飞思卡尔智能车程序汇总(3)

for(i=0;i<12;i++) disply_listchar((i/6)*42,i%6,lcd_show[i],(cur_sel==i)?0:1); }

if(btn_sav()) {

for(i=0;i<12;i++)WrEEPROM(i,setnum[i]);

disply_listchar(0,0,\ disply_listchar(0,1,\

disply_listchar(0,2,\ disply_listchar(0,3,\ disply_listchar(0,4,\ disply_listchar(0,5,\ while(1); } } }

DDRA=0x00;

DDRB_DDRB0=1;

for(;;) {

delay(setnum[0]*1000);

PORTB_PB0=1;

PWMDTY67=0; PWMDTY45=1000;

delay(setnum[0]*1000);

PORTB_PB0=0;

PWMDTY67=0; PWMDTY45=0;

delay(setnum[0]*1000); PORTB_PB0=0; PWMDTY45=0;

PWMDTY67=1000;

delay(setnum[0]*1000); }

4.码盘控速

#include /* common defines and macros */ #include \

PORTB_PB0=0;

PWMDTY67=0; PWMDTY45=0; }

#include \#include \#include \

#define servo_period 20 //ms #define motor_pwm_frequ 1 //khz

void delay(unsigned int ms) {

unsigned int i; unsigned char j; for(i=0;i

for(j=0;j<100;j++); } }

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

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

/** PWM初始化***/ void Init_PWMout(void) {

PWME = 0x00; //禁止输出

PWMPOL = 0xff;//极性寄存器，1 先输出高电平 后为低电平 0 先输出低电平 后为高电平

PWMCTL = 0xf0; //01 23 45 67 通道级联

PWMPRCLK=0x55; //Clock A=Bus Clock/32 ; Clock B=Bus Clock/32; PWMCLK=0b00000000; //选择clock:7B,6B,5A,4A,3B,2B,1A,0A PWME = 0xaa; //pp1,pp3,pp5,pp7口输出

PWMPER67 = 80/4*125/motor_pwm_frequ;

//engage PLL to system;

PWMPER45 = 80/4*125/motor_pwm_frequ; PWMPER23 = 80/4*servo_period*125; PWMPER01 = 80/4*servo_period*125;

PWMDTY67 =0; PWMDTY45 =0; PWMDTY23 =0; PWMDTY01 =0; }

/** PWM初始化***/

//////////////////////测速增加部分///////////////////////// int cur_speed; int cur_time;

/****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. }