飞思卡尔智能车初步调试程序，其中包括采集，处理，pid算法等函数。它不包括程序所用到的寄存器的说明头文件。最小系统板为飞思卡尔52255，寄存器使用可参照芯片手册。-Freescale Smart Car preliminary test program, including acquisition, processing, pid algorithm function. It does not include a descr iption of the procedures used to r