speedandmonitor.txt

测速和调整方向 由PWM波控制

#include <hidef.h>      /* common defines and macros */
#include <MC9S12XS128.h>     /* derivative information */
#pragma LINK_INFO DERIVATIVE "mc9s12xs128"

/***************时钟初始化  *****************************/ 
#include <hidef.h>      /* common defines and macros */
#include <MC9S12XS128.h>     /* derivative information */
#pragma LINK_INFO DERIVATIVE "mc9s12xs128"
#define uint  unsigned  int

void InitPLL(void);
void InitPWM (void);

void delay(uint k);

void main(void)
{
  InitPLL();
  InitPWM();
   DDRB=0xff; /* PTB as output */
   PORTB=0xff;  /* LEDs off */
 for (;;)
  { 
     
      delay(1);
      PORTB_PB0=~PORTB_PB0;
      // delay(2);
      // PWMDTY01=2040;
      // delay(2);
      // PWMDTY01=2550;
     //  delay(2);
      // PWMDTY01=3070;
     //  delay(2);
       //PWMDTY01=3300;
       delay(20);
       PWMDTY01=2500; 
       PWMDTY23=4699;
       delay(20);
       PWMDTY23=4999; 
       //delay(2);     
      // PWMDTY01=4100;
       //delay(2);
       //PWMDTY01=4600;
      // delay(20);
      // PWMDTY01=3500;
     //  delay(2);  
//       PWMDTY01=5100;
      // delay(2);
      // PWMDTY01=6600; 
      //  delay(2);
      //  PWMDTY01=7050; 
        // delay(2);
        //PWMDTY01=5400; 
          
  
  }   
}

/***************时钟初始化  *****************************/
void InitPLL(void) 
{
 
 //内部总线频率=OSCCLK/2

  CLKSEL = 0x00;      //BusClock=OSCCLK/2
  PLLCTL = 0xb1;   //禁止锁相环电路
  SYNR = 3;      //计算公式:PLLCLK=2*OSCCLK*((SYNR+1)/(REFDV+1))  
  REFDV = 1;     //时钟为时钟64mhz 总线32mhz    
  PLLCTL = 0x60;    //允许PLL电路
  asm NOP;
  asm NOP;        
  asm NOP;
  while ((CRGFLG&0x08) == 0x00);//当CRGFLG的LOCK位为0后PLL稳定 
  CLKSEL =0X80;    //选择PLL时钟BusClock=PLLCLK/2
}
/*********************************************************/
/************************************************************

通道1输出周期为20ms，占空比可调的方波
通道0，1级联组成16位寄存器

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

void InitPWM (void) 
{
  PWME=0X00;                     //禁止PWM输出
  PWMCTL=0X30;                   //01，23通道级联
  PWMPRCLK=0X04;                 //Clock B Prescaler=bus  clockA Prescaler=2Mhz
  PWMSCLB=0x05;                 // ClockSB=CLOCKB/(2*5)
  PWMCLK=0x0C;                     //0,1通道是A，2,3通道时钟选择ClockSB
  PWMPOL=0X0F;                    //起始电平为高
  PWMCAE=0X00;                     //左对齐
 
  //PWM0=PP0                        // PWMx Period = Channel Clock Period * (2 * PWMPERx)
  PWMPER01=39999;                    //ClockA/(39999+1)=50hz
  //PWMDTY01=5110;                  //最右边 [(PWMDTYx+1)/(PWMPERx+1)]*100%
  PWMDTY01=3600;                    // 中间位置
  //PWMDTY01=2040;                    //  最左边
  //PWM2=PP2;
 // PWMPER2=99;                    //312.5Hz
  //PWMDTY2=49;                     // %50
  //输出到电调320hz，可调0.01%
  PWMPER23=9999;                     //320Hz
  PWMDTY23=4999;                      // %50
  PWME = 0x0F;                    //使能PWM
}

 void delay(uint k)
 
 
 {
     uint i,j;
     for(;k>0;k--) 
      for(i=0;i<600;i++)
     for(j=0;j<4000;j++);
     
     
     
 }