Freescale芯片智能小车程序分析

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#include <hidef.h>
#include <MC9S12XS128.h>
#pragma LINK_INFO DERIVATIVE "mc9s12xs128"
#define PITTIME 5000 //50MS定时中断
#define speed_set1 3200
#define speed_set2 2000
#define NB 150 //直道最小速度
#define NS 250 //直道中小速度
#define Z 350 //中速
#define PS 500 //中高速
#define PB 600 //高速
#define NB1 275 //弯道最小速度
#define Z1 325 //中速
#define PS1 350 //中高速
#define PB1 375 //高速
int speed_data[5][7] = //直道速度表

{

{ NB, NB, NS, Z, PS, Z, NS },

{ NB, NS, Z, PS, PB, PB, Z },

{ NS, Z, PS, PB, PS, Z, NS },

{ Z, PS, PB, PS, Z, NS, NB },

{ NS, Z, NS, Z, NS, NB, NB }

};



int speed_data0[5][7] = //弯道速度表

{

{ NB1, NB1, NS1, Z1, PS1, Z1, NS1 },

{ NB1, NS1, Z1, PS1, PB1, PB1, Z1 },

{ NS1, Z1, PS1, PB1, PS1, Z1, NS1 },

{ Z1, PS1, PB1, PS1, Z1, NS1, NB1 },

{ NS1, Z1, NS1, Z1, NS1, NB1, NB1 }

};





int ad_data[10][11];

int ad_data1[11];

int pd_data[11];



int ad_min[11] = { 40, 20, 20, 30, 50, 50, 50, 50, 60, 50, 50 }; //新

int ad_mid[11];

int state;

int start_flag = 1; //启停标志

int straight_flag = 1; //直弯标志

int count = 0;

int B_cnt;

int B_cnt_last;

int count1 = 0; //赛道特殊状况检测次数

int count3 = 0; //直弯检测累计

int count4 = 0;

int state_first = 0; //赛道状态传递

int state_last = 0;

int state_now;

int state_e = 0;

int state_e_last;

int u;

int v = 200;

int steer_e; //舵机增量

float Kp = 2; //舵机K

float Kp_data[11] = { 0.6, 0.65, 0.82, 0.83, 0.84, 0.90, 0.95, 1.1, 1.35, 1.47, 1.59 };



float Kp_data2[11] = { 0 };

float Kd = 0.5; //舵机D

float Kp_s = 0.008; //速度K



float Ki_s = 0; //速度I

float Kd_s = 0; //速递D

int steer = 2600;

int speed; //光电编码器测速值

int speed_e_first = 0;

int speed_e_last = 0;

int speed_e;

int speed_set; //速度设定值

int motor_e;

int motor_pwm;









//初始化//



void PLL_Init(void) //PLLClK=2*OSCCLK*(SYNR+1/REFDV+1)

{

//锁相环=2*16=32MHz

REFDV = 1; //总线时钟=32/2=16MHz

SYNR = 1;

while (!(CRGFLG & 0x08));

CLKSEL = 0X08; //时钟选择,等待模式下锁相环停止工作

}



void PWM_Init(void)

{

PWME = 0x00;

PWMCTL = 0x70; //级联方式

PWMPOL = 0xff;

PWMCAE = 0xff; //对齐方式左对齐

PWMCLK = 0x30; //PWM时钟选择,23通道CLOCKSB

PWMPRCLK = 0x11; //PWM预分频,时钟源A=时钟源B=8MHz

PWMSCLA = 5;

PWMSCLB = 5;

PWMPER01 = 1000;

PWMDTY01 = 0;

PWMPER45 = 1000;

PWMDTY45 = 200;

PWMPER23 = 16000;

PWMDTY23 = 0;

PWME = 0x3f;

}



void AD_Init(void)

{

ATD0CTL0 = 0x0A;

ATD0CTL1 = 0x00; //7:1-外部触发,65:00-8位精度,4:放电,3210:ch

ATD0CTL2 = 0x40; //禁止外部触发, 中断禁止

ATD0CTL3 = 0xD8; //右对齐无符号,每次转换11个序列, No FIFO, Freeze模式下继续转

ATD0CTL4 = 0x01; //765:采样时间为4个AD时钟周期,ATDClock=[BusClock*0.5]/[PRS+1]

ATD0CTL5 = 0x30; //6:0特殊通道禁止,5:1连续转换 ,4:1多通道轮流采样

ATD0DIEN = 0x00; //禁止数字输入

}



void PIT_Init(void)

{

PITCFLMT_PITE = 0; //PIT关

PITCE_PCE0 = 1; //定时器通道0使能

PITMTLD0 = 160 - 1; //8位定时器初值设定。160分频,在16MHzBusClock下,为0.1MHz。即 10us.

PITLD0 = PITTIME - 1; //16位定时器初值设定。PITTIME*0.01MS 50ms定时

PITINTE_PINTE0 = 1; //定时器中断通道0中断使能

PITCFLMT_PITE = 1; //PIT使能

}



void PACA_Init(void) //初始化脉冲累加器A

{

TCTL3 = 0X40; //下降沿捕捉脉冲

PACTL = 0x40; //脉冲累加使能

PACNT = 0X0000;

}



//功能函数//



void delay_ms(int ms) //延时函数

{

int i, j;

for (i = 0; i < ms; i++)

for (j = 0; j < 2770; j++); //16MHz--2ms

}



int abs(int num) //绝对值

{

if (num<0)

return -num;

else

return num;

}

void Reverse(int* arr, int b, int e) //数组元素对换

{

for (; b < e; b++, e--)

{

int temp = arr[e];

arr[e] = arr[b];

arr[b] = temp;

}

}

void RightShift(int* arr, int N, int K) //数组循环移位

{

K %= N;

Reverse(arr, 0, N - K - 1);

Reverse(arr, N - K, N - 1);

Reverse(arr, 0, N - 1);

}



//单片机处理/

void ATD_data(void) //AD采集

{



int i;



for (i = 0; i<10; i++)

{

while (!ATD0STAT0_SCF);



ad_data[i][0] = ATD0DR0L;

ad_data[i][1] = ATD0DR1L;

ad_data[i][2] = ATD0DR2L;

ad_data[i][3] = ATD0DR3L;

ad_data[i][4] = ATD0DR4L;

ad_data[i][5] = ATD0DR5L;

ad_data[i][6] = ATD0DR6L;

ad_data[i][7] = ATD0DR7L;

ad_data[i][8] = ATD0DR8L;

ad_data[i][9] = ATD0DR9L;

ad_data[i][10] = ATD0DR10L;

ATD0CTL5 = 0x30;

}

}



void PD_data(void) //AD数据处理

{

int i, j, k, temp;

for (i = 0; i<10; i++) //每个传感器采样10次的数据进行排序

{

for (j = 0; j<11; j++)

for (k = j + 1; k<10; k++)

{

if (ad_data[j][i]>ad_data[k][i])

{

temp = ad_data[j][i];

ad_data[j][i] = ad_data[k][i];

ad_data[k][i] = temp;

}

}

}

for (j = 0; j<11; j++) //对中间的两个值求平均作为本次采集的结果

ad_data1[j] = (ad_data[4][j] + ad_data[5][j]) / 2;

}



void STATE_data(void) //位置判断

{

int i;



B_cnt_last = B_cnt; //B_cnt为当前检测到黑线传感器的个数

B_cnt = 0;

for (i = 0; i<11; i++) //对采集的数据进行二值化处理

{

ad_mid[i] = ad_min[i] + 60;

(ad_data1[i]<ad_mid[i]) ? (pd_data[i] = 1) : (pd_data[i] = 0);

}



for (i = 0; i<11; i++) //位置计算,判断采集黑线传感器的个数

{

if (pd_data[i] == 1)

B_cnt++;

}

if (B_cnt == 1)

for (i = 0; i<11; i++) //判断黑线的位置

{

if (pd_data[i] == 1)

state = 2 * i - 10;

}

if (B_cnt == 2)

for (i = 0; i<10; i++)

{

if (pd_data[i] == 1 && pd_data[i + 1] == 1)

state = 2 * i + 1 - 10;

}

if (B_cnt>5 && B_cnt_last<6) //特殊状况,十字,起跑线

count1++;



}





void START_judge(void) //起跑线识别

{

int i, knum, SATurn;

int kA[4] = { 0 };

if (count1>2)

for (i = 0, knum = 0, SATurn = 0; i<10; i++)

if (pd_data[i] ^ pd_data[i + 1])

{

SATurn++;

kA[knum] = i;

knum++;

}

if (SATurn == 4)

if ((kA[1] - kA[0]) <= 2 && (kA[1] - kA[0]) >= 1 && //起跑线左白区域

(kA[2] - kA[1]) <= 2 && (kA[2] - kA[1]) >= 1 && //起跑线中黑区域

(kA[3] - kA[2]) <= 2 && (kA[3] - kA[2]) >= 1 && //起跑线右白区域

(B_cnt <= 9 && B_cnt >= 7)) //状态1传感器总数



start_flag = 0;



}





void STATE_judge(void) //滤波&&直弯判断

{

state_last = state_now;

state_now = state;

if (abs(state_now - state_last)>2)

{

state_now = state_last;

}

if (count3<40)

count3++;

if (abs(state_now)<5)

count4++;

if (count3 == 40 && count4>35)

{

straight_flag = 1;

count3 = 0;

count4 = 0;

}

if (count3 == 40 && count4<30)

{

straight_flag = 0;

count3 = 0;

count4 = 0;

}



Kp = Kp_data[abs(state_now)];



}





void STATE_e(void) //误差变化计算

{

if (count == 0)

{

state_first = state_now;

}

count++;



if (count>5)

{

state_e_last = state_e;

state_e = state_now - state_first;

count = 0;

}

}





void STEER_pd(void) //舵机PD控制

{

/* if(abs(state_now)<4) //速度对转角的影响,速度大时,直道K值取小

Kp-=speed/speed_set1;

if(abs(state_now)>4) //弯道K值随速度增大

Kp+=speed/speed_set2; */

//Kp=Kp_data[abs(state_now)];

steer = (int)(2550 + Kp*state_now * 70 + Kd*(state_e - state_e_last) * 70);

// steer+=(int)(Kp*(state_now-state_last)*80+Kd*(state_e-state_e_last)*80);





if (steer > 3400)

{

steer = 3400;

}

if (steer < 1700)

{

steer = 1700;

}



PWMDTY23 = steer;

}



void SPEED_set(void)

{

int i, j;

if (state_e>4)

i = 4;

else if (state_e<-4)

i = 0;

else

{

i = (state_e + 4) / 2;

j = (state_now + 10) / 3;

}

if (straight_flag == 1)

speed_set = speed_data[i][j];

if (straight_flag == 0)

speed_set = speed_data0[i][j];

// speed_e_first=speed_e_last;

speed_e_last = speed_e;

speed_e = speed_set - speed;





}







void SPEED_pd(void)

{

if (start_flag == 0)

{

delay_ms(50);

PWMDTY01 = 200;

}

else

{

if (speed_set - speed>300)

{

motor_pwm = 700;

}

else if (speed_set - speed<-300)

{

motor_pwm = 0;

}

else

{

motor_e = (int)(Kp_s*speed_e + Kd_s*(speed_e - speed_e_last));

//motor_e = (int)(Kp_s*(speed_e-speed_e_last)+Ki_s*speed_e+

// Kd_s*(speed_e-2*speed_e_last+speed_e_first));

motor_pwm = motor_e + v;

v = motor_pwm;

}

PWMDTY01 = motor_pwm;

}



}



/* 定时中断 */

\#pragma CODE_SEG __NEAR_SEG NON_BANKED

void interrupt 66 PIT0(void)

{

PITTF_PTF0 = 1; //清中断标志位

speed = PACNT;

PACNT = 0x0000;

}









/********************************/

/* 主函数 */

/********************************/

void main(void)

{

PLL_Init();

PWM_Init();

AD_Init();

PIT_Init();

PACA_Init();

EnableInterrupts;

for (;;)

{

ATD_data();

PD_data();

STATE_data();

START_judge();

STATE_judge();

STATE_e();

SPEED_set();

STEER_pd();

SPEED_pd();

}

}

这份源代码的不足和错误还是比较多, for(i=0;i<10;i++) //每个传感器采样10次的数据进行排序

排序采用了冒泡排序,效率大打折扣,而且采用排序的方法处理数据稳定但并不是特别好。更改排序算法效果也不明显。

for(j=0;j<11;j++) //对中间的两个值求平均作为本次采集的结果

ad_data1[j]=(ad_data[4][j]+ad_data[5][j])/2;

阅读更多

离散事件模拟

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/* by SonicRang */

#include <iostream>
#include <stdlib.h>
#include <time.h>
#include <windows.h>

using namespace std;

#define WINDOW 5 //定义服务窗口个数

/* 定义各窗口服务队列 */

typedef struct qnode
{
int arrivetime; //到达时刻
int duration; //处理时长
struct qnode *next;
}Qnode, *Queptr;


typedef struct
{
Qnode *front, *rear;
int length;
}LinkQueue;

/* 定义结束 */

/* 定义一天内所有事件链表 */
typedef struct enode
{
int occurTime, NType; //事件发生时刻,事件类型(0:未发生 非0:已完成)
struct enode *next;
}Enode, *Eptr;

typedef struct
{
Enode *front, *rear;
int eventNum; //事件数
}EventList;

/* 定义结束 */


/* 定义全局变量 */

EventList *eventlist; //事件链表
LinkQueue q[WINDOW + 1]; //窗口队列
Eptr pe, ev; //事件节点

int seed = 300;
int closetime; //银行工作时长
int totaltime; //总时间
int customerNum; //客流量

/* 定义结束 */



/* 插入客户事件到事件链表 */

void InsertEvent(EventList *eventlist, int Time, int Type)
{
Eptr p, q, location;
p = new Enode;
p->occurTime = Time;
p->NType = Type;
eventlist->eventNum++;
q = eventlist->front;
location = NULL;


while (q && (Time > q->occurTime)) //找到插入位置
{
location = q;
q = q->next;
}


if (location == NULL) //找到了空队列插入到队头
{
p->next = eventlist->front;
eventlist->front = p;
}
else //找到了非空队列插入到队尾
{
p->next = q;
location->next = p;
}


if (eventlist->eventNum == 1) //初始化队尾
{
eventlist->rear = p;
}
}

/* 插入完成 */



/* 删除事件链表中的事件 */
void DeletEvent(EventList *ev, Eptr &data)
{
Eptr p;
p = ev->front;
ev->front = p->next;
if (--ev->eventNum<1)
{
ev->rear = ev->front;
}
data = p;
}

/* 删除完成 */



/* 当前客户插入窗口队列 */
void EnQueue(LinkQueue *q, int t1, int t2)
{
Queptr p;
p = new Qnode;
p->arrivetime = t1;
p->duration = t2;
q->length++;
if (q->length == 1) //只有一个元素的队列处理
{
p->next = NULL;
q->front = q->rear = p;
}
else
{
p->next = q->rear->next;
}
q->rear->next = p;
q->rear = p; //重连接队列
}
/* c插入完成 */


/* 当前客户出窗口队列进行处理 */
void DeQueue(LinkQueue *q, Queptr f)
{
Queptr p;
if (q->length>0)
{
f->arrivetime = q->front->arrivetime;
f->duration = q->front->duration;
p = q->front;
q->front = q->front->next;
q->length--;
if (q->length == 0)
q->rear = NULL;
delete (p);
}
}
/* 处理结束 */



/* 找最短队列 */
int Minlength()
{
int min, j, i;
min = q[1].length;
j = 1;
for (i = 2; i <= WINDOW; i++)
if (q[i].length < min)
{
min = q[i].length;
j = i;
}
return j;
}
/* 查询完成 */


/* 初始化银行 */
void Open()
{
int i;
eventlist = new EventList;
pe = new Enode;
pe->occurTime = 0; //初始化发生事件事件
pe->NType = 0;
pe->next = NULL;
eventlist->front = pe; //插入第一个客户到事件表
eventlist->rear = pe;
eventlist->eventNum = 1;


for (i = 1; i < WINDOW + 1; i++) //初始化服务窗口队列为空
{
q[i].front = q[i].rear = NULL;
q[i].length = 0;
}
}
/* 初始化结束 */


/* 客户到达 */
void CustomerArrived()
{
int durtime, intertime, min;
customerNum++; //客流量增加

srand((unsigned)time(NULL));

Sleep(1000);
durtime = 5 + rand() % 31; //产生随机数(当前客户所需的服务时间和下一个用户到达的时间间隔)
intertime = 5 + rand() % 11;


if ((ev->occurTime + intertime) < closetime)
InsertEvent(eventlist, ev->occurTime + intertime, 0); //下一个客户到事件加入事件表

min = Minlength(); //找最短队列
EnQueue(&q[min], ev->occurTime, durtime); //客户加入窗口


cout << "客户于<" << ev->occurTime << ">时刻进入" << min << "号窗口," << "处理了" << durtime << "分钟" << endl;

if (q[min].length == 1)
InsertEvent(eventlist, ev->occurTime + durtime, min); //唯一客户加入离开事件
}
/* 函数结束 */



/* 客户离开 */
void CustomerLeave()
{
int i;
i = ev->NType; //第i号窗的客户离开
Queptr data;
data = new Qnode;
DeQueue(&q[i], data); //删除i号窗口的排头客户

cout << i << "号窗口客户离开" << endl;

totaltime += ev->occurTime - data->arrivetime; //总时间累积

if (q[i].length != 0) //插入离开事件
InsertEvent(eventlist, ev->occurTime + q[i].front->duration, i);
}
/* 函数结束 */



/* 主函数 */
void main()
{
cout << "**************银行模拟系统**************" << endl;
cout << "请输入银行营业时长(分钟):" << endl;
cin >> closetime;

Open(); //初始化银行

while (eventlist->eventNum > 0) //事件非空开始执行
{
DeletEvent(eventlist, ev); //取事件表中的第一个事件节点

if (ev->NType == 0) //处理客户到达事件
CustomerArrived();

else
CustomerLeave(); //处理离开事件
}

cout << "今日客流量:" << customerNum << endl;
cout << "平均处理时间:" << totaltime / customerNum << "分钟" << endl;
system("pause");
}

线索树

最近懒了,贴篇源码补补空闲……

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using namespace std;
typedef struct bithrnode
{
char data;
struct bithrnode *lchild;
struct bithrnode *rchild;
int ltag, rtag;
}BiThrNode, *BiThrTree;

BiThrTree pre;

void InitBTree(BiThrTree &BT);
void CreatBTree(BiThrTree &BT);
void AddThread(BiThrTree p);
void ThreadTree(BiThrTree BT, BiThrTree &head);
BiThrTree InorderNext(BiThrTree p);
void ThInorder(BiThrTree head);

void InitBTree(BiThrTree &BT)
{
BT = NULL;
}


void CreatBTree(BiThrTree &BT)
{
char ch;
ch = getchar();
if (ch == ' ')
BT = NULL;
else
{
BT = new BiThrNode;
BT->data = ch;
BT->ltag = 0;
BT->rchild = 0;
CreatBTree(BT->lchild);
CreatBTree(BT->rchild);
}
}



void ThreadTree(BiThrTree BT, BiThrTree &head)
{
head = new BiThrNode;
head->data = NULL;
head->ltag = 0;
head->rtag = 0;
head->rchild = head;
if (BT == NULL)
head->lchild = head;
else
{
pre = head;
head->lchild = BT;
AddThread(BT);
pre->rchild = head;
pre->rtag = 1;
head->rchild = pre;
head->rtag = 1;
}
}


void AddThread(BiThrTree p)
{
if (p != NULL)
{
AddThread(p->lchild);
if (p->lchild == NULL)
{
p->ltag = 1;
p->lchild = pre;
}
if (pre->rchild == NULL)
{
pre->rtag = 1;
pre->rchild = p;
}
pre = p;
AddThread(p->rchild);
}
}


BiThrTree InorderNext(BiThrTree p)
{
if (p->rtag == 1)
return p->rchild;
else
{
p = p->rchild;
while (p->ltag == 0)
p = p->lchild;
return p;
}
}


void ThInorder(BiThrTree head)
{
BiThrTree HT;
HT = head->lchild;
while (HT != head)
if (HT != NULL)
{
while (HT->ltag == 0)
HT = HT->lchild;
while (HT != head)
{
cout << HT->data << ' ';
HT = InorderNext(HT);
}
}
}
void main()
{
BiThrTree T, head;
InitBTree(T);
cout << "InitTree completed!" << endl;
cout << "Create Tree:" << endl;
CreatBTree(T);
ThreadTree(T, head);
cout << "The ThreadTree is Inordered:" << endl;
ThInorder(head);
system("pause");
}

数据结构cpp二叉树

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using namespace std;


typedef struct btreenode
{
char data;
struct btreenode *lchild;
struct btreenode *rchild;
}BTreeNode, *BTree;

typedef struct
{
BTree link;
int flag;
}Stack;


void InitBTree(BTree &BT)
{
BT = NULL;
}


void CreatBTree(BTree &BT)
{
char ch;
ch = getchar();
if (ch == ' ')
BT = NULL;
else
{
BT = new BTreeNode;
BT->data = ch;
CreatBTree(BT->lchild);
CreatBTree(BT->rchild);
}
}
void PreOrder(BTree BT)
{
if (BT == NULL)
{
cout << "NULL";
return;
}
else
{
cout << BT->data;
if (BT->lchild != NULL)
PreOrder(BT->lchild);
if (BT->rchild != NULL)
PreOrder(BT->rchild);
}
}


void InOrder(BTree BT)
{
if (BT == NULL)
{
cout << "NULL";
return;
}



if (BT->lchild != NULL)
InOrder(BT->lchild);


cout << BT->data;


if (BT->rchild != NULL)
InOrder(BT->rchild);

}


void PostOrder(BTree BT)
{
if (BT == NULL)
{
cout << "NULL";
return;
}


if (BT->lchild != NULL)
PostOrder(BT->lchild);


if (BT->rchild != NULL)
PostOrder(BT->rchild);


cout << BT->data;

}


void LevelOrder(BTree BT)
{
BTree Queue[30];
int front, rear;
if (BT == NULL) return;

front = -1;
rear = 0;
Queue[rear] = BT;


while (front != rear)
{
front++;
cout << Queue[front]->data;
if (Queue[front]->lchild != NULL)
{
rear++;
Queue[rear] = Queue[front]->lchild;
}


if (Queue[front]->rchild != NULL)
{
rear++;
Queue[rear] = Queue[front]->rchild;
}
}
}


void PreOrder_2(BTree BT)
{
BTree stack[30], p;
int top;
if (BT == NULL) return;
top = -1;
p = BT;
while (!(p == NULL && top == -1))
{
while (p != NULL)
{
cout << p->data;
if (top < 30)
{
stack[top + 1] = p;
top++;
}
else
{
cout << "Stack is full!" << endl;
return;
}
p = p->lchild;
}

if (top < 0) return;
else
{
top--;
p = stack[top + 1];
p = p->rchild;
}
}
}


void PostOrder_2(BTree BT)
{
Stack s[30];
BTree p;
int top, sign;
if (BT == NULL) return;
top = -1;
p = BT;
while (!(p == NULL && top == -1))
{
if (p != NULL)
{
s[++top].link = p;
s[top].flag = 1;
p = p->lchild;
}
else
{
p = s[top].link;
sign = s[top].flag;
top--;
if (sign == 1)
{
s[++top].link = p;
s[top].flag = 2;
p = p->rchild;
}
else
{
cout << p->data;
p = NULL;
}
}
}
}


void main()
{
BTree T;
InitBTree(T);
cout << "InitTree completed!" << endl;
cout << "Create Tree:" << endl;
CreatBTree(T);
cout << "/nPreOrder:" << endl;
PreOrder(T);
cout << "/nInOrder:" << endl;
InOrder(T);
cout << "/nPosetOrder:" << endl;
PostOrder(T);
cout << "/nLevelOrder:" << endl;
LevelOrder(T);
cout << "/nPreOrder_2:" << endl;
PreOrder_2(T);
cout << "/nPostOrder_2:" << endl;
PostOrder_2(T);
system("pause");
}

ubuntu安装c/c++集成开发环境

首先确保系统已经安装了gcc/g++

Anjuta

打开终端:

命令:sudo apt-get install anjuta

不能安装的需要添加安装源

阅读更多