东大猎鹰光电源代码..docVIP

附录A 源程序 #include hidef.h #include mc9s12dg128.h #pragma LINK_INFO DERIVATIVE mc9s12dg128b #define PWM01MAX 1180 int nom=4; uint TimerOverflow; int SpeedBack; int SpeedGiven; int SpeedCache[4] = 0; int SpeedError = 0; uint LastPulseCounter=0; int Kp = 100; int Ki = 10; int PA_OverFlow = 0; int TimeUpFlag=0; uchar EvenOddFlag ; uchar ProcessFlag ; uint EvenValidSum = 0; uint OddValidSum = 0; uint TimerOverflow = 0; int P,Q,O; int i=0,j=0; unsigned int State[4]={0x03FF,0x03FF,0x03FF,0x03FF}; int k,x,y,z,b,c; int stop=0; int PB; int hightspleed,lowspleed; int max=850,min=550,mid=700,a=20,py=5; void CLK_init(void) { SYNR=2; REFDV=1; while(!(CRGFLG 0x08)){} CLKSEL=CLKSEL_PLLSEL_MASK; } void delay(int time) { int i,j; for (i=0;i=250;i++) for(j=0;j=time;j++); } void PORT_init(void) {DDRA=0x00; PUCR_PUPAE=1; DDRT_DDRT6=0; DDRT_DDRT4=0; DDRB=0x00; PUCR=(PUCR_PUPAE_MASK|PUCR_PUPBE_MASK); //Pull-Up Port A B Enable } void ATD_init(void) { ATD0CTL2=(ATD0CTL2_ADPU_MASK|ATD0CTL2_ASCIE_MASK); delay(100); ATD0CTL3=ATD0CTL3_S8C_MASK|3; ATD0CTL4 = (ATD0CTL4_SRES8_MASK); ATD0DIEN = 0x00; } void PWM_init(void){ PWMCTL = 0x70; PWMCAE = 0x00; PWMPOL = 0xFF; PWMCLK = 0x30; PWMPRCLK = 0x00; PWMSCLB = 24; PWMSCLA = 24; PWMPER01 = 1200; PWMDTY01 = 0; PWMPER23 = 1200; PWMDTY23 = 0; PWMPER45 = 5000; PWMDTY45 = 700; PWME = 0xFF; } /*void ECT_init(void) { TIOS = 0x00; TCTL4 = TCTL4_EDG0A_MASK|TCTL4_EDG1B_MASK|TCTL4_EDG2A_MASK; TSCR2 = 0x00