、ed. /stl测速定时器中断/void Init_INT_Timer(void) TSCR2_PR=5; TSCR2_TOI|=1; TSCR1_TEN=1;#pragma CODE_SEG _NEAR_SEG NON_BANKEDvoid interrupt 16 INT_Timer0(void) cur_speed=PACNT; PACNT=0; cur_time+;TFLG2_TOF=1;/测速增加部分/void main(void) /* put your own code here */ unsigned char i; unsigned char setnum12; unsign

20、ed char cur_sel; int pwm_motor; Bool open=FALSE; const char lcd_show124=MID0,LEF0,RIG0,Kp 0,Kd 0,K1 0,K2 0,STP0,MAX0,MIN0,HTM0,HTX0;vPLLInit();lcd_init();init_24c02();init_btn(); Init_PWMout(); speed_Init(); cur_time=0 ; pwm_motor=0;PACNT=0;Init_INT_Timer();EnableInterrupts; for(i=0;i12;i+)setnumi=R

21、dEEPROM(i); /读取24c02 for(i=0;i12;i+) /显示初值 disply_listchar(i/6)*42,i%6,lcd_showi,1); disply_number(i/6)*42+16,i%6,setnumi,5); if(btn_change() cur_sel=0;for(i=0;i11)cur_sel=0;for(i=0;i12;i+) disply_listchar(i/6)*42,i%6,lcd_showi,(cur_sel=i)?0:1);if(btn_sav() for(i=0;i=setnum0)open=!open;cur_time=0;pw

22、m_motor=0; if(FALSE=open) PORTB_PB0=1; PWMDTY67=0; pwm_motor=(setnum4-cur_speed/3)*20; if(pwm_motorPWMPER45) PWMDTY45=PWMPER45; else if(pwm_motor0) PWMDTY45=pwm_motor; else PWMDTY45=0; else if(TRUE=open) PORTB_PB0=0; PWMDTY45=0; pwm_motor=(setnum4-cur_speed/3)*20; if(pwm_motorPWMPER67) PWMDTY67=PWMP

23、ER45; else if(pwm_motor0) PWMDTY67=pwm_motor; else PWMDTY67=0; /* for(;) disply_number(16,5,cur_speed/5,5); pwm_motor=(setnum4-cur_speed/5)*25; if(pwm_motorPWMPER45) PWMDTY45=PWMPER45; else if(pwm_motor0) PWMDTY45=pwm_motor; else PWMDTY45=0; */5.电磁车程序#include /* common defines and macros */#include

24、#include derivative.h /* derivative-specific definitions */#include lcd5110.h#include 24c02.h#include button.h/延迟函数/void delay(unsigned int ms) unsigned int i;unsigned char j;for(i=0;ims;i+) for(j=0;jSERVO_LIMIT)servo=SERVO_LIMIT; if(servoPWMPER67) PWMDTY67=PWMPER67; else if(pwm_motor0) PWMDTY67=pwm

25、_motor; else PWMDTY67=0; /控速函数/*测速初始化*/void speed_Init(void) PACTL_PAMOD=0;/0 Event counter mode.PACTL_PEDGE=1;/1 Rising edges on IOC7 pin cause the count to be incremented.PACTL_PAEN=1;/1 Pulse Accumulator system enabled. /stl测速定时器中断/void Init_INT_Timer(void) TSCR2_PR=7; TSCR2_TOI|=1; TSCR1_TEN=1;#

26、pragma CODE_SEG _NEAR_SEG NON_BANKEDvoid interrupt 16 INT_Timer0(void) cur_speed=PACNT/100; PACNT=0; cur_length+=cur_speed; TFLG2_TOF=1;/SCI初始化/void ini_SCI(void)SCI0BD=(80*/16); /=(busclk*/SCI0BD/16);SCI0CR1=0x00;SCI0CR2=0x0C;void TERMIO_PutChar(unsigned char ch)while(!(SCI0SR1&0x80); SCI0DRL=ch;/*

27、SCI初始化*/A/D初始化/void ini_AD(void) ATD0DIEN=0x00; /禁止数字输入ATD0CTL1=0x00;ATD0CTL2=0b; /0b; /ATD0CTL3=0b; /A/D转换序列长度为8ATD0CTL4=0b; /8位精度，ATDclock=Busclock/(PRS+1)/2=BusClock/40=2MHz,要求ATDclock=500KHz/ATD0CTL4=0x81; / 8位精度, 2个时钟, ATDClock=BusClock*0.5/PRS+1 ; PRS=1, divider=12ATD0CTL5=0b; /右对齐无符号数,连续转换序列模

28、式,2通道采样，AN0-AN7模拟量通道输入/A/D初始化/*读取转换结果*byte ReadATD(byte ch) byte ad=0; while(!ATD0STAT0_SCF); switch(ch) default: case 0: ad= ATD0DR0L; break; case 1: ad= ATD0DR1L; break; case 2: ad= ATD0DR2L; break; case 3: ad= ATD0DR3L; break; /* case 4: ad= ATD0DR4L; break; case 5: ad= ATD0DR5L; break; case 6: a

29、d= ATD0DR6L; break; case 7: ad= ATD0DR7L; break; */ return ad;/*读取转换结果*void main(void) /* put your own code here */ unsigned int i; unsigned int j; int pwm_motor; unsigned int setnum18; / unsigned char cur_sel; /新加/ float sumxy1,sumy1,sumxy2,sumy2; /新加 float Kp,Kd,flag,Identify; /新加 float setted_spe

30、ed_n; /新加 float dif_old,dif,dif_old2,dif_old1; /新加 unsigned char miny,minx,miny2,minx2; /新加 float K1,K2,K3; /新加 int servo_change; /新加 /新加/ int sped1=15,sped2=25; int speed=0; / const char ad44=A00,A10,A20,A30;/ const char lcd_show124=MID0,LIM0,RIG0,Sp10,Sp20,K1 0,K2 0,Spd0,MAX0,MIN0,HTM0,HTX0; const

31、 char lcd_show124=A00,A10,A20,A30,MID0,spd0,K1 0,K2 0,MAX0,MIN0,HTM0,HTX0;/新加/unsigned char AD_wData4; /全局变量存放 AD结果/unsigned char j;unsigned char max_v4=0,0,0,0;/int min_v8=255,255,255,255,255,255,255,255;const unsigned char min_v4=0,0,0,0;/const float dif_x4=-12+0.45,-6.3+0.45,6.8-0.45,11.7-0.45;co

32、nst float dif_x4=-11.3,-4.6,3.4,10.6;K1=4;K2=10;K3=0; /新加/vPLLInit();lcd_init();init_24c02();init_btn();Init_PWMout();speed_Init();PACNT=0;Init_INT_Timer();ini_AD();EnableInterrupts;/cur_length=0; for(i=3;i18;i+)setnumi=RdEEPROM(i); /读取24c02 setnum0=setnum12*256+setnum13; setnum1=setnum14*256+setnum

33、15; setnum2=setnum16*256+setnum17; if(btn_change() cur_sel=0;for(i=0;i12;i+) disply_listchar(i/6)*42,i%6,lcd_showi,(cur_sel=i)?0:1); disply_number(i/6)*42+16,i%6,setnumi,5); for(;) if(btn_add() setnumcur_sel+; disply_number(cur_sel/6)*42+16,cur_sel%6,setnumcur_sel,5); for(i=0;i255;i+) for(j=0;j255;j+) delay(2); if(btn_add()=0) break; if(j255)break; while(btn_add() delay(800);