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#include <hidef.h> /* common defines and macros */ #include <MC9S12XS128.h> /* derivative information */ #pragma LINK_INFO DERIVATIVE "mc9s12xs128" //定义全局变量 //函数声明 void system_init(void); void set_parameter(void); void clock_init(void) ; void AD_Init(void); void PWM_init(void); void read(void); void calculate(void); void PACBInit(void); void MDCInit(void); void direct_ctl(void); void steer_ctl(void); void speed_ctl(void) ; void motor_ctl(void); void slow1(void); void slow2(void); void slow3(void); void slow4(void); void slow5(void); void acc1(void); void acc2(void); void acc3(void); int blackline; int qian[10];int gear,d1,d2; int counter_a;static int lock,lock_o; //前后两排在黑线阀值上的灯数 int one,two,three;int one_o,two_o; //前排灯在黑线上的灯编号 int biga,bigb,bigc; //前排最大的三个电压值he后排的最大值 int tan_n,tan_o,tan_n1,tan_n2,tan_n3,tan_n4,tan_n5,tan_n6;//黑线位置 int differa,differa_6,differa_5,differa_4,differa_3,differa_2,differa_1,differa_o; //轨迹参数 int differb; int pianxin[10]={-100,-75,-50,-30,-10,10,30,50,75,100};int start,once; int w,x,y,s,k; //延时计数 static unsigned int f=0;//刹车延时 int zhuan;//舵机偏移占空比 int speed,out;//脉冲数（0.02秒20至70） int go=0;//赛程标志时间改变 int state,state_o,sure; //0 直道 //速度参数 int test; int test; void PACBInit() { TSCR1_TFFCA=1; //快速清除flag：PAOVF PAIF /* DATASHEET P472 * To operate the 16-bit pulse accumulator independently of input capture or output compare 7 and 0 * respectively the user must set the corresponding bits IOSx = 1, OMx = 0 and OLx = 0. OC7M7 in the * OC7M register must also be cleared. */ TIOS_IOS7=1; //单独使用16位脉冲累加器 OC7M_OC7M7=0;; //注意此时必须令IOS7＝1,OC7M7＝0,OM7＝0,OL7＝0 TCTL1_OM7=0; TCTL1_OL7=0; PACTL_PAMOD=0; //事件计数方式 PACTL_PEDGE=1; //PT7引脚上的出现上升沿时脉冲累加器计数器加1 PACTL_PAOVI=0; //允许脉冲累加器产生溢出时引发中断 PACTL_PAI=0; //允许PT7引脚上出现上升沿时引发中断 PACTL_PAEN=1; //启动脉冲累加器A PACNT = 0x0000; } void MDCInit(void) { PITCFLMT=0x00; PITCE=0x01; PITMTLD0=249; PITLD0=159; PITINTE=0x01; PITCFLMT=0x80; PITMUX=0X00; } //-----系统初始化----------------------- void system_init(void) //system initiat { set_parameter(); clock_init(); //clock initiat PWM_init(); //pwm initiat AD_Init(); //ATD initiat } void set_parameter(void) { tan_n=0;tan_o=0; one=4;one_o=4;two=5;two_o=5;lock=0;lock_o=0; blackline=700;zhuan=0;speed=0; gear=0; once=0; start=0; differa_6=0;differa=0;differb=0; f=0; } void clock_init(void) //时钟初始化 { CLKSEL=0X00; // not select PLL to system PLLCTL_PLLON=1; // turn on PLL SYNR=0x04; REFDV=0x01; // busclock=osc*(1+SYNR)/(1+REFDV) POSTDIV=0x00; _asm(nop); // SYNR=0x04;REFDV=0x01;BUS CLOCK=40M _asm(nop); // SYNR=0x05;REFDV=0x01;BUS CLOCK=48M while(!(CRGFLG_LOCK==1)); //when pll is steady ,then use it; CLKSEL_PLLSEL =1; //select PLL to system; } void AD_Init(void) { ATD0CTL0 = 0x0f; ATD0CTL1 = 0x20; //10位转换 ATD0CTL2 = 0x40; // 0100_0000 AD模块上电, 快速清零, 无等待模式, 禁止外部触发, 中断禁止 ATD0CTL3 = 0x80; //1000_0100 转换长度为一 ATD0CTL4 = 0x01; // prs =9 9us fATDCLK=fBUS/[2 × (PRS + 1)] DDRA=0x00; DDRB=0xff; PORTB=0xff; // prs =6 6.0us // prs =5 5.1us // prs =4 4.25us ok*40/11 // prs =3 3.3us // prs =2 2.64 使用中 // prs =1 1.8 // prs =0 1us ATD0CTL5 = 0b00110000; //第0通道转换 ATD0DIEN = 0x00; } void PWM_init(void) { PWME =0x00; //关闭 PWMPOL=0xff; //先高电平 PWMCAE=0x00; //左对齐 PWMCLK=0xcc; //选择0，1，4,5通道时钟源头A 2,3通道时钟源头SB， 6,7 通道时钟源头B PWMPRCLK=0x33; //时钟预分频clockA为8, clockB为8 //set servo PWMCTL_CON45=1; //使得通道0，1成为16位pwm PWMPER4 =0x75; PWMPER5 =0x30; //舵机的频率是： 50Hz 24M/8/30000=100Hz,T=10ms PWMDTY45=4700; // 对应为4590/30000的占空比 6000left 6900 7800right //set motor PWMSCLB =60; // 24MHZ/8/2/15=100K PWMPER6 =100; //电机的频率是： 24M/8/2/75/100=200Hz,T=5ms PWMDTY6 =0; //用于测试电机 PWMPER7 =100; //电机的频率是： 24M/8/2/15/500=200Hz,T=5ms PWMDTY7 =0; //用于测试电机 //set motor PWMSCLB =60; //10kHz 24MHZ/8/2/50=30K //PWM2为正转 PWMPER2 =100; // 频率是：100Hz 24M/8/2/50/100=300Hz,T=3.33ms PWMDTY2 =30; // 用于测试电机 //PWM3为反转 PWMPER3 =100; // PWMDTY3 =0; // 用于测试电机 DDRP =0xff; //控制输出 PWME =0xff; //开放通道 } //----------红外检测--------- void read(void) { while(!ATD0STAT2_CCF0); qian[0]=ATD0DR0; while(!ATD0STAT2_CCF1); qian[1]=ATD0DR1; while(!ATD0STAT2_CCF2); qian[2]=ATD0DR2; while(!ATD0STAT2_CCF3); qian[3]=ATD0DR3; while(!ATD0STAT2_CCF4); qian[4]=ATD0DR4; while(!ATD0STAT2_CCF5); qian[5]=ATD0DR5; while(!ATD0STAT2_CCF6); qian[6]=ATD0DR6; while(!ATD0STAT2_CCF7); qian[7]=ATD0DR7; while(!ATD0STAT2_CCF8); qian[8]=ATD0DR8; while(!ATD0STAT2_CCF9); qian[9]= ATD0DR9; d1=PORTA_PA0; d2=PORTA_PA1; } //read //计算 void find(void) { int n; biga=0; for(n=0;n<10;n++) //寻找最大值 {if(biga<qian[n]){biga=qian[n];one=n;}} bigb=0; for(n=0;n<10;n++) //寻找第二大值 {if((bigb<qian[n])&&n!=one){bigb=qian[n];two=n;}} bigc=0; for(n=0;n<10;n++) //寻找第三大值 {if((bigc<qian[n])&&n!=one&&n!=two){bigc=qian[n];three=n;}}} //数据处理 void calculate(void) { int n; gear=0; if(d1==0&&d2==0) gear=1; // 统计档位数目 if(d1==1&&d2==0) gear=2; if(d1==0&&d2==1) gear=3; if(d1==1&&d2==1) gear=4; counter_a=0; //数黑线上的灯 for(n=0;n<=9;n++) { if(qian[n]>blackline) counter_a++; } find(); /******滤波*****/ if((qian[1]>blackline&&(qian[4]>blackline||qian[5]>blackline)&&qian[8]>blackline&& (qian[9]>blackline||qian[0]>blackline) &&qian[3]<blackline&&qian[6]<blackline) ) {start++;counter_a=12;one=4;two=5;lock=0;} if(counter_a!=12&&start<20)start=0; if(start>19&&counter_a<3) { if(go!=3){start=0;once=0;} if(go==3){once++;start=0;} } //起始线次数 if(counter_a==0) { if(tan_o<-90) {tan_n=-105;one=0;two=1;lock=1;} if(tan_o>90) {tan_n=105;one=9;two=8;lock=2;} if(tan_n<91&&tan_n>-91) { tan_n=tan_o;one=one_o;two=two_o;counter_a=0;lock=0;} } switch(lock) { case 1: { tan_n=-102;lock=1; if(counter_a==1&&one==0) { tan_n=-100;lock=0; } one=0;two=1; break;} case 2: {tan_n=102;lock=2; if(counter_a==1&&one==9){ tan_n=100;lock=0; }one=9;two=8;