基于MC9S12XS128的直流电机调速及显示.docx

直流电机调速，显示设定速度以及实际速度，共阳数码管显示，测速装置为100线编码器，电位器控制速度。#include #include #pragma LINK_INFO DERIVATIVE mc9s12xs128#define PITTIME 5000/设定为50ms定时#define Max 306#define Maichong 200/*变量定义*/ unsigned int i,p,vTmpPIT1; unsigned char j,ad0; float result; unsigned char a10=0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90; unsigned char caiji6=0; unsigned int bits,Speed,later_result,data,duty,flag,flagPIT,delta_result; long Real_Speed;/*变量及数组初始化*/ void InitVariable(void) vTmpPIT1=0; bits=0; flag=1; flagPIT=1; vTmpPIT1=0; /*主频设置（72M）*/void Busclock(void) /05,01 48MHz 06,01 56MHz 07,01 64MHz 08,01 72MHz CLKSEL=0x00; PLLCTL_PLLON=1; SYNR=0xC0 | 0x08; REFDV=0xC0 | 0x01; POSTDIV=0x00; _asm(nop); _asm(nop); while(!(CRGFLG_LOCK=1); CLKSEL_PLLSEL =1; /-PWM初始化程序-/void PWM_Init(void) PWME_PWME1=0x00; / Disable PWM 禁止 PWME_PWME2=0x00; PWMPRCLK_PCKA=2; PWMPRCLK_PCKB=2; PWMSCLA=9; PWMSCLB=9; PWMCLK_PCLK1=1; / PWM1-SA 时钟源的选择 PWMPOL_PPOL1=1; PWMCLK_PCLK2=1; / PWM2-SB 时钟源的选择 PWMPOL_PPOL2=1; / Duty=High Time 极性设置 PWMCAE_CAE1=0; PWMCAE_CAE2=0; / Left-aligned 对齐方式设置 PWMCTL=0x00; / no concatenation 控制寄存器设置 PWMPER1=255; PWMDTY1=0; PWMPER2=255; PWMDTY2=0; PWME_PWME1=1; PWME_PWME2=1; / Enable PWM 使能/*PIT定时器初始化*/void initPIT(void)/定时中断初始化函数 50MS定时中断设置 PITCFLMT_PITE=0; /禁止PIT PITCE_PCE0=1;/定时器通道0使能使用0通道 PITCE_PCE1=1;/定时器通道1使能使用1通道 PITMTLD0=72-1;/8位定时器初值设定。72分频,?2MHzBusClock下，为1MHz。即1us. PITMTLD1=72-1;/8位定时器初值设定。72分频,?2MHzBusClock下，为1MHz。即1us. PITLD0=PITTIME-1;/16位定时器初值设定。PITTIME*0.001ms=5ms PITLD1=PITTIME-1;/16位定时器初值设定。PITTIME*0.001ms=5ms PITCFLMT_PITE=1;/PIT定时器使能/*ECT定时器初始化*/void InitEct(void) TIOS=0x00; /外部输入捕捉0,1通道 TCTL4=0x59; /通道3上升沿触发，通道2上升沿触发，通道0上升沿触发,通道1下降沿触发 TCTL3=0xc0;/通道7任何沿捕捉 TSCR1=0x80; /使能定时器 TIE_C7I=1; /光电编码器输入脉冲中断使能 /*脉冲捕捉初始化*/void IOC_Init(void) PACTL=0X50;/PT7 PIN,PACN32 16BIT,ALLing edge,NOT INTERRUPT TCTL3=0xc0;/c-输入捕捉7任何沿有效, TIE =0x00;/每一位对应相应通道中断允许,0表示禁止中断 TIOS =0x00;/每一位对应通道的: 0输入捕捉,1输出比较 PACNTH=0x00; PACNTL=0x00; /计数寄存器初始化为0 /*I/O初始化*/ void InitIoport(void) DDRB=0xfc;/高6位做片选输出 DDRA=0xff;/A口做数码管段码输出 /*AD及其初始化程序*/void ADInit(void) ATD0CTL1=0x00; ATD0CTL2=0x40; ATD0CTL3=0xf0; ATD0CTL4=0x01; ATD0CTL5=0x30; ATD0DIEN=0x00;/初始化ADunsigned int read_ad0() /AN0做采集 unsigned int ad0=0; while(!ATD0STAT0_SCF); ad0=ATD0DR0L; return ad0; /AD转换0/*电机PWM输出控制*/void PWMDian_duty() duty=delta_result; PWMDTY1=duty; PWMPER1=255; PWMDTY2=0; PWMPER2=255; PWME_PWME1=1; PWME_PWME2=1; / Enable PWM 使能 /*延时子程序*/ void delay(long m) while(m-); /*LED显示子程序*/ void led_display(int bits) for(j=0;jbits;j+) for(i=0;i=9;i+) if(caijij=i) caijij=ai; i=9; else ; PORTB|=0x04;/传输第一位 PORTA=caiji0; delay(100); PORTB|=0x08;/传输第二位 PORTA=caiji1; delay(100); PORTB|=0x10;/传输第三位 PORTA=caiji2;/显示小数点 delay(100); PORTB|=0x20;/传输第四位 PORTA=caiji3&0x7f; delay(100); PORTB|=0x40;/传输第五位 PORTA=caiji4; delay(100); PORTB|=0x80;/传输第六位 PORTA=caiji5; delay(100); void chuli(unsigned int data) p=100; for(j=0;j=3;j+) caijij=data/p; data=data%p; p=p/10; /数据处理/*主函数*/void main(void) DisableInterrupts; Busclock(); InitVariable(); InitIoport(); ADInit(); InitEct(); initPIT(); IOC_Init(); PWM_Init(); EnableInterrupts; delay(4000); for(;) if(flagPIT=1) flagPIT=0; PITINTE_PINTE0=0;/定时器中断通道0中断禁止 PITINTE_PINTE1=1;/定时器中断通道1中断使能 if(flag=1) flag=0; result=read_ad0(); later_result=result*Max/255; delta_result=result; PWMDian_duty(); led_display(6);/调用数码管显示 delay(100); if(flag=0) flag=1; delta_result=result; PWMDian_duty(); led_display(6);/调用数码管显示 delay(100); /*PIT定时器1中断*/#pragma CODE_SEG _NEAR_SEG NON_BANKEDvoid interrupt 67 PIT1(void) vTmpPIT1+; if(vTmpPIT1=100)/定时1s vTmpPIT1=0; DisableInterrupts; Real_Speed=PACNTL+256*PACNTH; PACNTH=0x00; PACNTL=0x00; PITTF=0x02;/清中断标志位 EnableInterrupts; if(Real_Speedlater_result) delta_result-=2; else delta_result+=0; Real_Speed=Real_Speed/100; p=100; caiji5=Real_Speed/p; Real_Speed=Real_Speed%p; p=10; caiji4=Real_Speed/p; Real_Speed=Real_