main.c

飞思卡尔的红外循迹小车的程序 给初学者看的

#include <hidef.h>      /* common defines and macros */
#include <mc9s12dg128.h>     /* derivative information */
#pragma LINK_INFO DERIVATIVE "mc9s12dg128b"



void main(void) {
DDRA=0x00;
REFDV=1;//3;
SYNR=4;//7; 
while(CRGFLG_LOCK==0);
CLKSEL=0x80;  	 //时钟初始化 

PWME=0x12; //通道1使能		
PWMPOL=0x12;//通道01输出波形开始极性为1 
PWMCTL=0x10;//通道01级联   
PWMCLK=0x12;//通道01选择SA为时钟源   
PWMSCLA=0X04;//通道01时钟SA为3MHz(24/(2*4))
PWMPER01=60000;//设定通道01输出频率(50Hz)
PWMDTY01=3000;
PWMPER4=2000;
PWMDTY4=350;
while(1){
  
if(PORTA==0x08){
 PWMDTY01=3000;
}
if(PORTA==0x04){
PWMDTY01=3300;
}
if(PORTA==0x10){
PWMDTY01=2700;
}
if(PORTA==0x02){
PWMDTY01=3700;
}
if(PORTA==0x20){
PWMDTY01=2300;
}

}

  /* please make sure that you never leave this function */
}