CCDCAR
所属分类：其他嵌入式/单片机内容
开发工具：C/C++
文件大小：782KB
下载次数：6
上传日期：2013-08-01 21:43:38
上 传 者：
Bin92
说明： 柔和启动
采样速率加倍
50Hz
舵机校正更方便
串口修改PID
提高抗干扰能力
速度自适应
速度检测电路改进后
无线设置参数(OK)
//都用前排循线(改为前3排,2007.5.7)
PID均扩大10倍(改为自适应PID 2007.5.2)
刹车加剧(2007.5.7)
m_cSampNum = -24 (改为-25)
抗干扰能力加强(冲出跑道可回来2007.5.7)
增加滤波算法(未成功2007.5.20)
外部AD(2007.5.23)
//50X40
//使用最大与最小中心方法控制转向
使用惯性滤波方法控制转向
外部AD数据口改为AD0
高分辨率72X40 2007.5.25
降低阀值 20->15
速度平滑
减少行数
间隔删行,减小梯形失真 2007.5.30
(Soft start doubling the sampling rate 50Hz steering correction is more convenient to modify PID improved noise immunity serial speed adaptive speed detection circuit improved wireless setup parameters (OK)// are used front through the line (to the first three rows, 2007.5.7 ) PID have expanded 10-fold (to adaptive PID 2007.5.2) Brake exacerbated (2007.5.7) m_cSampNum =-24 (to-25) immunity enhancing (runway can come back 2007.5.7) increased filtering algorithm (unsuccessfully 2007.5.20) external AD (2007.5.23)// 50X40// use methods to control the maximum and minimum center steering control steering filtering method using inertial data port to an external AD AD0-resolution 72X40 2007.5.25 lower valve Value 20-> 15 velocity smoothing to reduce the number of rows deleted row spacing, reducing keystone 2007.5.30)
文件列表:
智能车_旧版2007-7-30修改\CarPD\bin\Simulator.abs (188451, 2007-07-30)
智能车_旧版2007-7-30修改\CarPD\bin\Simulator.abs.phy (6130, 2007-07-30)
智能车_旧版2007-7-30修改\CarPD\bin\Simulator.abs.s19 (6092, 2007-07-30)
智能车_旧版2007-7-30修改\CarPD\bin\Simulator.map (139470, 2007-07-30)
智能车_旧版2007-7-30修改\CarPD\CarCCD.mcp (90032, 2008-08-02)
智能车_旧版2007-7-30修改\CarPD\CarCCD_Data\CWSettingsWindows.stg (4272, 2008-08-02)
智能车_旧版2007-7-30修改\CarPD\CarCCD_Data\Simulator\ObjectCode\arithmetic.c.o (36572, 2007-07-30)
智能车_旧版2007-7-30修改\CarPD\CarCCD_Data\Simulator\ObjectCode\datapage.c.o (9412, 2007-07-30)
智能车_旧版2007-7-30修改\CarPD\CarCCD_Data\Simulator\ObjectCode\init.c.o (19896, 2007-07-30)
智能车_旧版2007-7-30修改\CarPD\CarCCD_Data\Simulator\ObjectCode\main.c.o (8236, 2007-07-30)
智能车_旧版2007-7-30修改\CarPD\CarCCD_Data\Simulator\ObjectCode\mc9s12dg128.c.o (155448, 2007-07-30)
智能车_旧版2007-7-30修改\CarPD\CarCCD_Data\Simulator\ObjectCode\Start12.c.o (5757, 2007-07-30)
智能车_旧版2007-7-30修改\CarPD\CarCCD_Data\Simulator\ObjectCode\transfers.c.o (41572, 2007-05-20)
智能车_旧版2007-7-30修改\CarPD\CarCCD_Data\Simulator\TargetDataWindows.tdt (582040, 2008-08-02)
智能车_旧版2007-7-30修改\CarPD\cmd\Simulator_Postload.cmd (108, 2007-04-01)
智能车_旧版2007-7-30修改\CarPD\cmd\Simulator_Preload.cmd (60, 2007-04-01)
智能车_旧版2007-7-30修改\CarPD\cmd\Simulator_Reset.cmd (60, 2007-04-01)
智能车_旧版2007-7-30修改\CarPD\cmd\Simulator_SetCPU.cmd (59, 2007-04-01)
智能车_旧版2007-7-30修改\CarPD\cmd\Simulator_Startup.cmd (59, 2007-04-01)
智能车_旧版2007-7-30修改\CarPD\C_Layout.hwl (855, 2007-04-01)
智能车_旧版2007-7-30修改\CarPD\Default.mem (161, 2006-04-06)
智能车_旧版2007-7-30修改\CarPD\prm\burner.bbl (4786, 2007-04-01)
智能车_旧版2007-7-30修改\CarPD\prm\Simulator_linker.prm (2731, 2007-05-23)
智能车_旧版2007-7-30修改\CarPD\Simulator.ini (3096, 2007-07-30)
智能车_旧版2007-7-30修改\CarPD\Sources\arithmetic.c (24632, 2007-07-30)
智能车_旧版2007-7-30修改\CarPD\Sources\arithmetic.h (1468, 2007-07-30)
智能车_旧版2007-7-30修改\CarPD\Sources\basceinc.h (162, 2007-05-20)
智能车_旧版2007-7-30修改\CarPD\Sources\datapage.c (64750, 2007-04-01)
智能车_旧版2007-7-30修改\CarPD\Sources\init.c (3211, 2007-05-24)
智能车_旧版2007-7-30修改\CarPD\Sources\init.h (399, 2007-05-20)
智能车_旧版2007-7-30修改\CarPD\Sources\main.c (1655, 2007-05-25)
智能车_旧版2007-7-30修改\CarPD\Sources\Start12.c (17616, 2007-04-01)
智能车_旧版2007-7-30修改\CarPD\说明.txt (755, 2007-07-30)
智能车_旧版2007-7-30修改\CarPD1\bin\Simulator.abs (188483, 2007-07-31)
智能车_旧版2007-7-30修改\CarPD1\bin\Simulator.abs.phy (6136, 2007-07-31)
智能车_旧版2007-7-30修改\CarPD1\bin\Simulator.abs.s19 (6098, 2007-07-31)
智能车_旧版2007-7-30修改\CarPD1\bin\Simulator.map (139272, 2007-07-31)
智能车_旧版2007-7-30修改\CarPD1\CarCCD.mcp (90032, 2008-08-02)
智能车_旧版2007-7-30修改\CarPD1\CarCCD_Data\CWSettingsWindows.stg (4272, 2008-08-02)
... ...
//------------------------------------------------------------------------
// Readme.txt
//------------------------------------------------------------------------
This project stationery is designed to get you up and running
quickly with CodeWarrior for MC9S12DG128B.
It is set up for the selected CPU and target connection,
but can be easily modified.
Sample code for the following language(s) is at your disposal:
- C
The wizard has prepared CodeWarrior target(s) with the connection methods
of your choice:
- Simulator:
This interface/target is prepared to use the FCS (Full Chip Simulation).
Additional connections can be chosen in the simulator/debugger,
use the menu Component > Set Target.
/*$OSEK$*/
//------------------------------------------------------------------------
// Getting Started
//------------------------------------------------------------------------
To build/debug your project, use the menu Project > Debug or press F5.
This will open the simulator/debugger.
Press again F5 in the debugger (or menu Run > Start/Continue) to start
the application. The menu Run > Halt or F6 stops the application.
In the debugger menu Component > Open you can load additional components.
//------------------------------------------------------------------------
// Project structure
//------------------------------------------------------------------------
The project generated contains various files/folders:
- readme.txt: this file
- Sources: folder with the application source code
- Startup Code: C/C++ startup code
- Prm:
- burner.bbl file to generate S-Records
- the linker .prm file
- Linker Map: the .map file generated by the linker
- Libraries: needed library files (ANSI, derivative header/implementation
files)
- Debugger Project File: contains a .ini file for the debugger for each
connection
- Debugger Cmd Files: contains sub-folders for each connection with
command files
//------------------------------------------------------------------------
// Adding your own code
//------------------------------------------------------------------------
Once everything is working as expected, you can begin adding your own code
to the project. Keep in mind that we provide this as an example of how to
get up and running quickly with CodeWarrior. There are certainly other
ways to handle interrupts and set up your linker command file. Feel free
to modify any of the source files provided.
// Simulator/Debugger: Additional components
//------------------------------------------------------------------------
In the simulator/debugger, you can load additional components. Try the
menu Component > Open.
//------------------------------------------------------------------------
// Additional documentation
//------------------------------------------------------------------------
Read the online documentation provided. Use in CodeWarrior IDE the menu
Help > CodeWarrior Help.
//------------------------------------------------------------------------
// Contacting Metrowerks
//------------------------------------------------------------------------
For bug reports, technical questions, and suggestions, please use the
forms installed in the Release_Notes folder and send them to:
USA: support@metrowerks.com
EUROPE: support_europe@metrowerks.com
ASIA/PACIFIC: j-emb-sup@metrowerks.com
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