?????????????
/*?
***********************************************************************************?
*?????:SmartCar?
*?????:??????16????MC9S12DG128B????????????????
*?IDE??:?Metrowerks?CodeWarrior?4.1?
*?????:?
*?main.c?
*?SmartCar.c/PID.c/LCD1620.c/Test.c?
*???:?????????????????????????
*???:ffice:smarttags“?/>2006-5-6?
*?（c）?Copyright?2006Zhao?Cheng?
*?All?Rights?Reserved?
*?
*?
*?By?:?Zhao?Cheng?
**********************************************************************************/?
/*?
************************************************************************************?main.c?
*?
*?（c）?Copyright?2006Zhao?Cheng?
*?All?Rights?Reserved?
*?
*?By?:?Zhao?Cheng?
**********************************************************************************/?
#include??/*?common?defines?and?macros?*/?
#include??/*?derivative?information?*/?
#pragma?link_INFO?DERIVATIVE?“mc9s12dg128b“?
#define?HIGHSPEED?11500?/*???????????????*/?
#define?LOWSPEED0?12500?/*?0-24000??????????*/?
#define?LOWSPEED1?12000?/*?used?in?CarMain（）?*/?
#define?STABMAX?50?
#define?StopCar（）?PORTK?|=?0x80?/*?stop?the?motor?*/?
#define?StartCar（）?PORTK?|=?0x04?/*?start?the?motor?*/?
#define?BrakeCar（）?PORTK?&=?0xfb?/*?slow?the?speed?of?the?SmartCar?*/?
unsigned?int?SYSCLOCK=0;?/*?update?in?INT_Timer0（）?*/?
/*?
***********************************************************************************?
*?FUNCTION?PROTOTYPES?
**********************************************************************************/?
/*?write?in?“SmartCar.c“?*/?
void?Init_INT_RTI（void）;?/*?initiate?Real?Time?Interrupt?*/?
void?Init_INT_Timer（void）;?/*?INT_Timer0?initiate?*/?
void?Init_PWMout（void）;?/*?initiate?PWM?output?*/?
void?PWMout（int?int）;?/*?output?PWM?*/?
/*?write?in?“PID.c“?*/?
void?Init_PID（void）;?/*?initiate?PID?parameter?*/?
int?CalculateP（void）;?/*?calculate?parameter?P?*/?
float?CalculatePID（void）;?/*?calculate?PID?*/?
int?SignalProcess（unsigned?char）;?/*?Process?the?signal?from?the?sensors?*/?
/*?write?in?“Test.c“?*/?
void?IOtest（void）;?/*?Test?I/O?*/?
void?PWMtest（void）;?/*?Test?PWM?output?*/?
int?SignalTest（void）;?/*?Test?the?sensors?*/?
/*?write?in?local?file?*/?
void?Init（void）;?/*?initiate?parameter?*/?
void?ProtectMoto（void）;?/*?the?function?protecting?the?Motor?*/?
void?CarMain（void）;?/*?SmartCar?main?function?*/?
/*?
***********************************************************************************?
*?????
*?
*?????:?????????????????????????I/O??PWM??????
*?????????????????
*?
*?????:PORTB??????
*?PWM?????（1）????（2）???????MC33886?
*?
*???:???
**********************************************************************************/?
void?main（void）?
{?
Init（）;?
DDRB?=?0x00;?
switch（PORTB）?
{?
case?0x80:?
IOtest（）;?
break;?
case?0x40:?
PWMtest（）;?
break;?
case?0x20:?
SignalTest（）;?
break;?
default:?
DDRA?=?0x00;?
DDRB?=?0xff;?
DDRK?=?0xff;?
PORTB?=?0xff;?
CarMain（）;?
EnableInterrupts;?
f

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????5420??2010-05-09?11:28??freescale\華中科大\main.c

?????文件???????3367??2010-05-09?11:28??freescale\華中科大\PID.c

?????文件???????3140??2010-05-09?11:28??freescale\華中科大\SignalProcess.c

?????文件???????2106??2010-05-09?11:28??freescale\華中科大\SmartCar.c

?????文件??????15887??2010-04-23?19:32??freescale\華中科技.c

?????文件??????12830??2010-04-23?19:51??freescale\南京郵電.c

?????文件??????12830??2010-04-23?19:52??freescale\第三屆?南京郵電.c

?????文件??????16350??2010-04-24?21:26??freescale\第三屆?武漢科技大學.c

?????文件??????20434??2010-04-23?19:44??freescale\第三屆?湖北光電.c

?????文件???????5551??2010-05-02?13:52??freescale\第二屆?極品飛車.c

?????文件??????19726??2010-05-02?00:37??freescale\第二屆?重郵1.c

?????文件??????12085??2010-05-02?00:40??freescale\第二屆?重郵2.c

?????文件??????21202??2010-04-23?19:39??freescale\第四屆?西北師范.c

?????目錄??????????0??2013-09-08?12:47??freescale\華中科大

?????目錄??????????0??2013-09-08?12:47??freescale

-----------?---------??----------?-----??----

???????????????150928????????????????????15