microcontroller.h

老外开发的机器人的底层单片机代码。比较有参考价值哦！

//Microcontroller  Microcontroller.h					// Rev 9/1/05

//Copyright (C) 2005 Alex Brown  [e-mail]
//This program is free software; See license at the end of this file for details.
											
/*  NOTES for MC9S12DP256:
	COP appears to initialize disabled at reset
	The boot flash appears to be protected automatically at reset

	For execution in RAM from Dbug, DATA = 1000, Prog = 1200, Stack = 3C00
	For execution in EEPROM from JmpEE, DATA = 1000, Prog = 0400, Stack = 4000
	For execution in Flash from reset, DATA = 1000, Prog = 4000, Stack = 4000

	Set up for 9600 baud rate and a 61 hz real time interrupt
	vectors256.c must be part of the project and modified as attached
	to enable the interrupts.
	
	Revise the include file "hcs12dp256.h" as follows to agree with Motorola
	documentation:
	#define PWMPRCLK _P(0xA3)  //was PWMPRCLC, changed to agree with docs
	
	for Microcontroller,  the Long Printf version is required 
*/	



#include <hcs12dp256.h>		    //for registers
#include <stdio.h>				//for i/o prototypes


//CONSTANTS
#define USBtimeoutLimit			61
#define USBtimeoutOK			12

//  OPEN SOURCE SOFTWARE LICENSE
/* Permission is hereby granted, free of charge, to any person obtaining a copy 
of this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to use, 
copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the 
Software, and to permit persons to whom the Software is furnished to do so, 
subject to the following conditions:

The above copyright notice and this permission notice shall be included in all 
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS 
FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR 
COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER 
IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN 
CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/