lib.h.rpk

这是一个飞思卡尔智能车比赛的一个完整的程序

//************************************************************************/
//                the function of defined by user list                                                     /
//                                                                        /
//************************************************************************/
 void LibSysClkInit(void);
 void LibDelay(uint us); 
 void LibEepromInit(void);
 void LibEepromErase(uint cmd,uint add);
 void LibEepromProgWord(uint data,uint padd);
 void LibEepromReProgWord(uint data,uint padd);
 void LibEepromReProgByte(uchar data,uint add);
 void LibPortInit(void);
 void LibPORTBChg(void);
 char LibGetKey(void);
 void LibIsend(uchar adr);
 void LibDsend(uchar asc);
 void LibLCDInit(void);
 void LibLCDSendChr(char CHAR[]);
 void LibKeyAction(void);
 void LibLCDNumChgPost(unsigned int num);
 void LibLCDInfoDis(void);
 void LibSCITransmit(uchar TransmitData);
 uchar LibSCIRecive();
 void LibPCSendMsg(char CHAR[]);
 void LibPCNumChgPost(unsigned int num);
 void LibPWM16Init(void);
 void LibRTIInit(void);
 void LibADInit(void);
 void LibISConvEnd(void);

#define OSTimerInit()           PIEH=0X2;
#define Lib_AlARM_START()       PWME|=0x80;
#define Lib_AlARM_END()         PWME&=0x7f;
#define Lib_LCD_lINE_CHG()      LibIsend(192);
#define Lib_PC_LINE_CHG()       LibSCITransmit(13);LibSCITransmit(10);
#define Lib_PA_INIT()           PACTL=0b01010010;ICPAR=0B11;TCTL4=0XFF;PBCTL=0b01000010;PACN32=0;PACN10=0;
#define Lib_IS_CONV_STR()       ATD0CTL5=0b10010000;//atd start
//************************************************************************/
//                  detail define of the function                                                  
//
//************************************************************************/
/*********************LibSysClk(void)***********************************/
void LibSysClkInit(void)
     {
     //REFDV=3;
     //SYNR=7;  //32M
     REFDV=1;
     SYNR=2;  //24M     
     while(CRGFLG_LOCK==0);
     CLKSEL=0X80;
     }
/*************************************LibRTIInit()************************/   
void LibRTIInit(void)
     {
     RTICTL=0b01110100;    //48.8Hz
     CRGINT_RTIE=1;        //INT EN
     }
/*********************LibPortInit(void)***********************************/
void LibPortInit(void)
    {
     ////////////////////////
     DDRB=0xFF;     //led ofPORTB
     PORTB=0Xff;
     ////////////////////////
     DDRA=0XFF;     //lcd port
     DDRE=0XFF;
     ////////////////////////
     DDRM=0XFF;     //
     PTM=0B11;
     ////////////////////////
     DDRH=0X00;     //
     PPSH=0X2;
     //PIEH=0X2;
     ////////////////////////
     DDRK=0XFF;     // 33886 enable
     PUCR=0XFF;
     PORTK_BIT7=0;
     ///////////////////////
     DDRJ=0X00;      //keyboard input
     PPSJ=0;         //falling edge
     PIEJ=0b00000000;//disable interrupt
     PTJ =0b11000011;//no key pressed    
    }
/*--------------------------------LibPORTBChg(void)--------------------------------*/
void LibPORTBChg(void)   //portb change
     {
      char *p;
      char temp=1;
      char PortSta[]={0xfe,0xfd,0xfb,0xf7,0xef,0xdf,0xbf,0x7f};
      p=PortSta;
      for(;;)
      {
       LibDelay(65355);
       LibDelay(65355);
       LibDelay(25355);
       if(p>&PortSta[7])
        {
         temp=0;
        }
       if(p==&PortSta[0])
        {
         temp=1;
        }
       if(temp==1)
        {
        PORTB=*p;
        p++;
        }
        else
        {
         p--;
         PORTB=*p;        
        }
       }
     }
/*********************LibPWM16Init(void)***********************************/    
void LibPWM16Init(void) 
     {
     PWME=0;               //disable pwm
     PWMCTL_CON01=1;       //combine pwm0 and pwm 1   CON23 low and CON01 high reverse
     PWMCTL_CON23=1;       //combine pwm0 and pwm 3   CON23 high and CON01 low forward 
     PWMCTL_CON45=1;       //combine pwm0 and pwm 5   steer
     PWMCTL_CON67=1;       //combine pwm6 and pwm 7
     PWMCLK=0b11110000;          //select clock
     PWMPRCLK=0b00000000;
     PWMSCLA=4;            // clock SA = clock A/2/100 = 20kHz, control infrared LED array
     PWMSCLB=200;            // clock SB = B clock/2/1 = 2MHz  
     PWMPOL=0Xff;          //select polarity
     PWMCAE=0X0;           //select aligned                             
     PWMPER01=2400;       //program duty cycle and period
     PWMDTY01=0;
     PWMPER23=2400;
     PWMDTY23=0;
     PWMPER45=60000;
     PWMDTY45=4560;        //4120right;5000left   +_440            
     PWMPER67=60000;
     PWMDTY67=60000;          
     //PWME=0b00101010;      //enable pwm channels PWME=0b00101010;  
     } 
/***************************LibDelay(uint us)****************************/
void LibDelay(uint us)                    //delay time
     {
      uint cnt;
      for(cnt=0;cnt<us;cnt++)
         {
         asm("nop");
         }
     }

/*********************************LibADInit(void)************************/        
void LibADInit(void)  // initialize AD 
     {                       
     ATD0CTL2=0b11000000;  //open adc and disenable interrupt
     LibDelay(200);        //wait clk steady
     ATD0CTL3=0b01000100;  //8 sequence
     ATD0CTL4=0b01100101;  //10 bit, 16 adclk,2M adclk
     ATD0CTL5=0b10010000;  //right algin, unsigned, once, chancel 0 start  
     ////////////////////////////////////////////////
     ATD1CTL2=0b11000000;  //open adc and disenable interrupt
     LibDelay(200);        //wait clk steady
     ATD1CTL3=0b00001000;  //1 sequence
     ATD1CTL4=0b10000010;  //8 bit, 2 adclk,4M adclk
     ATD1CTL5=0b10100000;  //right algin, unsigned, continue, chancel 0 ,ATD1DR0 
     }
/*--------------------------------LibISConvEnd(void)--------------------------------*/             
void LibISConvEnd(void)
     {
     while(ATD0STAT1!=0xff); //wait end
       ExtBatteryPower=10*ATD0DR7;
     } 



/*************************************************************************************************/
/*************************************************************************************************/
/*************************************************************************************************/


#define ERA_VER   0x05       /*   Verify all memory bytes of the EEPROM array are erased. If the array is erased, 
                                  the BLANK bit will set in the ESTAT register upon command completion.*/
#define PROG_A_WD 0x20       /*   Program a word (two bytes).*/
#define SEC_ERA   0x40       /*   Sector Erase Erase two words (four bytes) of EEPROM array.*/
#define MAS_ERA   0x41       /*   Mass Erase Erase all of the EEPROM array. 
                                  A mass erase of the full array is only possible when EPDIS and EPOPEN are set.*/
#define SEC_REP   0x60       /*   Sector Modify Erase two words of EEPROM, re-program one word.*/             
/*----------------------------LibEepromInit(void)-----------------------*/
void LibEepromInit(void)
     {
     INITEE=0X09;            //0x800-0x0fff,2048 -4095
     ECLKDIV=0b01010000;
     ECNFG=0B00000000;
     while(ECLKDIV_EDIVLD==0);
     }
/*------------------------LibEepromErase(uint cmd,uint add)--------------*/                  
void LibEepromErase(uint cmd,uint add) 
     {
     while(ESTAT_CBEIF==0);
     while(EPROT_EPOPEN==0);    
     switch(cmd) 
     {
      case(SEC_ERA): 
          {
          *((uint *)add)=0xffff;
          ECMD=SEC_ERA;
          ESTAT|=0X80;
          while(ESTAT_CCIF==0);         
          }
      case(MAS_ERA): 
          {
          *((uint *)add)=0xffff;
          ECMD=MAS_ERA;
          ESTAT|=0X80;
          while(ESTAT_CCIF==0);         
          }
     }
     }     
/*-------------LibEepromProgWord(uint data,uint *padd)-----------------*/                  
void LibEepromProgWord(uint data,uint add,uchar cmd)
     {
     while(ESTAT_CBEIF==0);
     while(EPROT_EPOPEN==0);
      *((uint *)add)=data;
     ECMD=cmd;
     ESTAT|=0X80;
     while(ESTAT_CCIF==0);
     }
/*-------------LibEepromProgWord(uint data,uint *padd)-----------------*/                  
void LibEepromReProgWord(uint data,uint add)
     {
      uint addcop;
      uint datasav;
      uint addsav;
      addcop=0xfffc&add;
      if(addcop!=add)
        {
        datasav=*((uint *)(add-2));
        addsav=add-2;
        }
        else
        {
        datasav=*((uint *)(add+2));
        addsav=add+2;
        }
     LibEepromProgWord(data,add,SEC_REP);
     LibEepromProgWord(datasav,addsav,PROG_A_WD);            
     }    
/*-------------LibEepromProgByte(uint data,uint *padd)-----------------*/                  
void LibEepromReProgByte(uint data,uint add)
     {
     uint addselect=0;
     addselect=0xfffe&add;
     if(addselect==add)
       {
        data=data<<8;
        data=(*((uint *)addselect)&0x00ff)|data;
       }
       else
       {
        data=(*((uint *)addselect)&0xff00)|data;             
       }
     LibEepromReProgWord(data,addselect);  
     } 
     
     
     
/*************************************************************************************************/
/*************************************************************************************************/
/*************************************************************************************************/






/*----------------------------------LibIsend(uchar adr)----------------------------------*/
//PORTE_BIT2 rs
//PORTE_BIT3 e
//PORTA      data
void LibIsend(uchar adr)//write instruction
     {    
     PORTA=255;
     PORTE_BIT2=0;
     PORTE_BIT3=1;
     PORTA=adr;
     PORTE_BIT3=0;
     LibDelay(8000);
     }
/*----------------------------------LibDsend(uchar asc)----------------------------------*/
void LibDsend(uchar asc)//write asci
     {
     PORTA=255;
     PORTE_BIT2=1;
     PORTE_BIT3=1;
     PORTA=asc;
     PORTE_BIT3=0;
     LibDelay(6000);
     }
/*----------------------------------LibLCDInit(void)----------------------------------*/
void LibLCDInit(void)
     {
     LibIsend(1);		      //clear display
     LibIsend(56);        //two smoll font
     //LibIsend(2);		    //return home
     ///////////////////////////
     //LibIsend(4);       //cursor move left
     LibIsend(6);         //cursor move right   
     //LibIsend(5);       //font move left 
     //LibIsend(7);       //font move right 
     /////////////cursor and display move//////////////
     //LibIsend(16);      //cursor move left 
     //LibIsend(20);      //cursor move right
     //LibIsend(24);      //cursor and display move left
     //LibIsend(28);      //cursor and display move right
     ///////////////////////////
     //LibIsend(12);	   	//no cursor             
     //LibIsend(14);	  	//cursor static
     LibIsend(15);	 	    //cursor flash
     ////////////////////////////
     //LibIsend(52);    //single big font
     //LibIsend(1);
     LibIsend(128);		//光标移至行首
     LibIsend(1);