void Init_Dev(void)
{
setbusclock();
Port_Init();
SCI_Init();
PWM_Init();
}
void setup()
{
//
// Configure PLL, disable WD, enable peripheral clocks.
//
Device_init();
//
// Disable pin locks and enable internal pullups.
//
Device_initGPIO();
// Initialize Pins as desired
SCI_Init();
ADC_Init();
EQEP_Init();
GPIO_Init();
UltraSonic_GPIO_Init();
UltraSonic_TMR_Init();
//
// Enable Global Interrupt (INTM) and realtime interrupt (DBGM)
//
EINT;
ERTM;
}
void main(void)
{
// int temp_laserStatus; //定义一个数组用来接受 上下舵机值
DisableInterrupts;
SetBusCLK_40M(); // 设置时钟初始化。40MHz.
PITInit(); //PIT初始
PWM_Init();
LIGHT_Init();
SCI_Init();
Tect_Speed_Init(); //ECT 捕捉初始
// AD_Init();
delayms(3200);
Laser_num();
EnableInterrupts;
for(;;)
{
TestSMinfo(test_info_send);
}
// _FEED_COP(); /*看门狗，防死循环用的 */
/* loop forever */
/* please make sure that you never leave main */
}
void main(void)
{
EnableInterrupts;
setbusclock();
SCI_Init();
PWM_Init();
DDRB=0xff;
for(;;) {
}
}
void
Init_Peripherals(void)
{
InitCpuTimers();
Timer_Init();
SCI_Init();
EPwmTimerInit();
I2CA_Init();
SPI_Init();
ECAN_Init();
EQEP_Init();
ADC_Init();
USB_Init();
}
void main(void) {
// Setup and enable ADC channel 0 (AN0)
// Refer to Chapter 14 in S12G Reference Manual for ADC subsystem details
//ADC for all of them
//ATDCTL0 = 0x01; // continuous conversion
ATDCTL1 = 0x4B; // set for 12-bit resolution, external trigger source is channel 11
ATDCTL3 = 0x88; // right justified, one sample per sequence
ATDCTL4 = 0x02; // prescaler = 2; ATD clock = 6.25MHz / (2 * (2 + 1)) == 1.04MHz
ATDCTL5 = 0x2B; // continuous conversion on channel 11
//ATDCTL5 = 0x20; // continuous conversion on channel 0
//setting the clock
CPMUCLKS = 0x80; //PLLSEL = 1
CPMUOSC = 0x00; //OSCE = 0
CPMUSYNR = 0x0F; //VCOFRQ = 0, SYNDIV = 15
CPMUPOSTDIV = 0x00; // postdiv=0
CPMUFLG = 0x00;
TSCR1=0x90; //Timer System Control Register 1
TSCR2=0x00; //Timer System Control Register 2
TIOS=0xFE;
PERT=0x01; //enable pull-up resistor on TIC[0]
TCTL3=0x00; //TCTL3 & TCTL4 configure which edges to capture
TCTL4=0x02; //configured for falling edge on TIC[0]
TIE=0x01;
// bus clock = 16Mhz
// Setup LED and SCI
DDRJ |= 0x01; // PortJ bit 0 is output to LED D2 on DIG13
SCI_Init(9600);
EnableInterrupts;
//to make a sampling frequency of 300Hz, add a time delay of 3ms
for(;;) {
/*PTJ ^= 0x01; // toggle LED
val1 = ATDDR0; // read analog input from channel 11
SCI_OutUDec(val1); // output analog reading via serial
OutCRLF();
delayby1ms(3);
*/
}
}
void main(void) {
EnableInterrupts;
SetBusCLK_40M(); // 设置时钟初始化。40MHz.
SCI_Init();
AD_Init(); // AD初始化。
DDRM = 0X1F; //启动LCD
LCD_start(); //初始化LCD模块
LCD_clear(); //清屏幕
LCD_startshow();
for(;;) {
// TestSMinfo();
}
}
// Función principal
void main(void)
{
// Inicialización
SYSTEM_INIT();
MCG_Init();
LCD_Init();
TPM_Init();
SCI_Init();
CLI;
RealTimeClock_Init();
for(;;) {
SEI;
if(INT_EVENTS==0)WAIT;
CLI;
Process_Events();
}
}
void main(void)
{
// int temp_laserStatus; //定义一个数组用来接受 上下舵机值
// DisableInterrupts;
SetBusCLK_40M(); // 设置时钟初始化。40MHz.
//PITInit(); //PIT初始
// PWM_Init();
// LIGHT_Init();
SCI_Init();
// Tect_Speed_Init(); //ECT 捕捉初始
AD_Init();
delayms(3200);
// Laser_num();
// EnableInterrupts;
for(;;)
{
// Light_Up(); //激光整排点亮
Collect_IR(); //这两个是红外捕捉和判断红外位置 先注释
Cross_judge();
TestIR(IR_temp_laser_array);
// Clear_baitou(); //position的第一次滤波
// baitou_delay++;
// if(baitou_delay%8==0)
// {
// baitou_delay=1;
// baitou( ); //先执行摆头舵机，通过计算得出角度，为第二次滤波做准备
// }
// General_Position();
// Collect_Point();
// Collect_Section();
// Judge_Slope();
// Clear_General();
// delay_count++;
// dajiao();
/*send_count++;
if(send_count%20==0) {
send_count=1;
TestSMinfo(1);
}*/
//Clear_Speed();
// SpeedCtrl();
}
// _FEED_COP(); /*看门狗，防死循环用的 */
/* loop forever */
/* please make sure that you never leave main */
}
/*
** ===================================================================
** Method : PE_low_level_init (bean MC9S12DG128_112)
**
** Description :
** Initializes beans and provides common register initialization.
** The method is called automatically as a part of the
** application initialization code.
** This method is internal. It is used by Processor Expert only.
** ===================================================================
*/
void PE_low_level_init(void)
{
/* Common initialization of the CPU registers */
/* PIEP: PIEP5=0 */
clrReg8Bits(PIEP, 32);
/* PTP: PTP5=0,PTP4=0,PTP3=0,PTP1=0 */
clrReg8Bits(PTP, 58);
/* PERP: PERP5=0 */
clrReg8Bits(PERP, 32);
/* DDRP: DDRP5=1,DDRP4=1,DDRP3=1,DDRP1=1 */
setReg8Bits(DDRP, 58);
/* PEAR: NOACCE=0,PIPOE=0,NECLK=1,LSTRE=0,RDWE=0 */
clrSetReg8Bits(PEAR, 172, 16);
/* PUCR: PUPKE=0,PUPEE=0,PUPBE=0,PUPAE=0 */
clrReg8Bits(PUCR, 147);
/* DDRE: BIT7=0,BIT6=0,BIT5=0,BIT4=0,BIT3=0,BIT2=0 */
clrReg8Bits(DDRE, 252);
/* PTM: PTM4=0,PTM3=0 */
clrReg8Bits(PTM, 24);
/* WOMM: WOMM4=0,WOMM3=0 */
clrReg8Bits(WOMM, 24);
/* DDRM: DDRM4=1,DDRM3=1 */
setReg8Bits(DDRM, 24);
/* PERM: PERM4=0 */
clrReg8Bits(PERM, 16);
/* PORTK: BIT3=0,BIT0=0 */
clrReg8Bits(PORTK, 9);
/* DDRK: BIT3=1,BIT0=1 */
setReg8Bits(DDRK, 9);
/* PTS: PTS1=1 */
setReg8Bits(PTS, 2);
/* DDRS: DDRS1=1,DDRS0=0 */
clrSetReg8Bits(DDRS, 1, 2);
/* PWME: PWME7=0,PWME6=0,PWME5=0,PWME4=0,PWME3=0,PWME2=0,PWME1=0,PWME0=0 */
setReg8(PWME, 0);
/* PWMCTL: CON45=0,CON23=1,CON01=1,PSWAI=0,PFRZ=0 */
clrSetReg8Bits(PWMCTL, 76, 48);
/* PWMCAE: CAE4=0,CAE3=0,CAE1=0 */
clrReg8Bits(PWMCAE, 26);
/* PWMPOL: PPOL4=0,PPOL3=0,PPOL1=0 */
clrReg8Bits(PWMPOL, 26);
/* PBCTL: PBEN=0 */
clrReg8Bits(PBCTL, 64);
/* TSCR1: TEN=0,TSWAI=0,TSFRZ=0,TFFCA=0 */
clrReg8Bits(TSCR1, 240);
/* DLYCT: ??=0,??=0,??=0,??=0,??=0,??=0,DLY1=0,DLY0=0 */
setReg8(DLYCT, 0);
/* ICSYS: SH37=0,SH26=0,SH15=0,SH04=0,TFMOD=0,PACMX=0,BUFEN=0,LATQ=0 */
setReg8(ICSYS, 0);
/* ICOVW: NOVW7=0,NOVW5=0,NOVW0=0 */
clrReg8Bits(ICOVW, 161);
/* TCTL4: EDG0B=1,EDG0A=1 */
setReg8Bits(TCTL4, 3);
/* TCTL3: EDG7B=0,EDG7A=0,EDG5B=0,EDG5A=0 */
clrReg8Bits(TCTL3, 204);
/* TIOS: IOS7=0,IOS5=0,IOS0=0 */
clrReg8Bits(TIOS, 161);
/* PERT: PERT7=0,PERT5=0,PERT0=0 */
clrReg8Bits(PERT, 161);
/* PORTA: BIT7=0,BIT6=0,BIT5=0,BIT4=0,BIT3=0,BIT2=0,BIT1=0,BIT0=0 */
setReg8(PORTA, 0);
/* DDRA: BIT7=1,BIT6=1,BIT5=1,BIT4=1,BIT3=1,BIT2=1,BIT1=1,BIT0=1 */
setReg8(DDRA, 255);
/* PORTB: BIT7=0,BIT6=0,BIT5=0,BIT4=0,BIT3=0,BIT2=0,BIT1=0,BIT0=0 */
setReg8(PORTB, 0);
/* DDRB: BIT7=1,BIT6=1,BIT5=1,BIT4=1,BIT3=1,BIT2=1,BIT1=1,BIT0=1 */
setReg8(DDRB, 255);
/* TIE: C7I=0,C5I=0 */
clrReg8Bits(TIE, 160);
/* PACTL: CLK1=0,CLK0=0 */
clrReg8Bits(PACTL, 12);
/* ATD0DIEN: IEN0=0 */
clrReg8Bits(ATD0DIEN, 1);
/* ATD1DIEN: IEN0=0 */
clrReg8Bits(ATD1DIEN, 1);
/* CRGINT: LOCKIE=0,SCMIE=0 */
clrReg8Bits(CRGINT, 18);
/* COPCTL: RSBCK=0 */
clrReg8Bits(COPCTL, 64);
/* RDRIV: RDPK=0,RDPE=0,RDPB=0,RDPA=0 */
clrReg8Bits(RDRIV, 147);
/* RDRH: RDRH7=0,RDRH6=0,RDRH5=0,RDRH4=0,RDRH3=0,RDRH2=0,RDRH1=0,RDRH0=0 */
setReg8(RDRH, 0);
/* RDRJ: RDRJ7=0,RDRJ6=0,RDRJ1=0,RDRJ0=0 */
clrReg8Bits(RDRJ, 195);
/* RDRM: RDRM7=0,RDRM6=0,RDRM5=0,RDRM4=0,RDRM3=0,RDRM2=0,RDRM1=0,RDRM0=0 */
setReg8(RDRM, 0);
/* RDRP: RDRP7=0,RDRP6=0,RDRP5=0,RDRP4=0,RDRP3=0,RDRP2=0,RDRP1=0,RDRP0=0 */
setReg8(RDRP, 0);
/* RDRS: RDRS7=0,RDRS6=0,RDRS5=0,RDRS4=0,RDRS3=0,RDRS2=0,RDRS1=0,RDRS0=0 */
setReg8(RDRS, 0);
/* RDRT: RDRT7=0,RDRT6=0,RDRT5=0,RDRT4=0,RDRT3=0,RDRT2=0,RDRT1=0,RDRT0=0 */
setReg8(RDRT, 0);
/* INTCR: IRQEN=0 */
clrReg8Bits(INTCR, 64);
/* PACN10: BIT15=0,BIT14=0,BIT13=0,BIT12=0,BIT11=0,BIT10=0,BIT9=0,BIT8=0,BIT7=0,BIT6=0,BIT5=0,BIT4=0,BIT3=0,BIT2=0,BIT1=0,BIT0=0 */
setReg16(PACN10, 0);
/* ### MC9S12DG128_112 "Cpu112" init code ... */
/* ### BitIO "ForwardOrBackward" init code ... */
/* ### ByteIO "E" init code ... */
/* ### BitIO "MotorEnableM3" init code ... */
/* ### BitIO "M4" init code ... */
Shadow_M &= (byte)~16; /* Initialize pin shadow variable bit */
/* ### BitIO "K0" init code ... */
Shadow_K &= (byte)~1; /* Initialize pin shadow variable bit */
/* ### BitIO "MotorEnableK3" init code ... */
/* ### Asynchro serial "SCI" init code ... */
SCI_Init();
/* ### Programable pulse generation "Servo1" init code ... */
Servo1_Init();
/* ### Programable pulse generation "Servo2" init code ... */
Servo2_Init();
/* ### Programable pulse generation "MainMotor" init code ... */
MainMotor_Init();
/* ### PulseAccumulator "SpeedSensor" init code ... */
SpeedSensor_Init();
/* ### ByteIO "PORTA" init code ... */
/* ### ByteIO "PORTB" init code ... */
/* ### Timer capture encapsulation "Cap1" init code ... */
Cap1_Init();
/* ### Timer capture encapsulation "Cap2" init code ... */
Cap2_Init();
/* ### "ATC0" init code ... */
ATC0_Init();
/* ### "ATC1" init code ... */
ATC1_Init();
/* Common peripheral initialization - ENABLE */
/* TSCR1: TEN=1 */
setReg8Bits(TSCR1, 128);
__EI(); /* Enable interrupts */
}