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1、小车控制程序清单/* * * 工程名称： SmartCar * 功能描述：结合飞思卡尔16 位单片机MC9S12DG128B 完成小车自动寻迹，沿黑线行驶功能* IDE 环境：Metrowerks CodeWarrior 4.1 * 组成文件：* main.c * SmartCar.c/PID.c/LCD1620.c/Test.c * 说明：本版本为智能小车程序早期版本，还有待更进一步完善* 日期： 2006-5-6 * (c) Copyright 2006,Zhao Cheng * All Rights Reserved * * * By : Zhao Cheng */ /* * main.
2、c * * (c) Copyright 2006,Zhao Cheng * All Rights Reserved * * By : Zhao Cheng */ #include /* common defines and macros */ #include /* derivative information */ #pragma LINK_INFO DERIVATIVE mc9s12dg128b #define HIGHSPEED 11500 /* 速度参量，此处未使用测速模块*/ #define LOWSPEED0 12500 /* 0-24000 数值越大，速度越慢*/ #define
3、 LOWSPEED1 12000 /* used in CarMain() */ #define STABMAX 50 #define StopCar() PORTK |= 0 x80 /* stop the motor */ #define StartCar() PORTK |= 0 x04 /* start the motor */ #define BrakeCar() PORTK &= 0 xfb /* slow the speed of the SmartCar */ unsigned int SYSCLOCK =0; /* update in INT_Timer0() */ /* *
4、 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 1 页，共 15 页 - - - - - - - - - * 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);
5、 /* 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 t
6、he 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 CarM
7、ain (void); /* SmartCar main function */ /* * * 主程序* * 程序描述 : 完成智能小车系统的初始化，通过按键可选择工作模式，有I/O 测试， PWM 输出测试* 传感器测试，以及小车正常工作模式* * 硬件连接： PORTB 接传感器* PWM 输出口（1）接舵机（2）接电机驱动芯片MC33886 * * 说明：无*/ void main(void) Init(); DDRB = 0 x00; switch(PORTB) case 0 x80: IOtest(); 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - -
8、 - - - - - - - - 名师精心整理 - - - - - - - 第 2 页，共 15 页 - - - - - - - - - break; case 0 x40: PWMtest (); break; case 0 x20: SignalTest(); break; default: DDRA = 0 x00; DDRB = 0 xff; DDRK = 0 xff; PORTB = 0 xff; CarMain (); EnableInterrupts; for(;); break; /* * * 小车寻迹行驶函数* * 程序描述 : 通过传感器采集数据，并对其进行处理，通过 PI
9、D 算法得出小车稳定行驶所需的参数，进而调用PWM 输出函数* 控制舵机与电机的工作* * 注意：这个函数调用了SignalProcess(unsigned char)，BrakeCar()，PWMout(Direction, Velocity) * * 说明：无*/ void CarMain (void) static int Direction =0, Velocity ; static unsigned char signal; static unsigned int BrakeTime = 0, BrakeControl = 0; static unsigned int Stabili
10、ty =0, StabSTABMAX , PStab=0, StabAver; int i; signal = PORTA; PORTB = signal; 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 3 页，共 15 页 - - - - - - - - - Direction = SignalProcess( signal ); /* 稳定性系数的计算*/ Stability -= StabPStab; StabPStab = (unsigned int)Direction /
11、100; Stability += StabPStab; PStab+; if(PStab = STABMAX ) PStab=0; StabAver = 0; for(i=0;i Stabi) StabAver += Stability - Stabi; else StabAver += Stabi - Stability ; if( BrakeTime != 0) BrakeTime-; BrakeCar(); else StartCar(); if(BrakeControl 0) BrakeControl -; if(Direction 4000 ) Velocity = LOWSPEE
12、D0 ; if(BrakeControl = 0 & StabAver/STABMAX 22) BrakeTime = 20; BrakeControl = 120; else if(Direction 2500 ) Velocity = LOWSPEED1 ; else Velocity = HIGHSPEED ; PWMout (Direction , Velocity ); 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 4 页，共 15 页 - - - - - - - - -
13、 /* * 系统初始化函数* * 程序描述 : 初始化了系统时钟，FLASH 和 EEPRO 的工作频率， PWM 输出口，定时器，以及 PID 算法中的有关参数* * 注意：这个函数调用了Init_PWMout()nit_INT_Timer()nit_PID()* * 说明：无*/ void Init(void) REFDV=0 x01; /* initiate PLL clock */ SYNR =0 x02; /* system clock 24M */ while (!(CRGFLG & 0 x08) /* wait untill steady */ CLKSEL=0 x80; /*
14、选定所相环时钟*/ FCLKDIV=0 x49; /* 使 FLASH 和 EEPROM */ /* 的擦除操作工作频率在200HZ 左右*/ ECLKDIV=0 x49; Init_PWMout (); /* 01:50Hz 45:1kHz */ Init_INT_Timer (); /* initiate ETC(Enhanced Capture Clock) */ Init_PID (); /* initiate PID caculating process */ DDRK |= 0 x80; /* Start Car - stop car */ PORTK &= 0 x7F; /* *
15、 * SmartCar.c * * (c) Copyright 2006,Zhao Cheng * All Rights Reserved * * By : Zhao Cheng * Data : 2006_5_6 * Note : Dont change this file if possible. */ #include 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 5 页，共 15 页 - - - - - - - - - #include extern SYSCLOCK ;
16、/* 引用全局变量,系统时钟*/ void CarMain (void); /* * * PWM 初始化函数* */ void Init_PWMout (void) PWME = 0 x22; /*01:50Hz 45:1kHz */ PWMPOL = 0 x22; PWMCTL = 0 x50; PWMCLK = 0 x02; PWMSCLA = 4; /* * * PWM 输出函数* 程序描述：输入参数为方向，速度* 方向： 4545 * 速度： 0 24000 */ void PWMout (int Direction , int Velocity ) Direction = Direc
17、tion /3 + 4500; if(Direction 6000) Direction =6000; PWMPER01 = 60000; /* Center 1500ms*3 */ PWMDTY01 = Direction +93; /* 设置舵机角度*/ if(Velocity 24000) Velocity =24000; PWMPER45 = 24000; /* 1kHz ( 10kHz ) */ PWMDTY45 = Velocity ; /* 设置电机速度*/ /* initiate Real Time Interrupt 1.0 */ void Init_INT_RTI (voi
18、d) RTICTL = 0 x74; CRGINT |=0 x80; 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 6 页，共 15 页 - - - - - - - - - /* Real Time Interrupt 1.0 */ interrupt void INT_RTI (void) CRGFLG |= 0 x80; /* clear the interrrupt flag */ /* INT_Timer0 initiate 1.0 */ void Init_INT_Tim
19、er (void) TSCR2 =0 x07; /* 128Hz at 16M bus clok */ /* 128Hz * 2/3 at 24m bus clock */ /* in fact it is a little more than it. */ TIOS |=0 x01; /* I/O select */ TIE |=0 x01; /* Interrupt Enable */ TSCR1|=0 x80; /* TSCR1_TEN=1 /Timer Enable */ /* INT_Timer0 1.0 */ interrupt void INT_Timer0 (void) SYS
20、CLOCK +; CarMain (); TC0 = TCNT + 1874; /* 1875-1 :100Hz */ /* F = Fosc / (TC*128) */ TFLG1 |=0 x01; /* clear interrupt flag */ /* not finished EEPROM */ void EEPROM (void) ECLKDIV = 0 x4F; while(!(ECLKDIV&0 x80) /* wheather */ while(!(ESTAT&0 x80) /* wheather the command buffer is empty */ while(!(
21、EPROT&0 x80) /* wheather the eeprom is enabled to */ ECMD = 0 x41; ESTAT |= 0 x80; while(!(ESTAT&0 x80) /* wheather the command buffer is empty */ /* * * PID.c 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 7 页，共 15 页 - - - - - - - - - * Description: This file includ
22、es some basic calculation function of PID * (c) Copyright 2006,Zhao Cheng * All Rights Reserved * * By : Zhao Cheng * Data : 2006_5_6 * Note : Dont change this file if possible. */ #include /* derivative information */ /* * * 宏定义*/ #define STABMAX 50 #define SENSORNUM 8 #define SAMPLETIMES 5 /* * *
23、FUNCTION PROTOTYPES */ int CalculateP(void ); float CalculatePID (void); /* PID 控制程序*/ struct CARSTATE int E0; int E1; int E2; int E3; float Integral; CarState; /* * * 初始化 PID 参数*/ void Init_PID () 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 8 页，共 15 页 - - - - - -
24、 - - - CarState.E0 = 0; CarState.E1 = 0; CarState.E2 = 0; CarState.E3 = 0; CarState.Integral = 0; /* * * 信号处理函数* * 程序描述 : 对传感器采集过来的数据进行处理，得到一些基本的计算参数* * 说明：无*/ int SignalProcess( unsigned int signal ) const int BitValue 8 = 43,26,12,6,-6,-12,-26,-43; /MAX:28 int i,CurrPoint =0,LastPoint=0,BitNum =0;
25、 unsigned char SignalBit 8; for(i=0;i= 1; switch(BitNum ) case 1: for(i=0;i8;i+) if(SignalBit i != 0) CurrPoint += BitValue i; CarState.E0 = CurrPoint; break; case 2: for(i=0;i= 1; CarState.E0 = CurrPoint; break; default: 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - -
26、第 9 页，共 15 页 - - - - - - - - - CarState.E0 = CarState.E1; break; return CalculateP()*100; /* * * * PID 计算函数* * 程序描述 : 计算 P参数* * 说明：无*/ int CalculateP(void ) CarState.E1 = CarState.E0; return(int)CarState.E0); /* * * PID 计算函数* * 程序描述 : 对传感器采集过来的数据进行处理，得到一些基本的计算参数* * 说明：无*/ float CalculatePID (void) f
27、loat P, I = 0, D; /* parameter const */ float Kp = 1.0, Ki = -0.0002, Kd = -0.0002; /* P parameter */ P = CarState.E0 * Kp; /* I parameter */ if(P+I2) CarState.Integral += Ki * CarState.E0; I = CarState.Integral; 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 10 页，共
28、15 页 - - - - - - - - - /* D parameter */ D = Kd * ( CarState.E0 + 3*CarState.E1 - 3* CarState.E2 - CarState.E3 )/6.0; CarState.E3 = CarState.E2; CarState.E2 = CarState.E1; CarState.E1 = CarState.E0; return (P+I+D); /* Test.c * Description: This file includes I/ O function for test, the PWM outputs f
29、unction for test,function * testing sensors. * (c) Copyright 2006,Zhao Cheng * All Rights Reserved * * By : Zhao Cheng * Note : Dont change this file if possible. */ #include #include #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 */
30、 void IOtest(void) static unsigned char i=0,j=0 x01,k; DDRB = DDRA = 0 xFF; PORTB = 0 xf0; for(;) k=(j)&0 x7f; PORTA = PORTB = k; while (TCNT != 0 x0000); while (TCNT = 0 x0000) if(i9) j=j=0 x80) j=0 x01; 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 11 页，共 15 页 - -
31、 - - - - - - - void PWMtest( void) int counter=-4500; DDRB = 0 xff; PORTB = 0 xff; TSCR1 = 0 x80; /* enable timer TCNT */ TSCR2 = 0 x00; /* TCNT prescaler setup */ for(;) while (TCNT != 0 x0000); while (TCNT = 0 x0000); counter=counter+30; if(counter = 3000) counter = 0; PWMout(4500, LOWSPEED); if(c
32、ounter = 1500) PWMout(-4500, LOWSPEED); PORTB = (char)(counter/100); void SignalTest(void) unsigned char signal; int Direction, Velocity; Direction = 0; Velocity = LOWSPEED; DDRA = 0 x00; DDRB = 0 xff; signal = PORTA; PORTB = signal; switch(signal) case 0 x08: /* 0001 1000 */ case 0 x10: Direction =
33、 800; Velocity = HIGHSPEED; break; case 0 x04: /* 0010 0100 */ case 0 x20: 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 12 页，共 15 页 - - - - - - - - - Direction = 1500; Velocity = HIGHSPEED; break; case 0 x02: /* 0100 0010 */ case 0 x40: Direction = 2800; Velocity =
34、 HIGHSPEED; break; case 0 x01: /* 1000 0001 */ case 0 x80: Direction = 4000; Velocity = LOWSPEED; break; case 0 x3c: /* 0011 1100 over start line */ case 0 xff: /* 1111 1111 over crossing line */ case 0 x00: /* 0000 0000 go straight not need changed state */ default: break; if(signal 0 x0f) Directio
35、n = -Direction; PWMout(Direction, LOWSPEED); /* * LCD1620.c * ICC-AVR application builder : 2006-1-8 21:43:48 * Target : M8 * Crystal: 4.0000Mhz * * Note : Dont change this file if possible. */ #define CMD_CLEAR 0 x01 #define CMD_RESET 0 x02 #include #include #define LCD_DATA 0 xff #define LCD_EN 0
36、x01 /PORTC 0 #define LCD_RS 0 x02 /PORTC 1 #define LCD_RW 0 x04 /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); 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - -
37、 - 名师精心整理 - - - - - - - 第 13 页，共 15 页 - - - - - - - - - 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
38、| LCD_RS | LCD_RW; LCD_RWPORT&=LCD_RW; LCD_DATAPORT=0 x30; /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(0,0 x38); /8bit test lcd_write_cmd(0,0 x0c); /显示开lcd_write_cmd(0,0 x01); /显示清屏lcd_write_cmd(0,0 x06); /显示光标移动设置 void lcd_write_cmd(
39、 unsigned cmd,unsigned data) if(cmd=0) LCD_RSPORT&=LCD_RS; else LCD_RSPORT|=LCD_RS; LCD_DATAPORT&=0 x00; 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+0 x80; else addr=x+0 x
40、c0; lcd_write_cmd(0,addr); void lcd_write_string( unsigned char X,unsigned char Y,unsigned char *str) lcd_setxy(X ,Y); 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 14 页，共 15 页 - - - - - - - - - while(* str) lcd_write_cmd(1,* str); str+; void delay_1us(void) /1us 延时
41、函数 asm(nop); void delay_nus(unsigned int n) /N us 延时函数 unsigned int i=0; for (i=0;in;i+) delay_1us(); void delay_1ms(void) /1ms 延时函数 unsigned int i; for (i=0;i1140;i+); void delay_nms(unsigned int n) /N ms 延时函数 unsigned int i=0; for (i=0;in;i+) delay_1ms(); /call this routine to initialize all perip
42、herals void main(void) lcd_init(); while(1) lcd_write_cmd(0,0 x01); /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*/ 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 15 页，共 15 页 - - - - - - - - -