#include?“define.h“

extern?int?AD_dif28AD_dif410;
extern?int?last_AD_dif28last_AD_dif410;
extern?byte?AD_Value[16];

int?dif410_first=0;
int?dif410_last=0;

int?dif28_array[100];
int?dif410_array[100];

byte?tbl[12]={0x3f0x060x5b0x4f0x66??//?八段顯示碼表
???????????????????????0x6d0x7d0x070x7f0x6f0x390xb9};
//----------采集函數--------------
void?Get_AD1（byte?num）
{
???if（ATD0STAT0_SCF==1）
??????{???????????
???????AD_Value[0]=ATD0DR0L/num;
???????AD_Value[1]=ATD0DR1L/num;
???????AD_Value[2]=ATD0DR2L/num;
???????AD_Value[3]=ATD0DR3L/num;
???????AD_Value[4]=ATD0DR4L/num;
???????AD_Value[5]=ATD0DR5L/num;
???????AD_Value[6]=ATD0DR6L/num;
???????AD_Value[7]=ATD0DR7L/num;
???????AD_Value[8]=ATD0DR8L/num;
???????AD_Value[9]=ATD0DR9L/num;
???????AD_Value[10]=ATD0DR10L/num;
???????AD_Value[11]=ATD0DR11L/num;
???????AD_Value[12]=ATD0DR12L/num;
???????AD_Value[13]=ATD0DR13L/num;
???????AD_Value[14]=ATD0DR14L/num;
???????AD_Value[15]=ATD0DR15L/num;

??????}???
}

void?piancha（void）
{
???AD_dif28=AD_Value[2]-AD_Value[8];
???AD_dif410=AD_Value[4]-AD_Value[10];???
?
???
//--------------------------------------???????
???if（AD_Value[2]+AD_Value[8]<130）{
??????AD_dif28=AD_dif28*150/（AD_Value[2]+AD_Value[8]）;
???}
?????????
???if（AD_Value[4]+AD_Value[10]<130）{
??????AD_dif410=AD_dif410*135/（AD_Value[4]+AD_Value[10]）;
???}
???????????????????????????????????
}
void?piancha1（void）
{
???static?byte?i=0;?
???byte?j=0;
???int?sum=0;
???byte?temp1=0temp2=0;
???word?steer_pwm=1450;

???temp1=AD_Value[2]-AD_Value[8];
???temp2=AD_Value[4]-AD_Value[10];???
?
???
//----------------------------------------------???????
???if（AD_Value[2]+AD_Value[8]<130）{
??????temp1=temp1*135/（AD_Value[2]+AD_Value[8]）;
???}
?????????
???if（AD_Value[4]+AD_Value[10]<130）{
??????temp2=temp1*135/（AD_Value[4]+AD_Value[10]）;
???}?
???
???dif28_array[i]=temp1;
???dif410_array[i]=temp2;
???
???if（i>=99）{
??????i=0;
??????for（j=0;j<10;j++）{
?????????sum+=dif410_array[j];
??????}
??????dif410_first=sum/10;
??????sum=0;
??????
??????for（j=90;j<100;j++）{
??????????sum+=dif410_array[j];
??????}
??????dif410_last=sum/10;
??????sum=0;
??????
??????//第一排弱信號處理????
??if（AD_Value[4]+AD_Value[10]==0）
??{???
?????if（AD_dif28>0）
?????{
????????steer_pwm=2200;
?????}
?????else?if（AD_dif28<0）
?????{
????????steer_pwm=850;
?????}
????else??//第一、二排均無信號的時候
?????{???
????????if（AD_Value[15]>AD_Value[0]）
????????{
???????????steer_pwm=2200;
????????}
????????else?if（AD_Value[15]????????{
???????????steer_pwm=850;
????????}
????????else??//第三排無信號的時候，舵機保持上一刻的值
????????{??????????????????
???????????steer_pwm=PWMDTY01;
????????}
?????}
??}
//第二排弱信號處理
??else?if（（AD_Value[2]<1）&&（AD_Value[2]+AD_Value[8]!=0））
??{
??????steer_pwm=850;
??}
??else?if（（AD_Value[8]<1）&&（AD_Value[2]+AD_Value[8]!=0））
?{
??????steer_pwm=2200;
?}?
//-----------------其他通常情況處理-----------------?
else?
?{
?

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

?????文件????????105??2011-05-18?15:27??714\bin\Full_Chip_Simulation.map

?????文件?????490121??2011-07-05?11:05??714\bin\main.dbg

?????文件?????216105??2011-07-16?17:24??714\bin\TBDML.abs

?????文件??????10656??2011-07-16?17:24??714\bin\TBDML.abs.glo

?????文件??????10584??2011-07-16?17:24??714\bin\TBDML.abs.s19

?????文件?????131378??2011-07-16?17:24??714\bin\TBDML.map

?????文件?????????59??2011-05-18?15:27??714\cmd\Full_Chip_Simulation_Postload.cmd

?????文件?????????60??2011-05-18?15:27??714\cmd\Full_Chip_Simulation_Preload.cmd

?????文件?????????60??2011-05-18?15:27??714\cmd\Full_Chip_Simulation_Reset.cmd

?????文件?????????59??2011-05-18?15:27??714\cmd\Full_Chip_Simulation_SetCPU.cmd

?????文件?????????59??2011-05-18?15:27??714\cmd\Full_Chip_Simulation_Startup.cmd

?????文件???????1514??2011-05-18?15:27??714\cmd\TBDML_Erase_unsecure_hcs12xe.cmd

?????文件?????????59??2011-05-18?15:27??714\cmd\TBDML_Postload.cmd

?????文件?????????60??2011-05-18?15:27??714\cmd\TBDML_Preload.cmd

?????文件?????????60??2011-05-18?15:27??714\cmd\TBDML_Reset.cmd

?????文件?????????59??2011-05-18?15:27??714\cmd\TBDML_Startup.cmd

?????文件?????????77??2011-05-18?15:27??714\cmd\TBDML_Vppoff.cmd

?????文件?????????78??2011-05-18?15:27??714\cmd\TBDML_Vppon.cmd

?????文件????????855??2011-05-18?15:27??714\C_Layout.hwl

?????文件????????161??2004-06-15?15:46??714\Default.mem

?????文件????????874??2011-05-18?15:27??714\Full_Chip_Simulation.ini

?????文件?????111563??2011-07-06?16:43??714\hehe.mcp

?????文件???????4389??2011-07-16?17:26??714\hehe_Data\CWSettingsWindows.stg

?????文件??????59525??2011-07-16?17:24??714\hehe_Data\Full_Chip_Simulation\TargetDataWindows.tdt

?????文件??????24944??2011-07-16?17:20??714\hehe_Data\TBDML\objectCode\caiji.c.o

?????文件??????13853??2011-07-05?11:05??714\hehe_Data\TBDML\objectCode\datapage.c.o

?????文件??????22252??2011-07-16?17:20??714\hehe_Data\TBDML\objectCode\init.c.o

?????文件???????2551??2011-07-05?11:05??714\hehe_Data\TBDML\objectCode\main.asm.o

?????文件??????36674??2011-07-16?17:21??714\hehe_Data\TBDML\objectCode\main.c.o

?????文件?????136187??2011-07-05?11:05??714\hehe_Data\TBDML\objectCode\MC9S12XS128.c.o

............此處省略39個文件信息