飞思科尔光电组程序.docVIP

我是光电组的，下面是程序，小车可以跑起来，但速度有待提升 #include hidef.h /* common defines and macros */ #include MC9S12XS128.h /* derivative information */ #pragma LINK_INFO DERIVATIVE mc9s12xs128 //static unsigned char direction_turn[12]={888,1098,1208,1328,1481,1612,1730,1856,1988,2100,2222,2368}; //Chapter 12 //Periodic Interrupt Timer (S12PIT24B4CV1) Page349 //The PIT module has no external pins. //PIT 模式没有外部引脚 //======================================================================================== unsigned char light=0; //激光管检测标志 unsigned short turn_value=0; //转向的PWM数值 unsigned short direction_turn[7]={333,430,560,647,705,780,888}; //转向给定值初始化 short speed_set[7]={250,300,350,400,350,300,250}; //速度给定值 short speed_flag=0; //速度档位标志位 short speed[3]={0,0,0}; //速度检测函数 short pulse_count=0; //编码器脉冲计数值 short speed_expect=0; //理想速度 short kp=2; //比例环节 short ki=0; //积分环节 short kd=1; //微分环节 short ek1=0; //误差1 short ek2=0; //误差2 short ek3=0; //误差3 short speed_add=0; //速度增量 //======================================================================================= void PLL_Init() //时钟初始化 { REFDV=0x81; /* PLLCLK=2*OSCCLK*(SYNR+1)/(REFDV+1)*/ SYNR=2; /* 锁相环时钟=2*16*(2+1)/(1+1)=48MHZ */ while(!(CRGFLG0x08)); /* 总线时钟=48/2=24MHZ */ CLKSEL=0x80; } void PWM_Init() //PWM初始化 { PWME=0x00; //关闭PWM使能 PWMPRCLK=0x66; //A,B时钟均为总线的64分频,375KHZ //PWMSCLA=0x01; //clockSA=clockA/(2*PWMSCLA) = 1500KHZ //PWMSCLB=0X01; //clockSB=clockB/(2*PWMSCLB) =1500KHZ PWMCLK=0x00; PWMPOL=0xFF; //PWM输出起始电平为高电平 PWMCAE=0x00; //输出左对齐 PWMCTL=0xf0; //通道01，23，45，67级联 PWMPER01=5999; //舵机频率为62.5Hz PWMDTY01=647; //占空比a=（PWMDTY01+1）/(PWMPER01+1) PWMPER23=1000; //PWM通道3周期为375HZ PWMDTY23=0; //占空比a=（PWMDTY01+1）/(PWMPER01+1)占空比50% ~~ 150 PWMPER45=1000; //PWM通道5周期为0.10ms 10KZH 300=0