testspeed.c

路径识别是体现智能车智能水平的一个重要标志

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

extern unsigned int speed_m;

void PaiInit()
{
	TCTL4 |= 0X02;
	PBCTL_PBEN=1; //PBEN=1,事件技术模式,上升沿触发,PACLK 允许中断
//	ICPAR = 0X0F;
	PACN10 = 0X00;
}

void RealTimer_Int(void)
{
	CRGINT_RTIE=1;       //Open Interrupt
	RTICTL=0x49;         //5ms Interrupt
}



void interrupt 7 RealTime(void)
{
	CRGFLG_RTIF=1;  //Clear Flag
//	PTH^=0X01;
	speed_m = PACN10 ; 
	PACN10=0;		//
	//PTH_PTH0^=0X01;
}