global.h

这是一个飞思卡尔智能车比赛的一个完整的程序

///////////////////System////////////////////////////
extern uint  ExtOSSystemStart=0;
extern uint  ExtBatteryPower=7200;//4 v
extern uint  ExtPWMDTY23=0;
///////////////////OSTime////////////////////////////
extern uchar ExtOSTimeBase=0;
extern uchar ExtOSSecond=0;
extern uchar ExtOSMinute=0;
extern uchar ExtOSHour=0;
///////////////////Eeprom////////////////////////////
extern uint ExtEepromBuf[50]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
extern uint *ExtInP=&ExtEepromBuf[0];
extern uint *ExtSavP=&ExtEepromBuf[0];
///////////////////Speed////////////////////////////
extern uchar ExtSpeedSet=10;
///////////////////Menu//////////////////
extern uchar ExtNumTbl[]={"0123456789"};
extern uchar ExtMenu=8;
extern uchar ExtLcdPost=1;
extern uchar ExtLcdPosDis=0;
extern uchar ExtPosDis=0;
extern uchar ExtLcdCPUUsageDis=0;
extern uchar ExtOSCPUUsageDis=0;
extern uchar ExtLcdPWMDTY01Dis=1;
extern uchar ExtLcdPWMDTY23Dis=1;
extern uchar ExtLcdPWMDTY45Dis=1;
extern uint  ExtPWMDTY01Dis=0;
extern uint  ExtPWMDTY23Dis=0;
extern uint  ExtPWMDTY45Dis=0;
extern uchar ExtPWMDTY45=0;
////////////////////ccd////////////////////////     
extern uchar ExtPelsVal[20][36]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
                                 };
extern uint  ExtPACN32Dly[16]={33,28,22,25,19,17,17,21,16,11,12,9,9,10,11,0xffff};
extern uint  ExtPACN32DlyCnt=0;                                 
extern uchar ExtPels=0;
extern uchar ExtLines=0;
extern uint  ExtPelsValve=0;
extern uint  ExtPelsValveCnt=0;
/////////////////////Pos///////////////////////////////////////////////
extern char  ExtPosList[16][2]={0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
extern char  ExtPosListCnt=0;
extern char  ExtPos=17;
extern uint  Ext_X=0;
extern int   Ext_b2=0;
extern uint  ExtEepromSD;
extern uint  ExtPosValAccValve=0;
extern uint  ExtAccCnt=0;
extern uchar ExtPelsLostErr=1;
/////////////////////PID///////////////////////////////////////////////
extern uchar ExtPosSet=17;
extern uint  ExtPWM23Set=1700;
extern uint  ExtPk=22;
extern uint  ExtPd=20;
extern uint  ExtVset=4;
/**************************OSSystem**********************************/
#define TASK_STK_SIZE  260       
extern OS_STK TaskStartStk[50]={0,0};
extern OS_STK TaskPelsValveInitStk[TASK_STK_SIZE]={0,0};
extern OS_STK TaskLineStyleRecoStk[TASK_STK_SIZE]={0,0};
extern OS_STK TaskCCDInfoProStk[TASK_STK_SIZE]={0,0};
extern OS_STK TaskMakeLineStk[TASK_STK_SIZE]={0,0};
extern OS_STK TaskSteerPDCtrStk[TASK_STK_SIZE]={0,0};
extern OS_STK TaskSpeedCtrStk[320]={0,0};
extern OS_STK TaskEepromBufSavStk[TASK_STK_SIZE]={0,0};
extern OS_STK TaskInfoDisStk[TASK_STK_SIZE]={0,0};
extern OS_STK TaskPCComStk[TASK_STK_SIZE]={0,0};
/********************************************************************/
typedef struct 
        {
        uchar	Page;
        }TASKDATA;  
extern TASKDATA TaskStartData;
extern TASKDATA TaskPCComData;
extern TASKDATA TaskTaskEepromBufSavData;
extern TASKDATA TaskLineStyleRecoData;
extern TASKDATA TaskCCDInfoProData;
extern TASKDATA TaskInfoDisData;
extern TASKDATA TaskSteerPDCtrData;
extern TASKDATA TaskPelsValveInitData;
extern TASKDATA TaskMakeLineData;
extern TASKDATA TaskSpeedCtrData;
/********************************************************************/
extern OS_EVENT *SemSteerPDCtr;
extern OS_EVENT *SemCCDInfoPro;
extern OS_EVENT *SemLineStyle;
extern OS_EVENT *SemBeeLineStyle;
extern OS_EVENT *SemAcrossStyle;
extern OS_EVENT *SemPCCom;
extern OS_EVENT *SemEepromBufSav;
extern OS_EVENT *SemMakeLine;
extern INT8U err;
/********************************************************************/