main.c

飞思卡尔智能汽车控制程序框架

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

//------------------------------------------------------------------------------ 
void main() 
{  
   DisableInterrupts;
   system_init();                
   EnableInterrupts;
   for(;;) 
   { 
    sam_atd();
    angle();
    speed(); 
    driver();  
   }     
}
//------------------------------------------------------------------------------ 
                
                
#pragma CODE_SEG NON_BANKED
void  interrupt 26  ect_interrupt(void)
  {            
      pulse=PACN10;
      PACN10=0;// 脉冲累加计数寄存器   
      MCFLG=0x80;   //  16位模数减法计数器标志寄存器 设定为第一次输入捕捉由上升沿触发 
      MCCNT=30000;                     
  } 
#pragma CODE_SEG DEFUALT