📄 9s12forpwm.c
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if(PWMPer>=0x20)
{
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
else
{PWMInit2();
startstep=2;
PWMPer=0xfe;
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
}
if(startstep==2)
{ PWMPer=PWMPer-2;
if(PWMPer>=NOMALSPEED)
{
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
else
{startflag=0;
}
}
}
else
startflag=0x00;
}
else if(commandpre==STOP) //soft start from the very beginning
{startflag=0x01;
PWMInit1();//the first pwmper to start
startstep=1;
PWMPer=0xfe;
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
break;
///////////////////////////////////////////////////////////////////////////////
case BACK:
PORTB=PORTB&0XFC;
if(commandpre==BACK) //正常启动或前进
{ if(startflag==0x01)//starting...
{
if(startstep==1)
{ PWMPer=PWMPer-2;
if(PWMPer>=0x20)
{
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
else
{PWMInit2();
startstep=2;
PWMPer=0xfe;
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
}
if(startstep==2)
{ PWMPer=PWMPer-2;
if(PWMPer>=NOMALSPEED)
{
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
else
{startflag=0;
}
}
}
else
startflag=0x00;
}
else if(commandpre==STOP) //soft start from the very beginning
{startflag=0x01;
PWMInit1();//the first pwmper to start
startstep=1;
PWMPer=0xfe;
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
break;
////////////////////////////////////////////////////////////////////
case LEFT:
PORTB|=0X01;
PORTB&=0XFD;
if(commandpre==LEFT) //正常启动或前进
{ if(startflag==0x01)//starting...
{
if(startstep==1)
{ PWMPer=PWMPer-2;
if(PWMPer>=0x20)
{
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
else
{PWMInit2();
startstep=2;
PWMPer=0xfe;
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
}
if(startstep==2)
{ PWMPer=PWMPer-2;
if(PWMPer>=NOMALSPEED)
{
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
else
{startflag=0;
}
}
}
else
startflag=0x00;
}
else if(commandpre==STOP) //soft start from the very beginning
{startflag=0x01;
PWMInit1();//the first pwmper to start
startstep=1;
PWMPer=0xfe;
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
break;
///////////////////////////////////////////////////////////////////////
case RIGHT:
PORTB|=0X02;
PORTB&=0XFE;
if(commandpre==RIGHT) //正常启动或前进
{ if(startflag==0x01)//starting...
{
if(startstep==1)
{ PWMPer=PWMPer-2;
if(PWMPer>=0x20)
{
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
else
{PWMInit2();
startstep=2;
PWMPer=0xfe;
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
}
if(startstep==2)
{ PWMPer=PWMPer-2;
if(PWMPer>=NOMALSPEED)
{
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
else
{startflag=0;
}
}
}
else
startflag=0x00;
}
else if(commandpre==STOP) //soft start from the very beginning
{startflag=0x01;
PWMInit1();//the first pwmper to start
startstep=1;
PWMPer=0xfe;
PWMhalfdty=PWMPer>>1;
PWMPER0=PWMPer; //pwm 通道周期寄存器 周期为256
PWMPER1=PWMPer;
PWMDTY0= PWMhalfdty; //极性位为1时 PPOLx=1 DutyCycle=[PWMDTYx/PWMPERx]*100%
PWMDTY1= PWMhalfdty;
}
break;
//////////////////////////////////////////////////////////////////////////
//case SPEEDUP:
// break;
///////////////////////////////////////////////////////////////////////////
// case SLOWDOWN:
// break;
////////////////////////////////////////////////////////////////////////////
default:
PWMDTY0=0;
PWMDTY1=0;
PWMDTY4=0;
break;
}
commandpre=command;
return;
}
#pragma CODE_SEG DEFAULT⌨️ 快捷键说明
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