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Merge pull request #1 from Gecko-well/new
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V1.0
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@Yb1t
Yb1t authored Sep 15, 2020
2 parents aec6bea + 791bd9d commit 234026d
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Showing 47 changed files with 6,464 additions and 4,157 deletions.
162 changes: 81 additions & 81 deletions AI-speed.c
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Original file line number Diff line number Diff line change
@@ -1,82 +1,82 @@
#include "head.h"
uint count2 = 0; //计时器2计数
uint line = 0; //碰线计数
uint gear = 0; //挡位
uint zkb1Gear = 50; //1档占空比
uint level; //1档后占空比分级
bit atoDrive = 0; //自动驾驶开关
bit atoGear = 0; //自动档开关

//AI挂挡定时器初始化（使用定时器2）
void Timer2Init()
{
// T2CON = 0x00;//开机默认为0

//初值50ms,50000/1.085~=46083,65536-46083=19453
TH2 = 0x4b;
TL2 = 0xfd;

EA = 1;
ET2 = 1;
TR2 = 1;
}

//定时器2进入中断
void Time2Config() interrupt 5
{
TF2 = 0; //定时器2需要软件复位溢出位

//执行自动档识别切换
if (atoGear)
{
count2++;

//每50ms
//碰线计数
if (xxZ == 1 || xxY == 1)
{
line = 15;
}
else if (xxZ == 0 && xxY == 0 && line > 0)
{
line--;
}

//每1s(50ms*20)
if (count2 >= 20)
{
//刷新距离
distance = getDistance();
//减1档
if (gear > 1 && (line > 0 || distance < 200))
{
gearSwitch(gear - 1);
}
//加1档
else if (line == 0 && distance > 200)
{
gearSwitch(gear + 1);
}
count2 = 0;
}
}
}

//挂档
void gearSwitch(uint signal)
{
if (signal >= 0 && signal <= 5)
{
if (signal == 0)
{
zkbZ = zkbY = 0;
}
else
{
zkbZ = zkb1Gear + level * (signal - 1);
zkbY = zkbZ - correct;
}
gear = signal;
gearShowRefresh();
}
#include "head.h"
uint count2 = 0; //计时器2计数
uint line = 0; //碰线计数
uint gear = 0; //挡位
uint zkb1Gear = 25; //1档占空比
uint level; //1档后占空比分级
bit atoDrive = 0; //自动驾驶开关
bit atoGear = 0; //自动档开关

//AI挂挡定时器初始化（使用定时器2）
void Timer2Init()
{
// T2CON = 0x00;//开机默认为0

//初值50ms,50000/1.085~=46083,65536-46083=19453
TH2 = 0x4b;
TL2 = 0xfd;

EA = 1;
ET2 = 1;
TR2 = 1;
}

//定时器2进入中断
void Time2Config() interrupt 5
{
TF2 = 0; //定时器2需要软件复位溢出位

//执行自动档识别切换
if (atoGear)
{
count2++;

//每50ms
//碰线计数
if (xxZ == 1 || xxY == 1)
{
line = 15;
}
else if (xxZ == 0 && xxY == 0 && line > 0)
{
line--;
}

//每1s(50ms*20)
if (count2 >= 20)
{
//刷新距离
distance = getDistance();
//减1档
if (gear > 1 && (line > 0 || distance < 100))
{
gearSwitch(gear - 1);
}
//加1档
else if (line == 0 && distance > 100)
{
gearSwitch(gear + 1);
}
count2 = 0;
}
}
}

//挂档
void gearSwitch(uint signal)
{
if (signal >= 0 && signal <= 5)
{
if (signal == 0)
{
zkbY = zkbZ = 0;
}
else
{
zkbY = zkb1Gear + level * (signal - 1);
zkbZ = zkbY - correct;
}
gear = signal;
gearShowRefresh();
}
}
216 changes: 108 additions & 108 deletions Listings/AI-speed.lst
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Original file line number Diff line number Diff line change
@@ -1,108 +1,108 @@
C51 COMPILER V9.60.0.0 AI_SPEED 08/13/2020 17:04:40 PAGE 1


C51 COMPILER V9.60.0.0, COMPILATION OF MODULE AI_SPEED
OBJECT MODULE PLACED IN .\Objects\AI-speed.obj
COMPILER INVOKED BY: C:\Keil_v5\C51\BIN\C51.EXE AI-speed.c OPTIMIZE(8,SPEED) BROWSE DEBUG OBJECTEXTEND PRINT(.\Listings\
-AI-speed.lst) OBJECT(.\Objects\AI-speed.obj)

line level source

1 #include "head.h"
2 uint count2 = 0; //计时器2计数
3 uint line = 0; //碰线计数
4 uint gear = 0; //挡位
5 uint zkb1Gear = 50; //1档占空比
6 uint level; //1档后占空比分级
7 bit atoDrive = 0; //自动驾驶开关
8 bit atoGear = 0; //自动档开关
9
10 //AI挂挡定时器初始化（使用定时器2）
11 void Timer2Init()
12 {
13 1 // T2CON = 0x00;//开机默认为0
14 1
15 1 //初值50ms,50000/1.085~=46083,65536-46083=19453
16 1 TH2 = 0x4b;
17 1 TL2 = 0xfd;
18 1
19 1 EA = 1;
20 1 ET2 = 1;
21 1 TR2 = 1;
22 1 }
23
24 //定时器2进入中断
25 void Time2Config() interrupt 5
26 {
27 1 TF2 = 0; //定时器2需要软件复位溢出位
28 1
29 1 //执行自动档识别切换
30 1 if (atoGear)
31 1 {
32 2 count2++;
33 2
34 2 //每50ms
35 2 //碰线计数
36 2 if (xxZ == 1 || xxY == 1)
37 2 {
38 3 line = 15;
39 3 }
40 2 else if (xxZ == 0 && xxY == 0 && line > 0)
41 2 {
42 3 line--;
43 3 }
44 2
45 2 //每1s(50ms*20)
46 2 if (count2 >= 20)
47 2 {
48 3 //刷新距离
49 3 distance = getDistance();
50 3 //减1档
51 3 if (gear > 1 && (line > 0 || distance < 200))
52 3 {
53 4 gearSwitch(gear - 1);
54 4 }
C51 COMPILER V9.60.0.0 AI_SPEED 08/13/2020 17:04:40 PAGE 2

55 3 //加1档
56 3 else if (line == 0 && distance > 200)
57 3 {
58 4 gearSwitch(gear + 1);
59 4 }
60 3 count2 = 0;
61 3 }
62 2 }
63 1 }
64
65 //挂档
66 void gearSwitch(uint signal)
67 {
68 1 if (signal >= 0 && signal <= 5)
69 1 {
70 2 if (signal == 0)
71 2 {
72 3 zkbZ = zkbY = 0;
73 3 }
74 2 else
75 2 {
76 3 zkbZ = zkb1Gear + level * (signal - 1);
77 3 zkbY = zkbZ - correct;
78 3 }
79 2 gear = signal;
80 2 gearShowRefresh();
81 2 }
82 1 }


MODULE INFORMATION: STATIC OVERLAYABLE
CODE SIZE = 300 ----
CONSTANT SIZE = ---- ----
XDATA SIZE = ---- ----
PDATA SIZE = ---- ----
DATA SIZE = 10 ----
IDATA SIZE = ---- ----
BIT SIZE = 2 ----
END OF MODULE INFORMATION.


C51 COMPILATION COMPLETE. 0 WARNING(S), 0 ERROR(S)
C51 COMPILER V9.60.0.0 AI_SPEED 09/15/2020 14:06:38 PAGE 1
C51 COMPILER V9.60.0.0, COMPILATION OF MODULE AI_SPEED
OBJECT MODULE PLACED IN .\Objects\AI-speed.obj
COMPILER INVOKED BY: C:\Keil_v5\C51\BIN\C51.EXE AI-speed.c OPTIMIZE(8,SPEED) BROWSE DEBUG OBJECTEXTEND PRINT(.\Listings\
-AI-speed.lst) OBJECT(.\Objects\AI-speed.obj)
line level source
1 #include "head.h"
2 uint count2 = 0; //计时器2计数
3 uint line = 0; //碰线计数
4 uint gear = 0; //挡位
5 uint zkb1Gear = 25; //1档占空比
6 uint level; //1档后占空比分级
7 bit atoDrive = 0; //自动驾驶开关
8 bit atoGear = 0; //自动档开关
9
10 //AI挂挡定时器初始化（使用定时器2）
11 void Timer2Init()
12 {
13 1 // T2CON = 0x00;//开机默认为0
14 1
15 1 //初值50ms,50000/1.085~=46083,65536-46083=19453
16 1 TH2 = 0x4b;
17 1 TL2 = 0xfd;
18 1
19 1 EA = 1;
20 1 ET2 = 1;
21 1 TR2 = 1;
22 1 }
23
24 //定时器2进入中断
25 void Time2Config() interrupt 5
26 {
27 1 TF2 = 0; //定时器2需要软件复位溢出位
28 1
29 1 //执行自动档识别切换
30 1 if (atoGear)
31 1 {
32 2 count2++;
33 2
34 2 //每50ms
35 2 //碰线计数
36 2 if (xxZ == 1 || xxY == 1)
37 2 {
38 3 line = 15;
39 3 }
40 2 else if (xxZ == 0 && xxY == 0 && line > 0)
41 2 {
42 3 line--;
43 3 }
44 2
45 2 //每1s(50ms*20)
46 2 if (count2 >= 20)
47 2 {
48 3 //刷新距离
49 3 distance = getDistance();
50 3 //减1档
51 3 if (gear > 1 && (line > 0 || distance < 100))
52 3 {
53 4 gearSwitch(gear - 1);
54 4 }
C51 COMPILER V9.60.0.0 AI_SPEED 09/15/2020 14:06:38 PAGE 2
55 3 //加1档
56 3 else if (line == 0 && distance > 100)
57 3 {
58 4 gearSwitch(gear + 1);
59 4 }
60 3 count2 = 0;
61 3 }
62 2 }
63 1 }
64
65 //挂档
66 void gearSwitch(uint signal)
67 {
68 1 if (signal >= 0 && signal <= 5)
69 1 {
70 2 if (signal == 0)
71 2 {
72 3 zkbY = zkbZ = 0;
73 3 }
74 2 else
75 2 {
76 3 zkbY = zkb1Gear + level * (signal - 1);
77 3 zkbZ = zkbY - correct;
78 3 }
79 2 gear = signal;
80 2 gearShowRefresh();
81 2 }
82 1 }
MODULE INFORMATION: STATIC OVERLAYABLE
CODE SIZE = 300 ----
CONSTANT SIZE = ---- ----
XDATA SIZE = ---- ----
PDATA SIZE = ---- ----
DATA SIZE = 10 ----
IDATA SIZE = ---- ----
BIT SIZE = 2 ----
END OF MODULE INFORMATION.
C51 COMPILATION COMPLETE. 0 WARNING(S), 0 ERROR(S)
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