智能车制作

标题: 电磁的AD转换高手们帮我看看吧哪错了 [打印本页]

作者: 海豚12315 时间: 2011-5-2 17:42
标题: 电磁的AD转换高手们帮我看看吧哪错了
#include <hidef.h>    /* common defines and macros */
#include "derivative.h"    /* derivative-specific definitions */
#include "math.h"
#include"includes.h"
#include"SCIDrivers.h"
#pragma LINK_INFO DERIVATIVE "mc9s12xs128"

word AD_value[6]={ };

/***************毫秒延时函数2/3ms*********************************/

void Dly_ms(int ms){
   int ii,jj;
if (ms<1) ms=1;
for(ii=0;ii<ms;ii++)
   for(jj=0;jj<2770;jj++); //16MHz--1ms
}

/**********IO初始化**********************************/
void IO_init(void){
   DDRA = 0x00; // A口输入
   DDRB = 0xFF; //  B口输出
   DDRE = 0x00; //E口输入
   DDRM = 0x00; // M口输入


   ATD0CTL1 = 0x00; //8位精度，选择AD为外部触发
   ATD0CTL2 = 0x40; //使能A/D，自动清零，禁止中断
   ATD0CTL3 = 0xD4; //右对齐，转换序列长度为6：AN0~AN5，转换队列映射到到结果寄存器open FIFO
   ATD0CTL4 = 0x01; //4个AD采样周期?RS=1，6MHZ
   ATD0CTL5 = 0x30; //连续转换scan=1,多通道转换MULT=1,起始通道0，AN0~AN5
   ATD0DIEN = 0x00; //disable AD as input输入允许寄存器关闭缓冲区
}

/***********总线频率64M*************************************/

  void SetBusCLK_24M(void){//锁相环倍频

CLKSEL = 0X00; //CRG始终选择寄存器的选择disengage PLL to system
PLLCTL_PLLON = 1; //打开PLL turn on PLL
SYNR = 2; //对PLLCLK增频的因子
REFDV = 1;  //对PLLCLK分频的因子
POSTDIV = 0x00;    //pllclock=2*osc*(1+SYNR)/(1+REFDV)=48MHz;osc =16M
_asm(nop);       //BUS CLOCK=24M
_asm(nop);
while(!(CRGFLG_LOCK==1));    //when pll is steady ,then use it;
CLKSEL_PLLSEL = 1;          //engage PLL to system;
}
/**************************PWM初始化**************************************/

void PWMInit(void){

  PWME = 0x00; //关PWM

  PWMCTL = 0x70; //01级联23级联45级联 01舵机
  PWMCAE = 0x00; //左对齐
  PWMPOL = 0xFF; //先高后低

  PWMCLK = 0xFF; //SA SB
  PWMPRCLK = 0x22;  //A4分频 A=6M B4分频 B=6M
  PWMSCLA = 1;    //SA=3M
  PWMSCLB = 1;    //SB=3M
  PWMPER01 = 10000; //300Hz
  PWMDTY01 = 4700;  //居中4700  6000left 2900right
  PWMPER45 = 150;
  PWMPER23 = 150; //20k
  PWMDTY23 = 0;
  PWMDTY45 = 0;
  PWME = 0xFF;
}

/************AD convert value*************/
void  AD_Getvalue(word *AD_value){
  while(!ATD0STAT0_SCF);
      asm ("nop");
      AD_value[0]=ATD0DR0;
      AD_value[1]=ATD0DR1;
      AD_value[2]=ATD0DR2;
      AD_value[3]=ATD0DR3;
      AD_value[4]=ATD0DR4;
      AD_value[5]=ATD0DR5;
      AD_value[6]=ATD0DR6;



}

/************主函数***********************/
void main(void)
{

  /* put your own code here */
   int tmp;
   IO_init();       //IO初始化
   SetBusCLK_24M(); //倍频
   SCIInit();
   PWMInit();       //
   PWME_PWME1 = 1;    //
   Dly_ms(6000);    //
   Dly_ms(3000);    //
   PWME_PWME5 = 1;    //
   PWME_PWME3 = 1;    //

     EnableInterrupts;
      while(1)
      {
   SCISend1(0xFF) ;
   SCISendN(12,AD_value) ;
   SCISend1(0xFF) ;
   }


}

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