第三届全国大学生“飞思卡尔”杯智能汽车竞赛技术报告（下）源程序

第三届全国大学生“飞思卡尔”杯

智能汽车竞赛

技术报告

（下）

学校：XX大学

队伍名称：XX大X火

参赛队员：XXX、XXX、XXX

带队教师:XXX

第一节全国大学生智能汽车邀请赛技术报告

关于技术报告和研究论文使用授权的说明

本人完全了解第二届全国大学生“飞思卡尔”杯智能汽车竞赛关保留、使

用技术报告和研究论文的规定，即：参赛作品著作权归参赛者本人，比赛组委会

和飞思卡尔半导体公司可以在相关主页上收录并公开参赛作品的设计方案、技术

报告以及参赛模型车的视频、图像资料，并将相关内容编纂收录在组委会出版论

文集中。

参赛队员签名：

带队教师签名：

日期：

2

目录

第一章引言...................................................1

1.1概述........................................................................I

1.2技术报告内容安排...........................................................1

第二章设计思路以及方案论证.................................2

2.1主要设计思路...............................................................2

2.2硬件设计方案论证...........................................................2

2.2.1单片机模块............................................................2

2.2.2电源模块方案..........................................................3

2.2.3方向传感器模块方案....................................................3

2.2.4速度传感器模块方案....................................................5

2.2.5电机驱动模块方案.....................................................6

2.3控制算法方案概述............................................................7

2.3.1总体方案.............................................................7

2.3.2方向控制算法选择.....................................................7

2.3.3速度控制算法选择.....................................................8

第三章智能车机械结构介绍与调整...........................10

3.1前轮调整和舵机安装.....................................................10

3.1.1前轮调整.............................................................10

3.1.2舵机安装............................................................11

3.2车体重心调整............................................................12

3.3传感器安装...............................................................12

3.4主控电路板安装结构......................................................13

第四章系统硬件电路设计....................................15

4.1单片机模块...............................................................15

4.2电源管理模块............................................................16

4.3传感器模块..............................................................16

4.4电机驱动模块.............................................................17

4.5车速及里程计数模块......................................................18

4.6主控板模块...............................................................18

第五章系统软件设计.........................................20

5.1模块设计.................................................................20

5.1.1系统时钟模块.........................................................20

第一节全国大学生智能汽车邀请赛技术报告

5.1.2普通I/O模块.........................................................21

5.1.3中断模块............................................................21

5.1.4AD模块..............................................................22

5.1.5PWM模块..............................................................23

5.1.6ECT模块..............................................................24

5.2位置传感器信号采集及黑线位置提取.....................................25

5.3起跑线识别与停车.........................................................25

5.4方向控制............................................................-26

5.4.1方向控制整体结构....................................................26

5.4.2赛道信息有效性判断...................................................27

5.4.3弯道直道判断.........................................................27

5.4.4转向控制.............................................................28

5.4.5PID控制在方向控制中的实现.......................................28

5.5速度控制...............................................................29

5.5.1速度控制整体结构....................................................29

5.5.2PID控制在速度控制中的实现.........................................29

第六章系统开发与调试......................................31

6.1调试....................................................................31

6.2模型车技术参数统计.......................................................33

第七章总结..................................................34

参考文献.....................................................35

附录A:源程序..............................................36

附录B:原理图..............................................160

4

附录A程序代码

附录A：程序代码

，*«*************..*.*************....*****************.......

;*Thisstationeryservesastheframeworkfora*

;*userapplication(singlefile,absoluteassemblyapplication)*

;*Foramorecomprehensiveprogramthat*

;*demonstratesthemoreadvancedfunctionalityofthis*

;*processor,pleaseseethedemonstrationapplications*

;*locatedintheexamplessubdirectoryofthe*

;*FreescaleCodeWarriorfortheHC12Programdirectory*

,****************************************

;exportsymbols

XDEFEntry;export'Entry1symbol

ABSENTRYEntry;forabsoluteassembly:markthisasapplicationentry

point

;includederivativespecificmacros

INCLUDE,mc9sl2dg128.inc,

Key_numbOEQUO

Key_numblEQU1

Key_numb2EQU2

Key_numb3EQU3

KeyModeEQU2

KeyOKEQU3

第一节全国大学生智能汽车邀请赛技术报告

KeyADDEQUO

KeySUBEQU1

Non_keyEQU$FF

TurnLeftEQU$FF

TumRightEQU$00

LeftoverEQU$F0

RightOverEQU$0F

CenterEQU$0

Resistance1_AddressEQU$50

Resistance2_AddressEQU$51

Resistance3_AddressEQU$52

Resistance4_AddressEQU$53

ROMStartEQU$4000;absoluteaddresstoplacemycode/constantdata

SENSOR1_MAX」NITEQU$400

SENSORl.MINJNITEQU$401

SENSOR2_MAXJNITEQU$402

SENSOR2_MIN_INITEQU$403

SENSOR3_MAX_INITEQU$404

SENSOR3_MINJNITEQU$405

SENSOR4_MAX」NITEQU$406

6

附录A程序代码

SENSOR4_MIN_INITEQU$407

SENSOR5_MAX_INITEQU$408

SENSOR5_MIN_INITEQU$409

SENSOR6_MAX_INITEQU$40A

SENSOR6_MIN」NITEQU$40B

SENSOR7_MAX_INITEQU$40C

SENSOR7_MIN_INITEQU$40D

SENSOR8_MAXJNITEQU$40E

SENSOR8_MIN_INITEQU$40F

SENSOR9_MAX」NITEQU$410

SENSOR9_MIN_INITEQU$411

SENSOR10_MAXJNITEQU$412

SENSOR10_MIN_INITEQU$413

SENSOR11_MAXJNITEQU$414

SENSOR11_MINJNITEQU$415

SENSOR12_MAX_INITEQU$416

SENSOR12_MIN_INITEQU$417

SENSOR13_MAX_INITEQU$418

SENSOR13_MINJNITEQU$419

SENSOR14_MAX_INITEQU$41A

SENSOR14.MINJNITEQU$41B

SENSOR1EQU$2000

第一节全国大学生智能汽车邀请赛技术报告

SENSOR2EQU$2002

SENSOR3EQU$2004

SENSOR4EQU$2006

SENSOR5EQU$2008

SENSOR6EQU$200A

SENSOR7EQU$200C

SENSOR8EQU$200E

SENSOR9EQU$2010

SENSOR10EQU$2012

SENSOR11EQU$2014

SENSOR12EQU$2016

SENSOR13EQU$2018

SENSOR14EQU$201A

SENSOR1_MAXEQU$20IC

SENSOR1_MINEQU$20ID

SENSOR2_MAXEQU$20IE

SENSOR2_MINEQU$20IF

SENSOR3_MAXEQU$2020

SENSOR3_MINEQU$2021

SENSOR4_MAXEQU$2022

SENSOR4.MINEQU$2023

SENSOR5_MAXEQU$2024

SENSOR5_MINEQU$2025

SENSOR6.MAXEQU$2026

SENSOR6_MINEQU$2027

SENSOR7_MAXEQU$2028

8

附录A程序代码

SENSOR7_MINEQU$2029

SENSOR8_MAXEQU$202A

SENSOR8_MINEQU$202B

SENSOR9.MAXEQU$202C

SENSOR9_MINEQU$202D

SENSOR10_MAXEQU$202E

SENSOR10_MINEQU$202F

SENSOR11_MAXEQU$2030

SENSOR11_MINEQU$2031

SENSOR12_MAXEQU$2032

SENSOR12.MINEQU$2033

SENSOR13_MAXEQU$2034

SENSOR13_MINEQU$2035

SENSOR14_MAXEQU$2036

SENSOR14_MINEQU$2037

SPEED_NOWEQU$2038

ADDR_NUMB_BUF1EQU$2039

ADDR_NUMB_BUF2EQU$203A

ADDR.NUMB1EQU$203B

ADDR_NUMB2EQU$203C

ABSOLUTE_ADDR1EQU$203D

ABSOLUTE_ADDRLLEQU$203E

ABSOLUTE_ADDR2EQU$203F

ABSOLUTE_ADDR2_LEQU$2040

第一节全国大学生智能汽车邀请赛技术报告

LOCATION_1EQU$203E

LOCATION_2EQU$2040

VALUE_BUFEQU$2041

DIVISOREQU$2042

Key_numbEQU$2043

KEYCODEEQU$2043

FLAG_NEWEQU$2044;新采样值标志位

FLAG_AD_LOOPEQU$2045

FLAG_AD_NUMBEQU$2046

.********WYDDEFINE****************

TimerCounterEQU$2100

TimerCGQ_ONEQU$2101

TimerADEQU$2102

DispBufEQU$2103；0-7

TimerOverEQU$2104

LeftLimitl_lEQU$2105

RightLimitl_lEQU$2106

LeftLimit2_lEQU$2107

RightLimit2_lEQU$2108

LeftLimitl_2EQU$2109

RightLimitl_2EQU$210A

LeftLimit2__2EQU$21OB

RightLimit2_2EQU$210C

LeftLimitMaxEQU$210D

10

附录A程序代码

RightLimitMaxEQU$210E

Speed_PEQU$21OF

AngleLimit.LeftEQU$2110

AngleLimit_RightEQU$2111

FLAG_FIND_STARTEQU$2112

FLAG_START_DELAYEQU$2113

START_DELAYEQU$2114

LOOP_NUMBEQU$2115

*********WYDDEFINE****************

ORG$2200

PID_PDS.W1

PIDJDS.W1

PID_DDS.W1

BACKUP_Detect_D_HDS.W1

SUM_GDS.W1

CONTROL_NEWDS.W1

Detect_D_HDS.B1

Detect_DDS.B1

Difference_DDS.B1

D_OUTDS.B1

T_ignoreDS.B1

MaxLimitDS.B1

CONTROL.PDS.B1

MaxjeftDS.B1

Min_rightDS.B1

Flag_ODS.B1

第一节全国大学生智能汽车邀请赛技术报告

DJimitDS.B1

TURN_FLAGDS.B1

LOCATION_DIFDS.B1

LOCATION_LIMITDS.B1

BACKUP_Difference_DDS.B1

*********zfDEFINE****************

BACK_KEYSTATEDS.B1

KEYSTATEDS.B1

KeylntFlagDS.B1

JncStateDS.B1；角度增量状态

LOCATION_SEG1DS.B1

LOCATION.SEG2DS.B1

CONTROL_ANGLEDS.W1

CHANGE_ANG_MAXDS.W1

BUF_1DS.B1

BUF_2DS.B1

LOCATION_ANGLEDS.B1

FLAG_LOCATION_RIGHTDS.B1

LOCATION_ANGLE_MAXDS.B1

ANGLE_DELAYDS.B1

StartFlagDS.B1

LOCATION_CENTERDS.B1

StopCounterDS.B1

;LED1.POINTDS.B1

;LED2_POINTDS.B1

SPEED_FLAGDS.B1

12

附录A程序代码

Speed_P2DS.B1

STOP_1DS.B1

STOP_2DS.B1

FLAG_STARTDS.B1

BLACK_TOTAL_BUFDS.B1

FLAG_FIND_MAXDS.B1

DEVICE_ADDRESSDS.B1

COMMANDDS.B1

RD_DATADS.B1

WR_DATADS.B1

IIC_NUMB_BUFDS.B1

FLAGJNCDECDS.B1

NUMB_BUFDS.W1

ADDRESS_BUFDS.B1

PLOT.NUMBDS.B1

FLAG_ADJUST_PLUSDS.B1

RIGHT_2EQUO

RIGHT_1EQU1

CENTEREQU2

LEFT_1EQU3

LEFT_2EQU4

StartENEQU$FF

,********

zfDEFINE****************

第一节全国大学生智能汽车邀请赛技术报告

ORGROMStart

Entry:

MOVB#$20,INITRM

NOP

LDS#RAMEnd;initializethestackpointer

CALLInitCPU

CALLInitPara

CALLROM_TO_WCR

;CALLCESHI_PARA

;JMPCOMPUTE_ABSOLUTE_ADDR_PROCESS

;JMPHAND2

；键控管理：开机时允许进行各种参数修改

CALLTumON_RED

KeyControlMain:

LDAAStartFlag

CMPA#StartEN

BEQMain

CALLTest_key_numb

LDAAKey_numb

CMPA#Non_key

BEQKeyControlMain

CALLKEYDEAL

BRAKeyControlMain

14

附录A程序代码

Main:

CALLInit_pwmout

Main_Wait:CALLTest_key_numb

LDAAKey_numb

CMPA#Non_key

BEQMain_Wait

CALLSPEED_CHANGE

CALLStart_speed

;CLI

Main_LPl:

;LDAATimerOver

;CMPA#$FF

;BNEMain_LPl

;MOVB#0,TimerOver

CALLREAD_AD

;CALLTurnOFF_CGQ

CALLUnify_sensor_value

;CALLFind_Start

CALLTranslate_location

LDAAFLAG_FIND_START

CMPA#$FF

BEQMain_LP2

CALLFind_black

BRAMain_LP3

Main_LP2:CALLFind_blackl

第一节全国大学生智能汽车邀请赛技术报告

Main_LP3:

CALLCOMPUTE_ABSOLUTE_ADDR

CALLCOMPUTE_ABSOLUTE_ADDR_PROCESS

LDABLOCATION.1

CALLResult_display

CALLDELAY_ls

CALLDELAY_ls

CALLDELAY.ls

;CALLHAND

CALLHAND2

CALLFOOT

BRAMain_LPl

;CALLTest__key_numb

;LDAAKey_numb

;CMPA#Non_key

;BEQMain_LPl

;MOVB#O,StartFlag

;JMPKeyControlMain

HAND2:

;CALLTESTJNITPARA

CALLLOCATION_D;Detect_D=角度(-66-0-66)

CALLLOCATION_GENERATE_ANGLE

MOVB#-12,Max_left

MOVB#+12,Min_right

16

附录A程序代码

LDABLOCATION_ANGLE

CALLLIMIT_NOT

LDAAFlag_O

CMPA#Center

BEQHAND2_LP2

;LDAATimerCounter

;CMPAANGLE_DELAY

;BNEHAND2_LP3

;MOVB#0,TimerCounter

LDABDifference_D

SUBBBACKUP_Difference_D

MOVB#-16,MaxJeft

MOVB#+16,Min_right

CALLLIMIT_NOT

LDAAFlag_O

CMPA#Center

BNEHAND2_LP3

CALLTURN_ANGLE

MOVBDifference_D,BACKUP_Difference_D

CALLInitRoundLimitPara

CALLTURN_SUBF2

CALLCONTROL_PID

BRAHAND2_LP3

HAND2_LP2:

CALLTURN__SUBF;OUTPUT:D_OUT

CALLInitLineLimitPara

CALLTURN.SUBF

HAND2_LP3:

CALLCHANGE_ang

第一节全国大学生智能汽车邀请赛技术报告

MOVBDifference_D,BACKUP_Difference_D

;CALLTURN_SUBF

LDABCONTROL_NEW

ADDBLOCATION.ANGLE

ADDBD.OUT

BVCHAND2_LP4

LDABD_OUT

CMPB#0

BGEHAND2_LP5

LDAB#-66

BRAHAND2.LP8

HAND2_LP5:LDAB#66

BRAHAND2_LP8

HAND2_LP4:

ADDBCONTROL_P

BVCHAND2_LP8

LDABD_OUT

CMPB#0

BGEHAND2_LP7

LDAB#-66

BRAHAND2_LP8

HAND2_LP7:LDAB#66

BRAHAND2.LP8

HAND2_LP8:

CALLGet_ang;INPUT:B输出转弯角度

18

附录A程序代码

;JMPHAND2_LP2

RTC

；执行转向控制

;INPUT:LOCATION」,LOCATION_2,CONTROL_P=(正值右转)

HAND:

;CALLTEST_INITPARA

CALLLOCATION.D;Detect_D=角度(-66-0-66)

CALLLOCATION_GENERATE_ANGLE

MOVB#-12,Max_left

MOVB#+12,Min_right

LDABLOCATION_ANGLE

CALLLIMIT_NOT

LDAAFlag_O

CMPA#Center

BNEHAND_LP2

；直线处理：依据黑线位置进行调整，将黑线调整到中心

;MOVB#0,D_OUT

CALLInitLineLimitPara

;CALLInitRoundLimitPara

;CALLCHANGE_ang

BRAHAND_LP2_LP2

HAND_LP2:;弯道处理

CALLInitRoundLimitPara

BRAHANDLP3

第一节全国大学生智能汽车邀请赛技术报告

HAND_LP2_LP2:MOVB#-30,MaxJeft

MOVB#+3O,Min_right

LDABDetect_D

CALLLIMIT_NOT

LDAAFlag_O

CMPA#Center

BNEHAND_LP2_LP3

；直线处理：依据黑线位置进行调整，将黑线调整到中心

;MOVB#0,D_OUT

;CALLInitLineLimitPara

;CALLInitRoundLimitPara

;CALLCHANGE_ang

BRAHAND.LP3

HAND_LP2_LP3:CALLInitRoundLimitPara

HAND.LP3:CALLCHANGE_ang

CALLTURN_SUBF;OUTPUT:D_OUT

;CALLTURN_ANGLE

LDABD_OUT

ADDBLOCATION_ANGLE

ADDBCONTROL.P

CALLGet_ang;INPUT:B输出转弯角度

RTC

TEST_INITPARA:

MOVB#105+20,LOCATION.1

20

附录A程序代码

MOVB#105+0,LOCATION_2

MOVB#0,D_OUT

MOVB#0,CONTROL_P

MOVB#O,Speed_P

MOVB#O,Detect_D

RTC

；执行速度控制

FOOT:

LDAASPEED_FLAG

CMPA#0

BEQFOOT_LP1

CALLControlSpeed1

BRAFOOT_LP2

FOOT_LP1:

CALLControlSpeed

FOOT_LP2:CALLSPEED_CHANGE

CALLStopCarControl

RTC

;停车控制：如果第一、二排数据均无效，停车。

StopCarControl:

LDX#SENSOR1

INX

MOVB#14,FLAG_AD_NUMB

StopCarControl_loop:

LDAB,X

第一节全国大学生智能汽车邀请赛技术报告

CMPB#$FF

BNEStopCarControl_LP1

INX

INX

DECFLAG_AD_NUMB

BNEStopCarControl_loop

INCStopCounter

LDAAStopCounter

CMPA#200

BLSStopCarControl_RET

MOVB#0,PWMDTY7

StopCarControl_WAIT:CALLTest_key_numb;按任意键

退出

LDAAKey_numb

CMPA#Non_key

BEQStopCarControl_WAIT

CALLSPEED_CHANGE

StopCarControl_LP1:MOVB#0,StopCounter

StopCai-Control_RET:

RTC

，一-一-一-一一一--***********•••***

，*****************51s**************'**************55s**************

;*位置转换成控制角度*

产入口参数：LOCATION_1,LOCATION_2

；*出口参数：CONTROL_ANGLE产生的控制角度16位输出

22

附录A程序代码

LOCATION_TO_CONTROL:LDAALOCATION.1

CMPARightLimitl_2

BHSLOCATION_TO_CONTROL_LP1

MOVB#RIGHT_2,LOCATION_SEG1

BRA

LOCATION_TO_CONTROL_SECOND_ROW

LOCATION_TO_CONTROL_LP1:CMPARightLimitl_l

BHSLOCATION_TO_CONTROL_LP2

MOVB#RIGHT_1,LOCATION_SEG1

BRALOCATION_TO_CONTROL_SECOND_ROW

LOCATION_TO_CONTROL_LP2:CMPALeftLimitl_l

BHSLOCATION_TO_CONTROL_LP3

MOVB#CENTER,LOCATION_SEG1

BRALOCATION_TO_CONTROL_SECOND_ROW

LOCATION_TO_CONTROL_LP3:CMPALeftLimitl_2

BHSLOCATION_TO_CONTROL_LP4

MOVB

#LEFT_1,LOCATION_SEG1

BRA

LOCATION_TO_CONTROL_SECOND_ROW

LOCATION_TO_CONTROL_LP4:MOVB#LEFT_2,LOCATION_SEG1

LOCATION_TO_CONTROL_SECOND_ROW:LDAALOCATION_2

CMPARightLimit2_2

第一节全国大学生智能汽车邀请赛技术报告

BHSLOCATION_TO_CONTROL_LP1_2

MOVB#RIGHT_2,LOCATION_SEG2

BRA

LOCATION_TO_CONTROL_NEXT

LOCATION_TO_CONTROL_LP1_2CMPARightLimit2_l

BHSLOCATION_TO_CONTROL_LP2_2

MOVB#RIGHT_1,LOCATION_SEG2

BRALOCATION_TO_CONTROL_NEXT

LOCATION_TO_CONTROL_LP2_2:CMPALeftLimit2_l

BHSLOCATION_TO_CONTROL_LP3_2

MOVB#CENTER,LOCATION_SEG2

BRALOCATION_TO_CONTROL_NEXT

LOCATION_TO_CONTROL_LP3_2:CMPALeftLimit2_2

BHSLOCATION_TO_CONTROL_LP4_2

MOVB

#LEFT_1,LOCATION_SEG2

BRA

LOCATION_TO_CONTROL_NEXT

LOCATION_TO_CONTROL_LP4_2:MOVB#LEFT_2,LOCATION_SEG2

LOCATION_TO_CONTROL_NEXT:LDX#TAB_CONTROL_ANGLE

LDABLOCATION_SEG1

LDAA#10

MUL

STABLOCATION_SEG1

24

附录A程序代码

XGDX

ADDBLOCATION_SEG1

BCCLOCATION_TO_CONTROL_NEXT_LP1

INCA

LOCATION_TO_CONTROL_NEXT_LP1:XGDX

LDABLOCATION_SEG2

LSLB

LDDB,X

STDCONTROL.ANGLE

RTC

,**********************************************

；角度调整控制参数表

TAB_CONTROL_ANGLEEQU*

;FDB

80,85,90,95,100,30,40,50,60,70,-10,-10,0,10,10,-70,-60,-50,-40,-30,-100,-95,-90,-85,-80

FDB

80,85,90,95,100,60,70,75,75,75,-10,-10,0,10,10,-75,-75,-75,-70,-60,-100,-95,-90,-85,-80

;7.3FDB

80,85,90,95』00,60,70,80,90,100,-10,-10,0,10,10,-100,-90,-80,-70,-60,-100,-95,-90,-85,-80

；角度调整：通过黑线位置确定调整角度

;OUTPUT:CONTROL.P

CHANGE_ang:

CALLLOCATIONTOCONTROL

第一节全国大学生智能汽车邀请赛技术报告

LDDCONTROL-ANGLE

LDYCHANGE_ANG_MAX

EMULS

LDX#100

EDIVS

XGDY

STABCONTROL_P

RTC

；初始化直线限制参数

InitLineLimitPara:

MOVB#105+40,LeftLimitl_l

MOVB#105-40,RightLimitl.l

MOVB#105+60,LeftLimitl_2

MOVB#105-60,RightLimitl_2

MOVB#105+10,LeftLimit2_l

MOVB#105-10,RightLimit2_l

MOVB#105+30,LeftLimit2_2

MOVB#105-30,RightLimit2_2

MOVW#10,CHANGE_ANG_MAX

RTC

;初始化弯道限制参数

InitRoundLimitPara:

MOVB#105+30,LeftLimitl.l

MOVB#105-30,RightLim