基于智能车车模diy代码

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1、基于智能车车模的DIY代码#include/*commondefinesandmacros*/#include/*derivativeinformation*/#pragmaLINK_INFODERIVATIVE"mc9s12xs128"#defineuintunsignedint#defineucharunsignedchar#defineDJ_MID_CAMERA4500//45//右极限1200；左极限7000；#defineDJ_MID_RUDDER4

2、500//67//左拐极限4900；右拐极限4100；#defineDJ_cameraPWMDTY45//60000#defineDJ_rudderPWMDTY67//60000#defineMOTOR_goPWMDTY01//6000前进#defineMOTOR_backPWMDTY23//6000倒后#defineH1PT1AD0_PT1AD07//片选#defineH2PT1AD0_PT1AD06#defineH3PT1AD0_PT1AD05#defineH4PT1AD0_PT1AD04#define

3、DAPT1AD0_PT1AD03//数据输出#defineSCPT1AD0_PT1AD02//移位时钟#defineSTPT1AD0_PT1AD01//锁存信号#definePITTIME05000000//设定为300MS定时#definePITTIME12400//设定为12MS定时uintcounter=0,PITcounter=0,overflow_times=0,remain_num=0,speed=0;uchartable[]={0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x8

4、2,0xf8,0x80,0x90};//表：共阳数码管0-9//PLL超频到48MHZ///////////////////////////////////////////voidPLL_Init(void){//PLLCLK=2*OSCCLK*(SYNR+1)/(REFDV+1)即锁相环时钟=2*16*(2+1)/(1+1)=48MHzREFDV=0x01;//总线时钟=48/2=24MHzSYNR=0x02;while(!(CRGFLG&0x08));//waituntilpll_lock=0;锁相环频

5、率为锁定；CLKSEL=0x80;//置位PLLSEL=1;选定锁相环时钟；}///PWM初始化/////voidPWM_Init(void){PWME=0x00;PWMCTL=0xF0;///级联01,23,45,67PWMPRCLK=0x22;///A时钟、B时钟，1/4分频A=B=24M/4=6MSA=SB=3MPWMSCLA=0x01;//时钟SA=时钟A/2/1=3M时钟SA=时钟A/(2*PWMSCLA)PWMSCLB=0x01;//时钟SB=时钟B/2/1=3M时钟SB=时钟B/(2*PWMS

6、CLB)PWMCLK=0xF0;////时钟A控制01，B控23，SA控制45，SB控制67PWMPOL=0xFF;///对外输出波形先是高电平然后再变为低电平PWMCAE=0x00;///左对齐输出PWMPER23=600;///01前进6MHz/600=10KHzPWMDTY23=0;PWMPER01=600;///23后退6MHz/600=10KHzPWMDTY01=0;PWMPER45=60000;//45摄像头舵机频率为3MHz/60000=50Hz周期为20msPWMDTY45=DJ_MID_C

7、AMERA;///摄像头舵机初值归中PWMPER67=60000;//67方向舵机频率为3MHz/60000=50Hz周期为20msPWMDTY67=DJ_MID_RUDDER;///方向舵机初值归中PWME=0xFF;//启动PWM}voiddelay(inttime){//5msuinti;uintj;for(i=0;i

8、dat)//移出一字节{uchari;for(i=0;i<8;i++){SC=0;if((dat)&(0x80))DA=1;elseDA=0;SC=1;dat<<=1;}}voiddisplay(uintdata){uintdata_low,data_mid,data_high,i;data_low=data%10;//个位data_mid=(data/10)%10;//十位data_high=data/100;