Self-balancing vehicle can stand the program. Freescale XS128 microcontroller as the master chip.

4.11 修改过 可站立
..................\bin
..................\...\Project.abs
..................\...\Project.abs.glo
..................\...\Project.abs.s19
..................\...\Project.map
..................\cmd
..................\...\Full_Chip_Simulation_Postload.cmd
..................\...\Full_Chip_Simulation_Preload.cmd
..................\...\Full_Chip_Simulation_Reset.cmd
..................\...\Full_Chip_Simulation_SetCPU.cmd
..................\...\Full_Chip_Simulation_Startup.cmd
..................\...\TBDML_Erase_unsecure_hcs12xe.cmd
..................\...\TBDML_Postload.cmd
..................\...\TBDML_Preload.cmd
..................\...\TBDML_Reset.cmd
..................\...\TBDML_Startup.cmd
..................\...\TBDML_Vppoff.cmd
..................\...\TBDML_Vppon.cmd
..................\C_Layout.hwl
..................\Default.mem
..................\Full_Chip_Simulation.ini
..................\prm
..................\...\burner.bbl
..................\...\Project.prm
..................\Project_5_3.mcp
..................\Project_5_3_Data
..................\................\CWSettingsWindows.stg
..................\................\PC-lint
..................\................\.......\TargetDataWindows.tdt
..................\................\Standard
..................\................\........\ObjectCode
..................\................\........\..........\angle.c.o
..................\................\........\..........\datapage.c.o
..................\................\........\..........\direction.c.o
..................\................\........\..........\getatd.c.o
..................\................\........\..........\init.c.o
..................\................\........\..........\main.c.o
..................\................\........\..........\MC9S12XS128.c.o
..................\................\........\..........\motor.c.o
..................\................\........\..........\outputdata.c.o
..................\................\........\..........\speed.c.o
..................\................\........\..........\Start12.c.o
..................\................\........\..........\uart.c.o
..................\................\........\TargetDataWindows.tdt
..................\Sources
..................\.......\angle.c
..................\.......\angle.h
..................\.......\datapage.c
..................\.......\derivative.h
..................\.......\direction.c
..................\.......\direction.h
..................\.......\getatd.c
..................\.......\getatd.h
..................\.......\init.c
..................\.......\init.h
..................\.......\main.c
..................\.......\main.h
..................\.......\motor.c
..................\.......\motor.h
..................\.......\outputdata.c
..................\.......\outputdata.h
..................\.......\speed.c
..................\.......\speed.h
..................\.......\Start12.c
..................\.......\uart.c
..................\.......\uart.h
..................\TBDML.ini

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