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/********************************************************
【平臺】龍丘MC9S12XS128系統(tǒng)板V4.1
【編寫】龍丘
------------------------------------------------
【dev.env.】Code Warrior 5.1
【Target 】MC9S12XS128
【pllclock】64.000MHz
接線方式
編碼器------->單片機
GND -------> GND
VCC -------> VCC
LSB -------> T7
DIR -------> A0
藍牙串口模塊------->單片機
RX -------> S0
TX -------> S1
版權(quán)龍邱智能科技所有，轉(zhuǎn)載需注明出處！
********************************************************/
#include <hidef.h> /* common defines and macros */
#include "derivative.h" /* derivative-specific definitions */
void SetBus_64M(void);
void PIT_Init(void);
void TimInit (void);
void UART_Init (void);
void uart_putchar ( unsigned char c);
unsigned short CRC_CHECK(unsigned char *Buf, unsigned char CRC_CNT);
void OutPut_Data(void);
void Speed_Read(void);
float OutData[4] = { 0 };
uint num=0;
int Motor_Polse=0;
/****************************************************
函數(shù)名稱：void SetBus_64M(void)
函數(shù)簡介：設(shè)置總線頻率為64M，晶振頻率16M
入口參數(shù)：
出口參數(shù)：
*****************************************************/
void SetBus_64M(void)
{
CLKSEL_PLLSEL=0; //禁止使能鎖相環(huán)時鐘
PLLCTL_PLLON=1; //鎖相環(huán)電路允許
SYNR=0xc0|0x07; //VCO_clock=2*osc_clock*(SYNR+1)/(REFDV+1)=128MHz
//VCOFRQ[1:0]=1:1,代表VCO_clock在80~120MHz
REFDV=0x80|0x01; //VCO_clock=2*osc_clock*(SYNR+1)/(REFDV+1)=128MHz
//REF_clock=osc_clock/(REFDV+1)
//REFFEQ[1:0]=1:0,代表參考時鐘在6~12MHz之間
POSTDIV=0x00; //PLL_clock=VCO_clock
_asm(nop);
_asm(nop); //短暫延時，等待時鐘頻率穩(wěn)定
while(!(CRGFLG_LOCK==1))
{
;
}
CLKSEL_PLLSEL=1;
}
//==============================================================
//函數(shù)：void PIT_Init(void)
//描述：初始化定時器為1ms中斷
//參數(shù)：無
//返回：無
//==============================================================
void PIT_Init(void)
{
PITCFLMT=0x00; //禁止使能PIT模塊
PITCE_PCE0=1; //使能定時器通道0
PITMUX=0x00; //定時器通道0使用微定時基準(zhǔn)0
PITMTLD0=8-1; //設(shè)置8位微定時裝載寄存器0初值
PITLD0=8000-1; //定時周期=（&PITMTLD0+1)*(&PITLD0+1)
PITINTE=0x01; //使能PIT定時器通道0中斷
PITCFLMT=0x80; //使能PIT模塊
}
//==============================================================
//函數(shù)：void TimInit (void)
//描述：脈沖累加器初始化
//參數(shù)：無
//返回：無
//==============================================================
void TimInit (void)
{
PACTL=0X00;
PACNT=0X0000;//設(shè)置脈沖累加器初值
PACTL_PAEN=1;
}
//==============================================================
//函數(shù)：void UART_Init (void)
//描述：串口初始化，配置串口1，波特率為9600
//參數(shù)：無
//返回：無
//==============================================================
void UART_Init (void)
{
SCI0CR2=0x2c; //enable Receive Full Interrupt,RX enable,Tx enable
SCI0BDH=0x01; //busclk 8MHz,19200bps,SCI0BDL=0x1a
SCI0BDL=0xa0; //SCI0BDL=busclk/(16*SCI0BDL)
//busclk 32MHz, 9600bps,SCI0BDL=0xD0
//115200 bps SCI0BDL=0x11
} // 64M 9600 SCI0BDH=0x01; SCI0BDL=0xA0;
//==============================================================
//函數(shù)：unsigned short CRC_CHECK(unsigned char *Buf, unsigned char CRC_CNT)
//描述：虛擬示波器上位機接口程序
//參數(shù)：
//返回?
//==============================================================
unsigned short CRC_CHECK(unsigned char *Buf, unsigned char CRC_CNT)
{
unsigned short CRC_Temp;
unsigned char i,j;
CRC_Temp = 0xffff;
for (i=0;i<CRC_CNT; i++){
CRC_Temp ^= Buf[i];
for (j=0;j<8;j++) {
if (CRC_Temp & 0x01)
CRC_Temp = (CRC_Temp >>1 ) ^ 0xa001;
else
CRC_Temp = CRC_Temp >> 1;
}
}
return(CRC_Temp);
}
//==============================================================
//函數(shù)：void OutPut_Data(void)
//描述：向虛擬示波器發(fā)送數(shù)據(jù)
//參數(shù)：無
//返回：無
//==============================================================
void OutPut_Data(void)
{
int temp[4] = {0};
unsigned int temp1[4] = {0};
unsigned char databuf[10] = {0};
unsigned char i;
unsigned short CRC16 = 0;
for(i=0;i<4;i++)
{
temp[i] = (int)OutData[i];
temp1[i] = (unsigned int)temp[i];
}
for(i=0;i<4;i++)
{
databuf[i*2] = (unsigned char)(temp1[i]%256);
databuf[i*2+1] = (unsigned char)(temp1[i]/256);
}
CRC16 = CRC_CHECK(databuf,8);
databuf[8] = CRC16%256;
databuf[9] = CRC16/256;
for(i=0;i<10;i++)
uart_putchar(databuf[i]);
}
//==============================================================
//函數(shù)：void uart_putchar ( unsigned char c)
//描述：發(fā)送一個字節(jié)
//參數(shù)：無
//返回：無
//==============================================================
void uart_putchar ( unsigned char c)
{
while(!(SCI0SR1&0x80)) ; //keep waiting when not empty
SCI0DRL=c;
}
//==============================================================
//函數(shù)：void main(void)
//描述：工程得主函數(shù)
//參數(shù)：無
//返回：無
//==============================================================
void main(void)
{
SetBus_64M(); //初始化總線始終64M
PIT_Init(); //設(shè)置定時器中斷1ms
TimInit (); //初始化脈沖累加器用于編碼器計數(shù)
UART_Init(); //串口初始化，配置波特率9600
DDRA_DDRA0=0; //配置A0口位輸入端口，用于測量編碼器選裝方向
EnableInterrupts; //打開所有中斷
while(1)
{
OutPut_Data(); //向上位機發(fā)送數(shù)據(jù)
}
EnableInterrupts;
}
//==============================================================
//函數(shù)Speed_Read(void)
//描述：讀取編碼器脈沖
//參數(shù)：無
//返回：無
//==============================================================
void Speed_Read(void)
{
//uint Motor_Polse=0;
Motor_Polse=PACNT; //讀取寄存器得脈沖值
if(PORTA_PA0==1) //判斷編碼器方向
{
Motor_Polse=-Motor_Polse; //反向取反
}
OutData[0]=Motor_Polse;
_asm(nop) ;
_asm(nop) ;
PACNT=0X0000; //清楚寄存器得脈沖值
// Motor_Polse=0;
}
#pragma CODE_SEG __NEAR_SEG NON_BANKED
//==============================================================
//函數(shù)interrupt VectorNumber_Vpit0 void PIT_ISR (void)
//描述：定時器中斷函數(shù)
//參數(shù)：無
//返回：無
//==============================================================
interrupt VectorNumber_Vpit0 void PIT_ISR (void)
{
num++;
if(num>10)
{
num=0;
Speed_Read();
}
PITTF_PTF0=1; //清除中斷ADtransform();
}

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