interrupt.h

这是本人参加FREESCAL最牛的智能小车程序

#pragma CODE_SEG __NEAR_SEG NON_BANKED 
/*void interrupt  IC1_ISR(void) {
      pulsecnt++;
      TFLG1 = 0X02;      //ic1
      speed_get();
      //PORTB = ~pulsecnt;
      //speed = 80*pulsecnt;      //速度计算公式
      //speed_flag++;
      e[2] = e[1];
      e[1] = e[0];
      //e[0] = speed;   
     }  */

void interrupt RTI_ISR(void){ 			        //RTI实时(1/16MS定时)中断 
  CRGFLG = 0x80; 											   
 	uptime = 1;
 	just_flag++;
 	if(just_flag>=10) just_flag=0;
 //	PORTB=0XFF;	         
  //CRGFLG = 0x80;
}
void interrupt  INT_TimerOverFlow(void)
{
  TFLG2_TOF  = 1;  //clear timer overflow flag  
  time++;
}
void interrupt MDC_ISR(void) 
  {
  MCCNT=20000;   //period =64000/2M=30ms  */
  //PORTB=0X00;
  speed_flag++;
  MCFLG_MCZF=1;
  if(speed_flag>=3) 
    {
    speed_flag = 0;
    speed_get(); 
    }
  }
#pragma CODE_SEG DEFAULT