S9KEAZ128AMLK双车协同模式下主电磁导引车控制系统软件设计
关键词 双车协同 电磁导引 智能车 软件设计
毕业设计说明书外文摘要
Title Design and Implementation of Intelligent Vehicle for the Tenth Freescale Cup--The Main car’s Software
Design of the Electromagnetic Guided Vehicle Control
System Under Two-Car Companion Mode
Abstract
The main car’s software design of the electromagnetic guided vehicle control system under two-car companion mode, which is based on the new 32-bit MCU S9KEAZ128AMLK, is designed and completed according to the Intelligent Vehicle Competition for the Tenth Freescale Cup’s rules. The overall software design of the main car is presented. In order to make the software run reliable, the task of the software design can be solved by means of module design. Then, the whole system is pided into nine modules，including the basic module, the interrupt controller module, the AD sampling module, the ultrasonic ranging module, the PWM drive module, the timer interrupt module, the HCI module, the Bluetooth module and the main function modules. Then, all modules are described in detail. Also, the debugging of all sub modules and the whole system is completed. The test results show that the software design of the control system meets all the requirements of the competition.
Keywords two-car companion electromagnetic guided intelligent vehicle software design
目 次
1 引言 1
1.1 课题研究背景 1
1.2 国内外智能汽车发展现状 1
1.3 “飞思卡尔”杯智能汽车竞赛简介 2
1.4 本文主要研究内容 2
2 双车协同模式下主电磁导引车控制系统总体设计 4
2.1 系统需求分析 4
2.2 系统总体组成结构 5
2.3 系统控制原理简介 6
2.4 本章小结 7
3 双车协同模式下主电磁导引车控制系统主要硬件介绍 8
3.1 S9KEAZ128AMLK简介 8
3.2 电机简介 8
3.3 舵机简介 9
3.4 超声波简介 9
3.5 其他硬件简介 10
3.6 硬件资源配置 10
3.7 本章小结 11
4 双车协同模式下主电磁导引车控制系统软件设计 12
4.1 软件总体架构设计 12
4.2 基础模块设计 14
4.3 中断控制模块设计 18
4.4 AD采样模块设计 19
4.5 超声波测距模块设计 21
4.6 PWM驱动模块设计 23
4.7 定时中断模块设计 24
4.8 人机交互模块设计 25
4.9 蓝牙通信模块设计 27