im_robot.c

来自「GPL162001的RTC模組demo程式」· C语言 代码 · 共 28 行

#include "IM_Robot.h"

UInt16 Err_now = 0, Err_abs = 0, Pos_now = 0, Pos_goal = 0;
UInt16 Voice_Data[3000], Index = 0, temp = 0, i = 0;

void System_Init()
{
	*P_Clock_Ctrl = 0x8400;      // Enable PLL, System clk is PLL clk, 
	                             // 32768Hz weak mode, IOB0 32768Hz output disable, 
	                             // IOA and IOB wake up function disable, SYSCLK is PLL(48MHz)
	*P_LVR_Ctrl = 0x0002;        // Disable Low Voltage Reset function
	
	ADC_Setup_Reg->B.ADBEN = 1;  // AD bias ref. voltage enable
		
/************** GPIO setting **************/
    // IOA
    *P_IOA_Data = 0x0000;        // Set IOA[15:0] as output 0x0000
	*P_IOA_Attrib = 0xFFFF;      // IOA[1:0] control motor rotate direction (output)
	*P_IOA_Dir = 0xFFFF;
	// IOB
	*P_IOB_Data = 0x0000;        // Set IOB[15:0] as output 0x0000
	*P_IOB_Attrib = 0xFFFF;      // IOB[1:0] are PWM output
	*P_IOB_Dir = 0xFFFF;	
}

void PWM_Channel_1(UInt16 speed, UInt16 Pos_goal)   // Signal output from IOB[0], controlled by Timer_A
{
	UInt16 Err = 30; // 砞﹚粇畉恢