【正文】 的指導和細致的論文審閱工作。感謝俊生對該論文的指導。老師深厚的專業(yè)知識、認真的研究作風給予我很多的激勵和啟發(fā)。在此，感謝實習單位給予的試驗項目的支持，感謝他們對我的支持與幫助。感謝同學對我的幫助，同時謝謝所有關心、幫助我的老師，同學，同事，朋友。沒有他們，我是無法順利完成這次設計任務的。附錄A 噴油控制器源程序ifdef_C196_ /*中斷服務程序*/endifinclude include SFR_H_include _FUNCS_H_pragma interrupt(receive=28,transmit=27) /*初始化*/ifdefEVAL_BOARD /*變量定義*/char reserve[9]。pragma locate(reserve=0x30)elseconst unsigned int ccr[2]={0x20FF，0x20DE}:pragma locate (ccr=0x2018)endifdefme WINDOW_SELECT OxlF /*宏定義defme FREQUENCY 16000000L /*16MHz*/define BAUD_RATE_VALUE 9600define BAUD_REG ((unsignedint)(FREQUENCY/((long)BAUD_RATE_VALUE* 16)1 )+0x8000)defme RI BIT 0x40define TI BIT 0x20define CCB 0x14define TOCO 0x15 /*0x05*/defme IOC1 0x16 /*0x74*/define INTMASK 0x08 /*0x6F*/define INTPENDING 0x097 /*0x00*/defme HSIMODE 0x02unsigned char status_temp。define TRANSMIT_BUF_SIZE 20unsigned char trans一buff[TRANSMIT_BUF_SIZE]。 /*棧緩沖區(qū)定義*/char begin_trans_buff。char end_trans_buff。define RECEIVE_BUF_SIZE 20unsigned char receive_buff[RECEIVE_BUF_SIZE]。char end_ rec_buff。char begin_rec_buff。define RECEIVE_BUF_SIZE 20unsigned char receive_buff[RECEIVE_BUF_SIZE]。char end _ rec _ buff。char begin_rec_buff。void transmit(void) /*通訊*/{ /*發(fā)送程序*/wsr=0。 status_temp !=sp_stat。 /*緩沖區(qū)定義*/if (begin_trans_buff !=end_trans_buff) /*通訊協(xié)議定義*/{sbuf=trans_buff[begin_trans_buff]。if(++begin_trans_bufP=TRANSMIT_BUF_SIZE)begin_trans_buff=0。status_tempamp。=RI_BIT。}}void receive(void) /*接收程序*/{ /*緩沖區(qū)定義*/wsr=0。statustemp!=sp_stat。if((end_rec_buff+1 ==begin_rec_buff)(end_rec_buff^=RECEIVE_BUFF_SIZE1 amp。amp。begin_rec_buff^=0)）{；}else{if(++end_rec_buff=RECIVE_BUF_SIZE) /*儲存接收變量*/end_rec_buff=0。receive_buflf[end_rec_buf]f]=sbuf。status_tempamp。=RI_BIT。}int putch(int c) /*信號輸出*/{while ((end_trans_buff+1 =begin_trans_buff)while ((end一trans一buff+1 =begin一trans一buff)(end一 trans_buff==TRANSMIT一 BUF_SIZE1 amp。amp。begin_trans_buff==0)) /*循環(huán)*/trans_buff[end_trans_buff]=c。if(++end_trans_buff=TRANSMIT_BUF_SIZE)end_trans_buff=0。if(status_tempamp。TI_BIT)int_pendl !=0x01。return c。int getch(void) /* 信號釆集 */while(begin_rec_buft==end_rec_buff)。if(++begin_rec_buff^=RECEIVE_BUF_SIZE)begin_ rec_buff=0。return receive_buff[begin_rec_buff]。while (begin rec_buff==end_rec buff)。if(++begin_rec_buff=RECEIVE_BUF_SIZE)begin_ recbuff=0。return receive_buff[begin_rec_buff]。while(begin_rec_buff==end_rec_buff)。if(++begin_rec_bufE=RECEIVE_BUF_SIZE)begin_rec_buff=0。return receive_ buff[begin_ rec _ buff]。void init_serial_port(void) /*初始化串口{unsigned char save_wsr=wsr。wsr=0。baud_rate=((unsigned char)BAUD_REG)。baud_rate=((unsigned char)(BAUD_REG187。8))。sp_con=0x09。status_temp=sp_stat! TI_BIT。end_ rec_buff =0。begin_rec_buff =0。end_trans_buff =0。begin_trans_buff=0。int_mask 1=0x03:enable()。wsr=save_wsr。}pragma interrupt(EPAx_isr=0) /*信號中斷*/voidEPAxisr(void) /*中斷源程序{register int int_no。register int *ip=amp。int_no。register int tmpO。register int tmp 1。int_no=epaipv。switch (int_no){case 1:return。case 2:return。case 3:return。case 4:return。default:return。}/*定義外部函數(shù)*/extern void enable_led(void)。 /*使能led*/extern void set_led(unsigned char)。 /*設置led*/extern unsigned char get_tlcontrol(void)。 /*獲取信號釆集控制變量*/extern void set_tlcontrol(unsigned char)。 /*設置信號采集控制變量*/extern unsigned int get_timerl(void)。 /*獲取單片機時鐘源信號*/extern unsigned char get_t2control(void)。 /*獲取單片機時鐘源變量*/extern void set_t2control(unsigned char)。extern unsigned int get_timer2(void)。void TIMEn(void) /*時鐘函數(shù)*/unsigned int i。int j；enable_led()。set_t2control(0xB0)。set_tlcontrol(0x82)。while(((i=get_timerl ())amp。0x8000))while( !((i=get_time 1 ())amp。0x8000))while((( i=get_time 1 ())amp。0x8000))set_led(i187。3)。pragma windowram(0x 1 000x 17F)typedef struct_wheel_struct /*定義wheel_stract 結(jié)構(gòu)*/{ int nflags。int oflags。} WheelS truct。_reg WheelStruct Wheel_LF。 _reg WheelStruct WheelRF?！猺eg WheelStruct Wheel_LR。_reg WheelStruct Wheel_RR。void ProcessWheel(WheelStruct *_win Weel，int f) /*處理wheel信號*/Wheeloflags=Wheelnflags。Wheelnflags=f。void read(void) int flags。ProcessWheel(amp。Wheel_LF,flags)。ProcessWheel(amp。Wheel_RF?flags)。 ProcessWheel(amp。Wheel_LR,flags)。ProcessWheel(amp。Wheel_RR,flags)。void wait_ms(int x) /*等待函數(shù)*/for(i=x。i0。i)for(j=0。j178。j++)；}void ,main(void){CCB=0xEF /*主程序*/IOCO=0x05 /*初始化工作*/I0C1=0x74INTMASK=0x6FINTPENDING = 0x00OS_STK*OSTaskStkInit(void(*task)(void *pd)，void *pdata，0S_STK*ptos,INT16U opt){0S_STK *stk。opt =opt。stk =ptos。return (stk)。}if0S_SELF_EN0extern int const_OSFunctionAddr[]。extern int const_UsrFunctionAddr[]。endifvoid SWI_Exception(int SWI_Num,int *Regs){OS_TCB *ptcbswitch(SWI_Num){case 0x02。