飞思卡尔智能车程序汇总(6)

///舵机函数///

/******************************倍频

*****************************************/ void vPLLInit(void) {

unsigned char refdv; refdv=3; CLKSEL=0X00; PLLCTL_PLLON=1;

//disengage PLL to system

//turn on PLL

SYNR =0xc0 | ((80/(refdv+1))-1); REFDV=0x40 | refdv;

POSTDIV=0x00; //pllclock=2*osc*(1+SYNR)/(1+REFDV)=160MHz; _asm(nop); //BUS CLOCK=80M _asm(nop);

while(!(CRGFLG_LOCK==1)); //when pll is steady ,then use it; CLKSEL_PLLSEL =1; }

/******************************倍频

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

unsigned int cur_speed; unsigned int cur_length;

//engage PLL to system;

////////控速函数/////

void controlSpeed(int speed) {

int pwm_motor=0;

pwm_motor=(speed-cur_speed)*20; //////////dianji

if(pwm_motor>PWMPER67) PWMDTY67=PWMPER67; else if(pwm_motor>0) PWMDTY67=pwm_motor; else

PWMDTY67=0; }

////////控速函数/////

/****测速初始化****/ void speed_Init(void) {

PACTL_PAMOD=0;//0 Event counter mode.

PACTL_PEDGE=1;//1 Rising edges on IOC7 pin cause the count to be incremented. PACTL_PAEN=1;//1 Pulse Accumulator system enabled. }

//////stl测速定时器中断///////////// void Init_INT_Timer(void) {

TSCR2_PR=7; TSCR2_TOI|=1; TSCR1_TEN=1; }

#pragma CODE_SEG __NEAR_SEG NON_BANKED

void interrupt 16 INT_Timer0(void) {

cur_speed=PACNT/100;

PACNT=0;

cur_length+=cur_speed;

TFLG2_TOF=1; }

////SCI初始化////

void ini_SCI(void){

SCI0BD=(80*1000000/115200/16); //115200=(busclk*1000000/SCI0BD/16); SCI0CR1=0x00; SCI0CR2=0x0C; }

void TERMIO_PutChar(unsigned char ch) {

while(!(SCI0SR1&0x80)); SCI0DRL=ch;

}

/****SCI初始化****/

////////////////////////A/D初始化/////////////////////////////////// void ini_AD(void) {

ATD0DIEN=0x00;

ATD0CTL1=0x00;

ATD0CTL2=0b10000000; //0b11000000; // ATD0CTL3=0b11000000; //A/D转换序列长度为8 ATD0CTL4=0b00010110; //8位精度，

//禁止数字输入

ATDclock=Busclock/(PRS+1)/2=BusClock/40=2MHz,要求ATDclock<=2MHz&&ATDclock>=500KHz

//ATD0CTL4=0x81; // 8位精度, 2个时钟,

ATDClock=[BusClock*0.5]/[PRS+1] ; PRS=1, divider=12

ATD0CTL5=0b00110000; //右对齐无符号数,连续转换序列模式,2通道采样，

AN0-AN7模拟量通道输入

}

///////////////////////A/D初始化/////////////////////////////////////

//*******************************读取转换结果****************************** byte ReadATD(byte ch) {

byte ad=0;

while(!ATD0STAT0_SCF);

switch(ch) { default: case 0:

ad= ATD0DR0L; break; case 1:

ad= ATD0DR1L; break; case 2:

ad= ATD0DR2L; break; case 3:

ad= ATD0DR3L; break; /* case 4: ad= ATD0DR4L; break; case 5:

ad= ATD0DR5L; break; case 6:

ad= ATD0DR6L; break; case 7:

ad= ATD0DR7L; break; */ } return ad; }

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