线性CCD控制舵机巡线程序.doc

#include /* common defines and macros */#include derivative.h /* derivative-specific definitions */#define TSL_SI PORTA_PA0 /定义线性传感器的端口 SI#define TSL_CLK PORTA_PA1 /定义线性传感器的端口 CLK#define led PORTA_PA2#define PWM1 PTP_PTP0 /定义线性传感器的端口 CLK #define PWM2 PTP_PTP1uchar ADV128;uchar table128;void PWM_Init() PWME=0X00; PWMCTL=0Xf0;/级联 PWMPOL=0XFF;/极性 PWMCAE=0X00;/0为左对齐方式 PWMCLK=0XFF;/时钟选择寄存器 PWMPRCLK=0X44;/ 64MHZ/16=4MHZ; PWMSCLA=200;/ 4MHZ/(2*200) =10000HZ 4MHZ=4*10的6次方4 000 000HZ PWMSCLB=200; PWMPER01=500; /调周期长短A1 10HZ PWMPER23=500; PWMPER45=500; PWMDTY01=200; / 电机占空比 PWMDTY23=300; PWMDTY45=15; /控制舵机 void PLL_Init(void) CLKSEL=0X00;/disengage PLL to system PLLCTL_PLLON=1;/turn on PLL SYNR =0xc0 | 0x07; REFDV=0x80 | 0x01; POSTDIV=0x00; /pllclock=2*osc*(1+SYNR)/(1+REFDV)=128MHz; _asm(nop); /BUS CLOCK=64M _asm(nop); while(!(CRGFLG_LOCK=1); /when pll is steady ,then use it; CLKSEL_PLLSEL =1; /engage PLL to system; void Dly_us(void) int ii; /for(ii=0;ii20;ii+); /32M for(ii=0;ii400;ii+); /64M void SetBusCLK_32M(void) CLKSEL=0X00;/ disengage PLL to system PLLCTL_PLLON=1;/ turn on PLL SYNR =0x40 | 0x03; / pllclock=2*osc*(1+SYNR)/(1+REFDV)=64MHz; REFDV=0x80 | 0x01; POSTDIV=0x00; _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; /*void Dly_ms(int ms) int ii,jj; if (ms1) ms=1; for(ii=0;iims;ii+) for(jj=0;jj2670;jj+); /busclk:32MHz-1ms /for(jj=0;jj0;i-) for(j=110;j0;j-);void AD_Init(void) ATD0CTL1=0x00; /7:1-外部触发,65:00-10位精度,4:放电,3210:ch ATD0CTL2=0x40; /禁止外部触发, 中断禁止 ATD0CTL3=0xa0; /右对齐无符号,每次转换4个序列, No FIFO, Freeze模式下继续转 ATD0CTL4=0x01; /765:采样时间为4个AD时钟周期,ATDClock=BusClock*0.5/PRS+1 ATD0CTL5=0x30; /6:0特殊通道禁止,5:1连续转换 ,4:1多通道轮流采样 ATD0DIEN=0x00; /禁止数字输入 void init_AD12() ATD0CTL1=0X20; /10位精度 ATD0CTL2=0XC0; /自动清除标志位 ATD0CTL3=0X98; /转换序列5 ATD0CTL4=0x0F; /采样时间4周期，AD时钟8MHz ATD0CTL5=0X30; /连续，多通道转换 ATD0DIEN=0X00; /禁止数字输入void RD_TSL(void) byte i=0,tslp=0; TSL_CLK=1;/起始电平高 TSL_SI=0; /起始电平低 Dly_us(); /合理的延时 TSL_CLK=0;/下降沿 TSL_SI=1; /上升沿 Dly_us(); /合理延时 TSL_CLK=1;/上升沿 TSL_SI=0; /下降沿 Dly_us(); /合理延时 for(i=0;i128;i+) TSL_CLK=0;/下降沿 Dly_us(); /合理延时 while(!ATD0STAT0_SCF);/等待转换结束 ADVtslp=ATD0DR0L; /AD采集 +tslp; TSL_CLK=1;/上升沿 Dly_us(); /合理延时 void main(void) int i,j,k,D_value1,D_value2; PLL_Init(); /SetBusCLK_32M(); AD_Init(); /init_AD12(); PWM_Init(); DDRA_DDRA0=1; DDRA_DDRA1=1; DDRP=0XFF; PWME=0XFF;EnableInterrupts; for(;) /_FEED_COP(); /* feeds the dog */ RD_TSL(); for(i=0;i128;i+) if(ADVi0;j-) if(tablej=0) break; D_