hardwareinit.c

智能车控制

#include <hidef.h>      /* common defines and macros */
#include <mc9s12dg128.h>     /* derivative information */


#pragma LINK_INFO DERIVATIVE "mc9s12dg128b"

void HardwareInit(void) {
  DisableInterrupts;
  
  // CLOCK Initialize
  REFDV=1;
  SYNR=2;
  asm{
    BRCLR CRGFLG,#$08,*
  }
  CLKSEL=0x80;
  
  // SCI Initialize
  SCI0CR2=0x0C;
  SCI0BD=0x009C;    //波特率9600
  //SCI0BD=0x000D;      //波特率115200
  
  // PORT Initialize
  PORTB=0xFF;
  DDRB=0xFF;
  DDRK=0xF0;
  
  // PWM Initialize
  PWMCTL=0x70;           //01,23,45 combine
  PWMPRCLK=0x33;         //All The Prescale Clocks = 24MHz/8 =3MHz
  PWMCLK=0x00;           //Select A/B For All Channels
  PWMPOL=0xFF;           //
  PWMPER23=495;
  PWMPER45=495;
  PWMDTY23=0;
  PWMDTY45=0;
  PWMPER01=60000;
  PWMDTY01=4500;
  PWME=0x3F;
  
  // ECT Initialize
  /*TIOS=0x0F;
  TIE=0;
  TSCR2=3;
  TCTL3=0x40;
  TSCR1=0x81;*/
  
  // ADT Initialize
  ATD0CTL2=0x00;
  ATD0CTL3=8;
  ATD0CTL4=0xC5;
  ATD0DIEN=0;
  
  ATD1CTL2=0x00;
  ATD1CTL3=8;
  ATD1CTL4=0xC5;
  ATD1DIEN=0;
  
  INTCR=0;
  
}