1、#include /- static void port_init(void) ddra = 0 x00; pucr_pupke=0 xff; ddrb = 0 x00; /led ptb0-7, pucr_pupbe=0 xff; /leds on ddre=0 xff; perh = 0 xff; /key ptih= 0 x00; / /- static void pwm_init(void) /pwm0.pwm1 pwmctl_con01=1; /0 和 1 聯合成 16 位 pwm ；pwmcae_cae1=0; /選擇輸出模式為左對齊輸出模式pwmcnt01 = 0; /計數器清零

2、；pwmpol_ppol1=1; /先輸出高電平，計數到dty 時，反轉電平pwmprclk = 0x40; /clocka 不 分 頻 ,clocka=busclock=16mhz;clk b 16 分頻:1mhz pwmscla = 0 x08; /對 clock sa 16 分頻 ,pwm clock=clocka/16=1mhz; pwmclk_pclk1 = 1; /選擇 clock sa 做時鐘源pwmper01 = 20000; /周期 20ms； 50hz;(可以使用的范圍：50-200hz) pwmdty01 = 1150; /高電平時間為1.5ms; pwme_pwme1

3、= 1; /pwm2.pwm3 pwmctl_con23=1; /0 和 1 聯合成 16 位 pwm ；pwmcae_cae3=0; /選擇輸出模式為左對齊輸出模式pwmcnt23 = 0; /計數器清零；pwmpol_ppol3=1; /先輸出高電平，計數到dty 時，反轉電平pwmprclk = 0x40; /clockb 不 分 頻 ,clocka=busclock=16mhz;clk b 16 分頻:1mhz pwmsclb = 0 x08; /對 clock sb 16 分頻 ,pwm clock=clocka/16=1mhz; pwmclk_pclk3 = 1; /選擇 cloc

4、k sb 做時鐘源pwmper23 = 200; /周期 20ms； 50hz;(可以使用的范圍：50-200hz) pwmdty23 = 100; /高電平時間為1.5ms; pwme_pwme3 = 1; /pwm6.pwm7 pwmctl_con67=1; /0 和 1 聯合成 16 位 pwm ；pwmcae_cae7=0; /選擇輸出模式為左對齊輸出模式pwmcnt67 = 0; /計數器清零；pwmpol_ppol7=1; /先輸出高電平，計數到dty 時，反轉電平pwmprclk = 0x40; /clockb 不 分 頻 ,clocka=busclock=16mhz;clk b

5、 16 分頻:1mhz pwmsclb = 0 x08; /對 clock sb 16 分頻 ,pwm clock=clocka/16=1mhz; pwmclk_pclk7 = 1; /選擇 clock sb 做時鐘源pwmper67 = 200; /周期 20ms； 50hz;(可以使用的范圍：50-200hz) pwmdty67 = 100; /高電平時間為1.5ms; pwme_pwme7 = 1; void setbusclk_16m(void) clksel=0x00; /disengage pll to system pllctl_pllon=1; /turn on pll syn

6、r=1; refdv=1; /pllclock=2*osc*(1+synr)/(1+refdv)=32mhz; _asm(nop); /bus clock=16m _asm(nop); while(!(crgflg_lock=1); /when pll is steady ,then use it; clksel_pllsel =1; /engage pll to system; void setbusclk_32m(void) clksel=0x00; /disengage pll to system pllctl_pllon=1; /turn on pll synr=3; refdv=1;

7、 /pllclock=2*osc*(1+synr)/(1+refdv)=64mhz; _asm(nop); /bus clock=32m _asm(nop); while(!(crgflg_lock=1); /when pll is steady ,then use it; clksel_pllsel =1; /engage pll to system; /- #pragma code_seg default void init_dev(void) setbusclk_16m(); port_init(); pwm_init(); /- /* - */ #include #include #i

8、nclude #include lijinit.h #pragma link_info derivative mc9s12dg128b void shijian(void); void chaopin(void); /超頻程序void tim_init(void);/定時程序int chesudu; void dly_ms(int ms) int ii,jj; if (ms1) ms=1; for(ii=0;iims;ii+) for(jj=0;jj2770;jj+); /32mhz-1ms /- byte scan_key(void) dly_ms(10); if(porta_pa0=1)

9、return o; / ok else if(porta_pa1=1) return c; / esc else if(porta_pa2=1) return d; / down else if(porta_pa3=1) return r; / right else if(porta_pa4=1) return l; / left else if(porta_pa5=1) return u; / else if(portb_pb1=1) return a; / / else if(portb_pb1=0) return b; / /* if(ptih_ptih7=0) return o; /

10、ok else if(ptih_ptih6=0) return c; / esc else if(ptih_ptih5=0) return d; / down else if(ptih_ptih4=0) return r; / right else if(ptih_ptih3=0) return l; / left else if(ptih_ptih2=0) return u; / else if(ptih_ptih1=0) return a; / else if(ptih_ptih0=0) return b; / */ else return 0 xff; byte u8_rcv_ch=0

11、xff; a void chaopin(void)/64m clksel=0x00; pllctl_pllon=1; synr =0 xc0 | 0 x07; refdv=0 xc0 | 0 x01; postdiv=0 x00; _asm(nop); _asm(nop); _asm(nop); _asm(nop); while(!(crgflg_lock=1); clksel_pllsel =1; void tim_init(void) pactl=0x50; /端口初始化pacnt=0x0000; void shijian(void) pitcflmt_pite=0; pitce_pce0

12、=1; pitld0=9999; /1 毫秒pitmtld0=5; pitmux=0x00; pitinte_pinte0=1; pitcflmt_pite=1; /= 速度采集中斷函數，已經完全可以采集速度的= #pragma code_seg non_banked void interrupt 66 pit0interrupt(void)/測速的中斷程序 chesudu=pacnt;/ 車速度值pittf_ptf0=1; pacnt=0x0000; #pragma code_seg default /=中斷函數 = /=main()= #pragma code_seg default vo

13、id main(void) byte u8_key=0; chaopin(); / 超頻函數初始化shijian() ; tim_init();/計數器函數初始化init_dev(); /dly_ms(2000); /dly_ms(2000); enableinterrupts; for(;) pwmdty23 = 190; pwmdty67 =200; /- 小鍵盤功能部分- if(u8_key=scan_key()!=0 xff) u8_rcv_ch=u8_key; switch(u8_rcv_ch) case l: pwmdty01=1100; pwmdty67=200; pwmdty2

14、3=100; porte_pe0=1; break; case r: pwmdty01=1185; pwmdty67=200; pwmdty23=100; porte_pe0=1; break; case u: pwmdty01=1000; pwmdty67=200; pwmdty23=100; porte_pe0=1; break; case d: pwmdty01=1225; pwmdty67=200; pwmdty23=100; porte_pe0=1; break; case o: pwmdty01=1360; pwmdty67=200; pwmdty23=100; porte_pe0=1; break; case c: pwmdty01=1225; pwmdty67=200; pwmdty23=100; porte_pe0=1; break; case r&d: pwmdty01=1185; pwmdty67=200; pwmdty23=100; porte_