飞思卡尔电磁组实用程序.doc

//********************************************************************** // 12路AM采集控制循迹赛车程序 // 2010/04/8 // anderson? //********************************************************************** #include hidef.h /* common defines and macros 头文件*/ #include mc9s12xs128.h /* derivative information */ #pragma LINK_INFO DERIVATIVE mc9s12xs128b #define TIME_INTER 10 /* 变量定义 */ int PA_singal; //A端口采集 int PE_singal; //M端口采集 int line_mun=0; int positn; int Direction, Velocity; /* Direction设置舵机角度 *//* Velocity设置电机速度 */ int a,b; int DispValue = 0; int s,g; uchar MA[]={0xC0,0xF9,0xA4,0xb0,0x99,0x92,0x82,0xF8,0x80,0x90}; int Get_pulse,number_count,m; int ek=0,ek1=0,ek2=0; unsigned int pk,pk1,mm,d_ek,dd_ek,car_dri=0,dir; /*函数生声明*/ void POWERFUL(void); void PASingal_set(void); void PESingal_set(void); void Start_line(void); void Stop_car(void); void Init_busclock(void); //总线时钟初始化 void Init_PWM_out(void); void PWM_out1(int Direction); void speed_pid(void); void PWM_out2(int Velocity); /* 延时函数 */ void Delay(uint dly) { uint i; for(;dly0;dly--) for(i=0;i1500;i++); } /* 始终初始话 */ void Init_busclock(void) { SYNR=2; //外部时钟时16M REFDV=3; //pllclock=2*osc*(1+SYNR)/(1+REFDV)=BUS CLOCK=48M while(!(CRGFLG_LOCK==1)); //when pll is steady ,then use it; CLKSEL=CLKSEL_PLLSEL_MASK; //CLKSEL_PLLSEL_MASK==128 } /* PWM初始化 */ void Init_PWM_out(void) { PWME = 0x2A; //3.5使能 clocka/b为总线时钟 PWMPOL = 0x2A;//first hige level PWMCTL = 0x70;// 2345级联 PWMCLK = 0x2A; //5clocksa 3clocksb PWMSCLA = 4; // clocksa=clocka/(2*pwmscla) PWMSCLB = 4; // same } /* 定时器捕捉初始化 */ void Timerch0Init(void) { TIOS=0x00; //输入捕捉 TCTL4=0x02; //通道0下降沿触发 TSCR2=0x07; //分频,用来给TCNT作时间参考,这里没有意义 预分频128倍 TSCR1=0x80; //Timer Enab