includes.h

使用MC9S12DG128芯片

#pragma LINK_INFO DERIVATIVE "mc9s12dg128b"
/******************************************************************************
  includes.h
  ConElectroDesign 项目主头文件
******************************************************************************/

#include <hidef.h>
#include <mc9s12dg128.h> 

/******************************************************************************
  优化和调试选项
******************************************************************************/


/******************************************************************************
  数据类型定义
******************************************************************************/
typedef unsigned char   INT8U;
typedef signed char     INT8S;
typedef unsigned short  INT16U;
typedef signed short    INT16S;
typedef unsigned long   INT32U;
typedef signed long     INT32S;

#define UB  INT8U
#define SB  INT8S
#define UW  INT16U
#define SW  INT16S

#define ISR __interrupt void

/******************************************************************************
  常用常量
*******************************************************************************/
#define FALSE   0
#define TRUE    1

#define ON 1
#define OFF 0 

#define CarBack 1
#define CarFront 0

#define Front 1     //前进
#define Back  0     //后退

#define Enter 0x0F   //菜单
#define Exit  0x0E
#define reset 0x0D
#define Up 0x0B      
#define Down 0x0A

#define  _NOP_ { _asm nop;}

#define Channel0 0x00
/*******************************************************************************
  各模块头文件
*******************************************************************************/
#include "LCD.h"
#include "Key.h"
#include "PWM.h"
#include "AD.h"
#include "ECT.h"
#include "SCA61T.h"
#include "Motor.h"
#include "ServoMotor.h"
#include "Motor.h"
#include "freescaleCar.h"
#include "pll.h"
#include "Time.h"
#include "distance.h"
#include "Redrey.h"
#include "Hyj.h"
#include "Ls.h"



/*******************************************************************************
  常用宏
*******************************************************************************/
#define FOREVER()		for(;;)

// 字节取反
#define REV_BYTE(x)		{x = ~ (x);}

#define HAVE_AN_ERROR()    {DDRB = 0xFF;PORTB = 0xAA;FOREVER();}

#define WheelGirth  168/18
/********************************************************************************
定意全局变量
********************************************************************************/

extern INT8U  ValueKey;

extern INT8U  KeyFlag;

extern void(*Key_Func[16])(void); 

extern INT32U  TimeLevel;

extern INT32U  CarDistance;  //表示小车所有行驶的距离，用脉冲数表示

extern INT16U CurrentTime;   //表示所用时间

extern INT16U TimeCount3;    //4表示0.01s 定时所要的时间

extern INT8U  AngleFlag;     //定时采取AD角度值

extern INT32S  CarLocation;  //表示小车所在的位置

extern INT8U  MDirect;    //表示小车正在行走的方向

extern INT16U BalanceAngle;

extern INT8U  BalanceFlag;



extern INT8U  CarStop;