求高手写飞思卡尔智能车程序(可追加一千分)
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发布时间：2022-04-25 21:28
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热心网友
时间：2022-06-17 16:25
Main.c
#include <hidef.h> /* common defines and macros */
#include <mc9s12db128.h> /* derivative information */
#pragma LINK_INFO DERIVATIVE "mc9s12db128b"
#include "define.h"
#include "init.h"
// variable used in video process
volatile unsigned char image_data[ROW_MAX][LINE_MAX] ; // data array of picture
unsigned char black_x[ROW_MAX] ; // 0ne-dimensional array
unsigned char row ; // x-position of the array
unsigned char line ; // y-position of the array
unsigned int row_count ; // row counter
unsigned char line_sample ; // used to counter in AD
unsigned char row_image ;
unsigned char line_temp ; // temperary variable used in data transfer
unsigned char sample_data[LINE_MAX] ; // used to save one-dimension array got in
interruption
// variables below are used in speed measure
Unsigned char pulse[5] ; // used to save data in PA process
Unsigned char counter; // temporary counter in Speed detect
Unsigned char cur_speed; // current speed
short stand;
short data;
unsigned char curve ; // valve used to decide straight or turn
short Bounds(short data);
short FuzzyLogic(short stand);
/*----------------------------------------------------------------------------*\
receive_sci
\*----------------------------------------------------------------------------*/
unsigned char receive_sci(void) // receive data through sci
{ unsigned char sci_data;
while(SCI0SR1_RDRF!=1);
sci_data=SCI0DRL;
return sci_data;
}
/*----------------------------------------------------------------------------*\
transmit_sci
\*----------------------------------------------------------------------------*/
void transmit_sci(unsigned char transmit_data) // send data through sci
{
while(SCI0SR1_TC!=1);
while(SCI0SR1_TDRE!=1);
SCI0DRL=transmit_data;
}
/*****************************************************************************
***/
/*----------------------------------------------------------------------------*\
abs_sub
\*----------------------------------------------------------------------------*/
unsigned char abs_sub(unsigned char num1, unsigned char num2)
{ unsigned char difference;
if(num1>=num2){
difference=num1-num2;
}else{
difference=num2-num1;
}
return difference;
}
void pwm_set(unsigned int tycycle)
{
PWMDTY1=tycycle&0x00FF;
PWMDTY0=tycycle>>8;
}
void get_black_wire(void) // used to extract black wire
{ unsigned char i;
for(row=0;row<ROW_MAX;row++){
for(line=LINE_MIN;line<LINE_MAX-3;line++){
if(image_data[row][line]>image_data[row][line+3]+VALVE){
for(i=3;i<10;i++){
if(image_data[row][line+i]+VALVE<image_data[row][line+i+3]){
black_x[row]=line+i/2+2;
i=10;
}
}
line=LINE_MAX;
} else{
//black_x[row]=(black_x[row]/45)*78;
}
}
}
}
/*----------------------------------------------------------------------------*\
speed_control
\*----------------------------------------------------------------------------*/
void speed_control(void)
{
unsigned int sum,average;
sum=0;
for(row=0;row<FIRST_FIVE;row++){
sum=sum+black_x[row];
}
average=sum/FIRST_FIVE;
curve=0;
for(row=0;row<FIRST_FIVE;row++)
{
curve=curve+abs_sub(black_x[row],average);
if(curve>CURVE_MAX){
curve_flag=0;
speed=low_speed;}
else{
curve_flag=1;
speed=hign_speed;
}
}
}
/*----------------------------------------------------------------------------*\
steer_control
\*----------------------------------------------------------------------------*/
void steer_control(void)
{ unsigned int tycycle;
unsigned char video_center;
unsigned int coefficient;
int E,U; //current
static int e=0;
video_center=(LINE_MIN+LINE_MAX)/2;
stand=abs_sub(black_x[1]+ black_x[9],2*black_x[5]);
E=video_center-black_x[8];
coefficient=30+1*FuzzyLogic(stand);
U=coefficient*E;
tycycle=Bounds(center+U);
pwm_set(tycycle);
}
// make sure it is within bounds
short Bounds(short data){
if(data>right_limit){
data = right_limit;
}
if(data<left_limit){
data = left_limit;
}
return data;
}
Void speed_get(void)
{
Unsigned char temp;
Counter++;
Temp=PACN1;
cur_speed=temp-pulse[counter-1];
pulse[counter-1]=temp;
if(counter==5)
{
counter=0;
}
}
Void set_speed(unsigned char desired_speed)
{
If(desired_speed<cur_speed)
{
PWMDTY2=low_speed;
}
Else
{
PWMDTY2=high_speed;
}
}
/*****************************************************************************
*\
Main
\*****************************************************************************
*/
void main(void) {
// main functiion
init_PORT() ;
// port initialization
init_PLL() ;
// setting of the PLL
init_ECT();
init_PWM() ;
// PWM INITIALIZATION
init_SPEED() ;
init_SCI() ;
for(;;) {
if(field_signal==0){ // even->odd
while(field_signal==0);
row_count=0;
row_image=0;
EnableInterrupts;
while(row_count<ROW_END){
get_black_wire();
speed_control();
steer_control();
}
DisableInterrupts;
}
else{ // odd->even
while(field_signal==1);
row_count=0;
row_image=0;
EnableInterrupts;
while(row_count<ROW_END){
get_black_wire();
speed_control();
steer_control();
}
DisableInterrupts;
}
/* transmit_sci('x');
for(row=0;row<ROW_MAX;row++){
transmit_sci(black_x[row]);
}
transmit_sci(curve);
*/
}
}
interrupt 6 void IRQ_ISR()
{
row_count++;
if((row_count>ROW_START)&&(row_count%INTERVAL==0)&&(row_image<ROW_MAX))
{
init_AD();
for(line_sample=0;line_sample<LINE_MAX;line_sample++){
while(!ATD0STAT1_CCF0); // WAIT FOR TRANSFORM TO END
sample_data[line_sample]=signal_in; // A/D transfer
}
ATD0CTL2=0x00;
row_image++;
}
if((row_count>ROW_START)&&(row_count%INTERVAL==2)&&(row_image<ROW_MAX+
1)){
for(line_temp=0;line_temp<LINE_MAX;line_temp++){
image_data[row_image-1][line_temp]=sample_data[line_temp];
}
}
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// THE END
//
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Define.h // all macros are define in this header file
/*----------------------------------------------------------------------------*\
macro need to be used in video sample
\*----------------------------------------------------------------------------*/
////////////////////////////
#define signal_in ATD0DR0L // signal from video: right aligned mode，
// only use low 8-bit in ATD Conversion Result
Registers
#define field_signal PTT_PTT2 // field signal is sent into PortT_bit2
#define LINE_MIN 12 // first effective pint in each row
#define LINE_MAX 78 // number of points sampled in each row
#define ROW_MAX 10 // number of rows needed to be sampled in each
picture
#define ROW_START 50 // begin to sample from line start
#define ROW_END 300 // end flag of sampling
#define INTERVAL 20 // interval between effective rows
#define VALVE 24 // valve to decide black track or white track
#define FIRST_FIVE 5
/*----------------------------------------------------------------------------*\
舵机控制变量
\*----------------------------------------------------------------------------*/
#define left_limit 7400 //
#define center 6400 //
#define right_limit 5400 //
//#define coefficient 30 // (LEFT-RIGHT)/(LINE_MAX-LINE_MIN)
/*----------------------------------------------------------------------------*\
速度控制变量
\*----------------------------------------------------------------------------*/
#define curve_flag PORTE_BIT2 // indicate straight line or not
#define speed PWMDTY2 // speed of the car
#define CURVE_MAX 24 // valve to decide straight track or not
#define hign_speed 120 // speed used on straight track
#define low_speed 100 // speed used on the turn
/*----------------------------------------------------------------------------*\
define jump wire; code switch; Led
\*----------------------------------------------------------------------------*/
#define JP4_1 PTT_PTT7 // JP4
#define JP4_2 PTT_PTT6
#define JP4_3 PTT_PTT5
#define JP4_4 PTT_PTT4
#define JP4_5 PTP_PTP4
#define JP4_6 PTP_PTP5
#define JP4_7 PTP_PTP6
// define code switch
#define RP1_1 PTM_PTM0
#define RP1_2 PTM_PTM1
#define RP1_3 PTM_PTM2
#define RP1_4 PTM_PTM3
#define RP1_5 PTM_PTM4
#define RP1_6 PTM_PTM5
#define RP1_7 PORTAD0_PTAD4
#define RP1_8 PORTAD0_PTAD3
// define Led
#define Led1 PORTA_BIT4
#define Led2 PORTA_BIT5
#define Led3 PORTA_BIT6
#define Led4 PORTA_BIT7
Init.c // include initial function in this file
#include <hidef.h> /* common defines and macros */
#include <mc9s12db128.h> /* derivative information */
#include "define.h" /* all macro included */
#include "init.h" /* all init function included */
#pragma LINK_INFO DERIVATIVE "mc9s12db128b"
/*----------------------------------------------------------------------------*\
init_PLL
\*----------------------------------------------------------------------------*/
void init_PLL(void)
// setting of the PLL
{
REFDV=3;
SYNR=7; // bus period=16Mhz*(SYNR+1)/(REFDV+1)
while(0==CRGFLG_LOCK); // wait for VCO to stablize
CLKSEL=0x80;
// open PLL
}
Void init_ECT(void);
{
TIOS_IOS3=0; // set PT3 as input capture
TCTL4=0b11000000; // set pt3 as any edge triggered
ICPAR_PA1EN=1; // PA1 enabled
}
/*----------------------------------------------------------------------------*\
init_PORT
\*----------------------------------------------------------------------------*/
void init_PORT(void) // port initialization
{
DDRT_DDRT2=0;
// Port M1 function as even-odd field signal
input
DDRJ_DDRJ6=1;
// Port J6 enable 33886 0 enable
// Led port
DDRA_BIT4 =1;
DDRA_BIT5 =1;
DDRA_BIT6 =1;
DDRA_BIT7 =1;
INTCR_IRQE =1; // IRQ Select Edge Sensitive Only
INTCR_IRQEN=1; // External IRQ Enable
//输出指示 JP4_1 PTT_PTT0
DDRT_DDRT7=1;
DDRT_DDRT6=1;
DDRT_DDRT5=1;
DDRT_DDRT4=1;
DDRP_DDRP4=1; //PTP_PTP0
DDRP_DDRP5=1;
DDRP_DDRP7=1;
}
/*----------------------------------------------------------------------------*\
init_AD
\*----------------------------------------------------------------------------*/
void init_AD(void)
// initialize AD
{
ATD0CTL2=0xC0;
// open AD, quick clear, no wait mode, inhibit outer awake, inhibit interrupt
ATD0CTL3=0x08;
// one transform in one sequence, No FIFO, contine to transform under freeze mode
ATD0CTL4=0x81;
// 8-bit precision, two clocks, ATDClock=[BusClock*0.5]/[PRS+1] ; PRS=1, divider=4 ;
BusClock=8MHZ
ATD0CTL5=0xA0; // right-algned unsigned，single channel，
channel 0
ATD0DIEN=0x00; // inhibit digital input
}
/*----------------------------------------------------------------------------*\
init_PWM
\*----------------------------------------------------------------------------*/
void init_PWM(void)
// PWM initialize
{
PTJ_PTJ6 = 0 ; // "0" enable 33886 motor, "1" disable it
PWME = 0x00 ; // PWW is disabled
PWMCTL_CON01 = 1 ; // combine PWM0,1
PWMPRCLK = 0x33 ; // A=B=32M/8=4M
PWMSCLA = 100 ; // SA=A/2/100=20k
PWMSCLB = 1 ; // SB=B/2/1 =2000k
PWMCLK = 0b00011100; // PWM0,1-A; PWM2,3-SB; PWM4-SA
PWMPOL = 0xff ; // Duty＝High Time
PWMCAE = 0x00 ; // left-aligned
PWMPER0 = 0x4e ;
PWMPER1 = 0x20 ;
// 20000 = 0x4e20; Frequency=A/20000=200Hz
PWMDTY0 = 0x18 ;
PWMDTY1 = 0x6a ; // initialize PWM
PWME_PWME1 = 1 ; // enable steer
PWMDTY2 = 20 ; // Duty cycle
PWMPER2 = 200 ; // Frequency=SB/200=10K
PWME_PWME2 = 1 ; // enable motor
}
/*----------------------------------------------------------------------------*\
init_SPEED
\*----------------------------------------------------------------------------*/
void init_SPEED(void) {
DDRM_DDRM0 =0 ; //code switch 1 on RP1
DDRM_DDRM1 =0 ; //code switch 1 on RP1
DDRM_DDRM2 =0 ; //code switch 1 on RP1
DDRM_DDRM3 =0 ; //code switch 1 on RP1
DDRM_DDRM4 =0 ; //code switch 1 on RP1
DDRM_DDRM5 =0 ; //code switch 1 on RP1
ATD0DIEN_IEN4 = 1; //code switch 1 on RP1,Enable Digital Input PAD4
ATD0DIEN_IEN3 = 1; //code switch 1 on RP1,Enable Digital Input PAD3
if(RP1_1==1) {
speed= hign_speed +2*(RP1_2*10+RP1_3*5+RP1_4*2+RP1_5*2+RP1_6+RP1_7+RP1_8);
}
else{
speed= hign_speed -2*(RP1_2*10+RP1_3*5+RP1_4*2+RP1_5*2+RP1_6+RP1_7+RP1_8);
}
}
/*****************************************************************************
***/
/*----------------------------------------------------------------------------*\
init_SCI
\*----------------------------------------------------------------------------*/
void init_SCI(void) // initialize SCI
{
SCI0BD = 104 ; // bode rate=32M/(16*SCI0BD)=19200
SCI0CR1=0x00 ; //
SCI0CR2=0b00001100 ;
}
Init.h
void init_PLL(void);
void init_AD(void);
void init_PWM(void);
void init_SPEED(void);
void init_SCI(void);
void init_PORT(void);
Void init_ECT(void);
Fuzzy.asm // S12 fuzzy logic code
RAM: section
; Fuzzy Membership sets
; input membership variables
absentry fuzvar
fuzvar: ds.b 5 ; inputs
Z: equ 0 ; indicate of straight line
VS: equ 1 ; turn slightly
S: equ 2 ; turn a little
BB: equ 3 ; a big turn
VB: equ 4 ; a very big turn
;output membership variables
absentry fuzout
fuzout: ds.b 4 ; outputs
remain: equ 5 ; no change on kp
little: equ 6 ; little change on kp
big: equ 7 ; big change on Kp
very_big: equ 8 ; very big change on kp
EEPROM: section
; fuzzification
s_tab: dc.b 0,35,0,8 ; indicate of straight line
dc.b 0,69,8,8 ; turn slightly
dc.b 35,104,8,8 ; turn a little
dc.b 69,138,8,8 ; a big turn
dc.b 104,255,8,0 ; a very big turn
rules: ;
constructing of rule
dc.b Z, $FE,remain,$FE
dc.b VS, $FE,little,$FE
dc.b S, $FE,big,$FE
dc.b BB, $FE,big,$FE
dc.b VB, $FE,very_big,$FE
dc.b $FF ;end of the rule
addsingleton:
dc.b 0,1,2,3 ; setting of the weight
absentry FuzzyLogic
FuzzyLogic:
pshx
ldx #s_tab
ldy #fuzvar
mem ; number of mem indicates the number of input
mem
mem
mem
mem
ldab #4 ; number of output fuzzy membership sets
cloop:
clr 1,y+ ; clear output fuzzy variables
dbne b,cloop
ldx #rules
ldy #fuzvar
ldaa #$FF
rev
ldy #fuzout
ldx #addsingleton
ldab #4
wav
ediv ;
tfr y,d ; return dpower
pulx
rts
热心网友
时间：2022-06-17 16:25
热心网友
时间：2022-06-17 16:25
热心网友
时间：2022-06-17 16:26
***********************************************************************************
* Test.c
* Description: This file includes I/ O function for test, the PWM outputs function for test, function
* testing sensors.
* (c) Copyright 2006,Zhao Cheng
* All Rights Reserved
*
* By : Zhao Cheng
* Note : Don't change this file if possible.
**********************************************************************************/
#include <hidef.h>
#include <mc9s12dg128.h>
#define HIGHSPEED 8000
#define LOWSPEED 11000 /* 速度变量，0-24000 数值越大，速度越慢 */
void PWMout(int, int);
/* 24000-20000 */
void IOtest(void)
{
static unsigned char i=0,j=0x01,k;
DDRB = DDRA = 0xFF;
PORTB = 0xf0;
for(;;)
{
k=(~j)&0x7f;
PORTA = PORTB = k;
while (TCNT != 0x0000);
while (TCNT == 0x0000)
{
if(i>9)
{
j=j<<1;
i=0;
}
i++;
}
if(j>=0x80)
j=0x01;
}
}
void PWMtest(void)
{
int counter=-4500;
DDRB = 0xff;
PORTB = 0xff;
TSCR1 = 0x80; /* enable timer TCNT */
TSCR2 = 0x00; /* TCNT prescaler setup */
for(;;)
{
while (TCNT != 0x0000);
while (TCNT == 0x0000);
counter=counter+30;
if(counter >= 3000)
{
counter = 0;
PWMout(4500, LOWSPEED);
}
if(counter == 1500)
{
PWMout(-4500, LOWSPEED);
}
PORTB = (char)(counter/100);
}
}
void SignalTest(void)
{
unsigned char signal;
int Direction, Velocity;
Direction = 0;
Velocity = LOWSPEED;
DDRA = 0x00;
DDRB = 0xff;
signal = PORTA;
PORTB = ~signal;
switch(signal)
{
case 0x08: /* 0001 1000 */
case 0x10:
Direction = 800;
Velocity = HIGHSPEED;
break;
case 0x04: /* 0010 0100 */
case 0x20:
Direction = 1500;
Velocity = HIGHSPEED;
break;
case 0x02: /* 0100 0010 */
case 0x40:
Direction = 2800;
Velocity = HIGHSPEED;
break;
case 0x01: /* 1000 0001 */
case 0x80:
Direction = 4000;
Velocity = LOWSPEED;
break;
case 0x3c: /* 0011 1100 over start line */
case 0xff: /* 1111 1111 over crossing line */
case 0x00: /* 0000 0000 go straight not need changed state */
default:
break;
}
if(signal > 0x0f)
Direction = -Direction;
PWMout(Direction, LOWSPEED);
}
/*
***********************************************************************************
* LCD1620.c
* ICC-AVR application builder : 2006-1-8 21:43:48
* Target : M8
* Crystal: 4.0000Mhz
*
* Note : Don't change this file if possible.
**********************************************************************************/
#define CMD_CLEAR 0x01
#define CMD_RESET 0x02
#include <iom8v.h>
#include <macros.h>
#define LCD_DATA 0xff
#define LCD_EN 0x01 //PORTC 0
#define LCD_RS 0x02 //PORTC 1
#define LCD_RW 0x04 //PORTC 2
#define LCD_DATAPORT PORTB
#define LCD_ENPORT PORTA
#define LCD_RSPORT PORTA
#define LCD_RWPORT PORTA
void lcd_init(void);
void lcd_write_cmd(unsigned cmd,unsigned data);
void lcd_setxy(unsigned char x,unsigned char y);
void lcd_write_string(unsigned char X,unsigned char Y,unsigned char *str);
void delay_nus(unsigned int n);
void delay_nms(unsigned int n);
void lcd_init(void)
{
DDRB |= LCD_DATA;
DDRA |= LCD_EN | LCD_RS | LCD_RW;
LCD_RWPORT&=~LCD_RW;
LCD_DATAPORT=0x30; //控制字规则：5：8bit,4:16x2,3:5x7
LCD_ENPORT|=LCD_EN;
delay_nus(1);
LCD_ENPORT&=~LCD_EN;
delay_nus(40);
lcd_write_cmd(0,0x38); //8bit test
lcd_write_cmd(0,0x0c); //显示开
lcd_write_cmd(0,0x01); //显示清屏
lcd_write_cmd(0,0x06); //显示光标移动设置
}
void lcd_write_cmd(unsigned cmd,unsigned data)
{
if(cmd==0)
LCD_RSPORT&=~LCD_RS;
else
LCD_RSPORT|=LCD_RS;
LCD_DATAPORT&=0x00;
LCD_DATAPORT=data;
LCD_ENPORT|=LCD_EN;
delay_nus(10);
LCD_ENPORT&=~LCD_EN;
delay_nus(10);
}
void lcd_setxy(unsigned char x,unsigned char y)
{
unsigned char addr;
if(y==0)
addr=x+0x80;
else
addr=x+0xc0;
lcd_write_cmd(0,addr);
}
void lcd_write_string(unsigned char X,unsigned char Y,unsigned char *str)
{
lcd_setxy(X,Y);
while(*str)
{
lcd_write_cmd(1,*str);
str++;
}
}
void delay_1us(void) //1us延时函数
{
asm("nop");
}
void delay_nus(unsigned int n) //N us延时函数
{
unsigned int i=0;
for (i=0;i<n;i++)
delay_1us();
}
void delay_1ms(void) //1ms延时函数
{
unsigned int i;
for (i=0;i<1140;i++);
}
void delay_nms(unsigned int n) //N ms延时函数
{
unsigned int i=0;
for (i=0;i<n;i++)
delay_1ms();
}
//call this routine to initialize all peripherals
void main(void)
{
lcd_init();
while(1)
{
lcd_write_cmd(0,0x01); //清屏
delay_nms(2);
lcd_write_string(0,0,"happy new year");
delay_nms(100);
lcd_write_string(0,1,"LCD successful!");
delay_nms(100);
}
}
/******************************* 程序结束 *********************************/
怎样?
参考资料：http://zhidao.baidu.com/question/47196851.html
热心网友
时间：2022-06-17 16:27
