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1、#include"ICETEK-C6713-A.h"#defineUART_BASE_ADDR0x90120000#defineOFFSET2#defineRBR*((short*)(UART_BASE_ADDR+0*OFFSET))#defineTHR*((short*)(UART_BASE_ADDR+0*OFFSET))#defineIER*((short*)(UART_BASE_ADDR+1*OFFSET))#defineIIR*((short*)(UART_BASE_ADDR+2*OFFSET))#d
2、efineFCR*((short*)(UART_BASE_ADDR+2*OFFSET))#defineLCR*((short*)(UART_BASE_ADDR+3*OFFSET))#defineMCR*((short*)(UART_BASE_ADDR+4*OFFSET))#defineLSR*((short*)(UART_BASE_ADDR+5*OFFSET))#defineMSR*((short*)(UART_BASE_ADDR+6*OFFSET))#defineSCR*((short*)(UART_BAS
3、E_ADDR+7*OFFSET))#defineDLL*((short*)(UART_BASE_ADDR+0*OFFSET))#defineDLM*((short*)(UART_BASE_ADDR+1*OFFSET))#defineDA_DATA_H*(char*)0x90100008#defineDA_DATA_L*(char*)0x9010000A#defineDA_CTL*(char*)0x9010000C#defineDA_CHN10x00#defineDA_CHN20x40#defineDA_CHN
4、30x80#defineDA_CHN40xC0#defineCECTL1#include"math.h"#include"stdio.h"#include"stdlib.h"charcReceive;charbReceive[21];charfReceive[15];doublevalue=0,p_value=0,omg=0,sat=90/57.3,ss,acc=0.01,satf=0/57.3;doubleon_off,abs_omg;inti,j,k,m;voidsend_DA(unsignedcharc
5、hannel,unsignedintda_data);main(){unsignedintuWork;m=0;p_value=0;value=0;cReceive=0;LCR=0x80;DLL=0x06;DLM=0x00;LCR=0x03;FCR=0x01;MCR=0x20;IER=0x00;send_DA(2,0);send_DA(3,0);while(1){i=0;do{uWork=LSR;}while((uWork&1)==0);cReceive=RBR;if(cReceive==''){do{do
6、{uWork=LSR;}while((uWork&1)==0);cReceive=RBR;bReceive[i]=cReceive;i++;}while(i<=18);}k=0;if(bReceive[18]=='1'){do{fReceive[k]=bReceive[k];k++;}while(k<=14);}if(m<4){value+=atof(fReceive);m++;}else{p_value=value/4;value=0;m=0;}omg=-p_value/57.3;sat=sat+omg*0
7、.01;if(omg<0)abs_omg=-omg;if(omg>0)abs_omg=omg;ss=sat-satf+0.5*omg*abs_omg/acc;if(ss>0){send_DA(2,4095);send_DA(3,0);on_off=-1;}else{send_DA(2,0);send_DA(3,4095);on_off=1;}sprintf(fReceive,"%15.6f",sat*57.3);p_value=0;do{do{uWork=LSR;}while(uWork&0x040!=0x0
8、40);cReceive=fReceive[15-k];THR=cReceive;k--;}while(k>=2);THR='r';THR='';}}voidsend_DA(unsignedcharchannel,unsignedintda_data){switch(channel){case1:{DA_DATA_L=da_data&0xff;DA_DATA_H=((da_data>>8)&0
