main.h

第三届飞思卡尔智能车竞赛华东赛一等奖的程序

#include <mc9s12dg128.h> 
#include <hidef.h>
#include "server.h"
#include "motor.h"
#include "utile.h"
#include "CCD.h"
#include "speed.h"

#define null 0xFFFE

int angle_ref;
int speed_ref;
void main(void);
void main_init(void);
void Global_Init(void);
interrupt void default_null(void);

#pragma CONST_SEG VECTORS
void (* const vector_table[])()={
	default_null,//null,		    // $FF8C:8D PWM Emergency Shutdown 
		default_null,//null,		    // $FF8E:8F Port P Interrupt
		default_null,//null,		    // $FF90:91 MSCAN 4 transmit
		default_null,//null,		    // $FF92:93 MSCAN 4 receive 
		default_null,//null,		    // $FF94:95 MSCAN 4 errors
		default_null,//null,		    // $FF96:97 MSCAN 4 wake- up
		default_null,//null,		    // $FF98:99 MSCAN 3 transmit
		default_null,//null,		    // $FF9A:9B MSCAN 3 receive
		default_null,//null,	    	// $FF9C:9D MSCAN 3 errors
		default_null,//null,		    // $FF9E:9F MSCAN 3 wake- p 
		default_null,//null,	    	// $FFA0:A1 MSCAN 2 transmit 
		default_null,//null,	    	// $FFA2:A3 MSCAN 2 receive
		default_null,//null,	    	// $FFA4:A5 MSCAN 2 errors
		default_null,//null,	    	// $FFA6:A7 MSCAN 2 wake-up
		default_null,//null,	    	// $FFA8:A9 MSCAN 1 transmit
		default_null,//null,	    	// $FFAA:AB MSCAN 1 receive 
		default_null,//null,	    	// $FFAC:AD MSCAN 1 errors
		default_null,//null,	    	// $FFAE:AF MSCAN 1 wake-up 
		default_null,//null,	    	// $FFB0:B1 MSCAN 0 transmit 
		default_null,//null,	    	// $FFB2:B3 MSCAN 0 receive
		default_null,//null,	    	// $FFB4:B5 MSCAN 0 errors 
		default_null,//null,	    	// $FFB6:B7 MSCAN 0 wake-up
		default_null,//null,	    	// $FFB8:B9 FLASH 
		default_null,//null,	    	// $FFBA:BB EEPROM 
		default_null,//null,	    	// $FFBC:BD SPI2 
		default_null,//null,	    	// $FFBE:BF SPI1
		default_null,//null,	    	// $FFC0:C1 IIC Bus 
		default_null,//null,	    	// $FFC2:C3 DLC 
		default_null,//null,	    	// $FFC4:C5 SCME 
		default_null,//null,	    	// $FFC6:C7 CRG lock 
		default_null,//null,	    	// $FFC8:C9 Pulse Accumulator B Overflow 
		default_null,//null,	    	// $FFCA:CB Modulus Down Counter underflow 
		default_null,//null,       // $FFCC:CD Port H
	PJ_ISR,     // $FFCE:CF Port J 
		default_null,//null,	    	// $FFD0:D1 ATD1
		default_null,//null,	    	// $FFD2:D3 ATD0
		default_null,//null,		    // $FFD4:D5 SCI1
		default_null,//null,		    // $FFD6:D7 SCI0 
		default_null,//null,		    // $FFD8:D9 SPI0 
		default_null,//null,       // $FFDA:DB Pulse accumulator input edge
  	default_null,//null,       // $FFDC:DD Pulse accumulator A overflow 
  Timer_Overflow,   // $FFDE:DF Timer overflow
		default_null,//null,		    // $FFE0:E1 Timer channel 7
		default_null,//null,		    // $FFE2:E3 Timer channel 6
		default_null,//null,		    // $FFE4:E5 Timer channel 5
		default_null,//null,		    // $FFE6:E7 Timer channel 4
		default_null,//null,		    // $FFE8:E9 Timer channel 3
		default_null,//null,  // $FFEA:EB Timer channel 2
  PT1_ISR,    // $FFEC:ED Timer channel 1
	CCD_field_ISR,// $FFEE:EF Timer channel 0
		default_null,//null,       // $FFF0:F1 Real Time Interrupt
	CCD_line_ISR,// $FFF2:F3 IRQ 
		default_null,//null,		    // $FFF4:F5 XIRQ
		default_null,//null,		    // $FFF6:F7 SWI
		default_null,//null,		    // $FFF8:F9 Unimplemented instruction trap 
		default_null,//null,		    // $FFFA:FB COP failure reset
	default_null,//	null,		    // $FFFC:FD Clock Monitor fail reset 
  main,       // $FFFE:FF Reset
};
#pragma CONST_SEG DEFAULT