奇怪的PWM频率

行毅102 · 发表于 2013-3-29 18:48:36

#include <hidef.h>    /* common defines and macros */
#include <MC9S12XS128.h>    /* derivative-specific definitions */
#pragma LINK_INFO DERIVATIVE"mc9s12xs128"
unsigned int SenA;
unsigned int table[7]={1610,1598,1545,1470,1385,1327,1315};
unsigned char AD_LEFT=4,AD_MIDDLE=5,AD_RIGHT=6;
unsigned int i=0,j=0,k=0,p=2.5;
int a=-1,b,c;
unsigned int steer;
unsigned int AD_datamax,AD_datamin,AD_datasum;
unsigned int AD_data[8][10]=0,AD_Value[8]=0;
float speed;

//这个文件定义主传感器操作函数，包括AD采集，分析等
//只用了3个电感

void deley(unsigned int loop_times)
  {
   unsigned int loop_i,loop_j;
   for (loop_i=0; loop_i< loop_times; loop_i++)
      {
      for (loop_j=0; loop_j<500;loop_j++)
         {
            ;
         }
      }
  }
void AD_init(void)
{
ATD0CTL1=0x00; //7:1 -外部触发 ,65:10 -12 位精度 ,4:1 采样前放电,3210:ch
ATD0CTL2=0x40; // 禁止外部触发 , 中断禁止
ATD0CTL3=0x80; //7:1 右对齐无符号 ,6543:0100 每次转换 4个序列 , 210:000,No FIFO, Freeze 模式下继续转
ATD0CTL4=0x03; //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 PIT_INIT(void)
{
  PITCFLMT_PITE=0;
  PITCE_PCE0=1; //通道使能
  PITMUX=0;       //选择8位时钟
  PITMTLD0=240-1;
  PITLD0=2000-1;
  PITINTE_PINTE0=1;//中断使能
  PITCFLMT_PITE=1; //PIT使能
}
void sci_init (void)
{
  SCI0CR2=0xb8;
  SCI0BDH=0x00;
  SCI0BDL=0x9c;
}
/*void sci_putchar(unsigned int ch)
{
  while(!(SCI0SR1&0x40))
  { }
  SCI0DRL=1;
}*/
  void PLL_INIT(void)
{
  SYNR=2;
  REFDV=1;
  asm(nop);
  asm(nop);
  while(!(CRGFLG&0x08));
  CLKSEL=0x80;
}
/*void PLL_INIT(void)
{
CLKSEL=0X00;             //disengage PLL to system
PLLCTL_PLLON=1;          //turn on PLL
SYNR =0xc0 | 0x05;
REFDV=0x80 | 0x01;
POSTDIV=0x00;    //pllclock=2*osc*(1+SYNR)/(1+REFDV)=96MHz;
_asm(nop);       //BUS CLOCK=48M
_asm(nop);
while(!(CRGFLG_LOCK==1));    //when pll is steady ,then use it;
CLKSEL_PLLSEL =1;             //engage PLL to system;
}*/
void PWM_Init(void)
{
PWMCTL_CON01=1;
PWMCAE_CAE1=0;
PWMPOL_PPOL1=1;
PWMCNT01=0;
PWMCLK_PCLK1=1;
PWMSCLA=12;
PWMCLK_PCLK1=1;
PWMPER01=20000;
PWME_PWME1=1;
}
void dianjiPWM_init()//电机PWM初始化
{
  PWME_PWME2 = 0;
  PWME_PWME3 = 0;
  PWMPRCLK = 0;
  PWMSCLA = 12;
  PWMSCLB = 12;
  PWMCLK_PCLK2 = 1;
  PWMCLK_PCLK3 = 1;
  PWMPOL_PPOL2 = 1;
  PWMPOL_PPOL3 = 1;
  PWMCAE_CAE2 = 0;
  PWMCAE_CAE3 = 0;
  PWMPER2 = 100;
  PWMPER3 = 100;
  PWME_PWME2 = 1;
  PWME_PWME3 = 1;
}
void time1Init(void){
  PACTL_PAEN=0;//0－16b计数禁止，1允许,先禁止
  PACTL_PAMOD=0;//0－计数模式，1－门时计数模式，设0
  PACTL_PEDGE=0;//0下降沿，1－上升沿，指定有IOC7－PT7口输入，此位受PACTL_PAMOD影响，此设0
  PACTL_CLK1=0;//当计数位外部脉冲，此设置无意义，都设0
  PACTL_CLK0=0;
  PACTL_PAOVI=0;//0－溢出中断禁止，1－允许，本例计数个数有time0时钟中断读取，不需要溢出中断，设0
  PACTL_PAI=0;//0禁止中断，1允许，设0
  PACNT=0;//计数器寄存器的值，可以使0000～FFFF，先清0
  //PAFLG_PAOVF=1;//计数溢出FFFF>0000
  PAFLG_PAIF=1;//脉冲数入1=IOC7-PT7,最大65536个脉冲
  PACTL_PAEN=1;//16b计数允许
}
unsigned char ReadATD(byte ch)
{
byte ad=0;
DisableInterrupts;
while(!ATD0STAT0_SCF);
switch(ch)
{
   case 0:
   ad= ATD0DR0L;
   break;
   case 1:
   ad= ATD0DR1L;
   break;
   case 2:
   ad= ATD0DR2L;
   break;
   case 3:
   ad= ATD0DR3L;
   break;
   case 4:
   ad= ATD0DR4L;
   break;
   case 5:
   ad= ATD0DR5L;
   break;
   case 6:
   ad= ATD0DR6L;
   break;
   case 7:
   ad= ATD0DR7L;
   break;
}
EnableInterrupts;
return ad;
}
void control(void)
{
   if(PORTB_PB0==1)
   {
   //Cal_PostitionA();
   unsigned int sum;
   for(i=0;i<3;i++)
   {
   if(AD_Value[i]<=20)AD_Value[i]=0; //数字滤掉零飘
   if(AD_Value[i]!=0) AD_Value[i]=AD_Value[i]-19; //新加的 11.7.13
   }
   sum=AD_Value[AD_LEFT]+AD_Value[AD_MIDDLE]+AD_Value[AD_RIGHT];
   sum=AD_Value[AD_LEFT]*5+AD_Value[AD_MIDDLE]*50+AD_Value[AD_RIGHT]*95;//最核心的2句哦
   sum=sum/(AD_Value[AD_LEFT]+AD_Value[AD_MIDDLE]+AD_Value[AD_RIGHT]);
   SenA=sum;
   if (SenA<10) PWMDTY01=table[0];
   else if (SenA<25) PWMDTY01=table[1];
   else if (SenA<43) PWMDTY01=table[2];
   else if (SenA<58) PWMDTY01=table[3];
   else if (SenA<75) PWMDTY01=table[4];
   else if (SenA<90) PWMDTY01=table[5];
   else PWMDTY01=table[6];
   }
   else
   {
   if (PORTA_PA0==1) {PWMDTY2 = 45;}
   if (PORTA_PA1==1) {PWMDTY2 = 50;}
   if (PORTA_PA2==1) {PWMDTY2 = 55;}
   if (PORTA_PA3==1) {PWMDTY2 = 60;}
   /*if (PORTA_PA0==1) {p=3

ORTB=(char)ATD0DR0;}
   if (PORTA_PA1==1) {p=4;PORTB=(char)ATD0DR1;}
   if (PORTA_PA2==1) {p=5;PORTB=(char)ATD0DR2;}
   if (PORTA_PA3==1) {p=6;PORTB=(char)ATD0DR3;}*/
   a=AD_Value[1]-AD_Value[2];
   b=AD_Value[0]-AD_Value[3];
   c=AD_Value[4]-AD_Value[6];
   if (!((AD_Value[1]==0)&(AD_Value[2]==0)))
   {
      if ((a<=5)&(a>=-5)) steer=table[3];
      else if (a<-5) steer=table[3]+a*p;
      else if (a>5) steer=table[3]+a*p;
   }
   else
      {
      if (!((AD_Value[0]==0)&(AD_Value[3]==0)))
      {
      if(b>0) steer=table[0];
      else steer=table[6];
      }
      else
            {
            //Cal_PostitionA();
            unsigned int sum;
               for(i=0;i<3;i++)
            {
               if(AD_Value[i]<=20)AD_Value[i]=0; //数字滤掉零飘
               if(AD_Value[i]!=0) AD_Value[i]=AD_Value[i]-19; //新加的 11.7.13
            }
               sum=AD_Value[AD_LEFT]+AD_Value[AD_MIDDLE]+AD_Value[AD_RIGHT];
               sum=AD_Value[AD_LEFT]*5+AD_Value[AD_MIDDLE]*50+AD_Value[AD_RIGHT]*95;//最核心的2句哦
               sum=sum/(AD_Value[AD_LEFT]+AD_Value[AD_MIDDLE]+AD_Value[AD_RIGHT]);
               SenA=sum;
            if (SenA<10) PWMDTY01=table[0];
            else if (SenA<25) PWMDTY01=table[1];
            else if (SenA<43) PWMDTY01=table[2];
            else if (SenA<58) PWMDTY01=table[3];
            else if (SenA<75) PWMDTY01=table[4];
            else if (SenA<90) PWMDTY01=table[5];
            else PWMDTY01=table[6];
            }
      }
   if ((steer>=1290)&(steer<=1650)==1) PWMDTY01=steer;
   else if (steer<1290) PWMDTY01=table[6];
   else PWMDTY01=table[0];
      }
}
void IO_init(void)
{
PORTB=0x00;
PORTA=0x00;
DDRB=0x00;
DDRA=0x00;
PORTE=0xff;
DDRE=0xff;
}
void boot(void)
{

PLL_INIT();
dianjiPWM_init();
PWM_Init();
PIT_INIT();
//sci_init ();
AD_init();

time1Init();
IO_init();
}
void main(void)
{
  boot();

  for(j=0;j<8;j++)
{
   for(k=0;k<10;k++)
   {AD_data[j][k]=ReadATD(j);}
}

  PWMDTY2 = 50;
  PWMDTY3 = 0;
  EnableInterrupts;
  for (;;)
{
  if (PORTA_PA0==1) {PWMDTY2=45;}
  if (PORTA_PA1==1) {PWMDTY2=50;}
  if (PORTA_PA2==1) {PWMDTY2=55;}
  if (PORTA_PA3==1) {PWMDTY2=60;}
   for(j=0;j<8;j++)
   {
      for(k=0;k<9;k++)
      {
      AD_data[j][k]=AD_data[j][k+1];
      }
   }
   for(j=0;j<8;j++)
      {
      AD_data[j][9]=ReadATD(j);
      }
   for(j=0;j<8;j++)
      {
      AD_datamax=0;
      AD_datamin=255;
      AD_datasum=0;
      for(k=0;k<10;k++)
      {
         AD_datasum=AD_datasum+AD_data[j][k];
         if(AD_data[j][k]>AD_datamax) AD_datamax=AD_data[j][k];
         if(AD_data[j][k]<AD_datamin) AD_datamin=AD_data[j][k];
      }
      AD_datasum=AD_datasum-AD_datamax-AD_datamin;
      AD_Value[j]=AD_datasum/8;
      }
   control();
   /*while(!(SCI0SR1&0x40));
   if (PORTB_PB0==1)  SCI0DRL=AD_Value[AD_LEFT];
   else if (PORTB_PB1==1) SCI0DRL=AD_Value[1];
   else if (PORTB_PB2==1) SCI0DRL=AD_Value[2];

   PACNT=0;
   ATD0STAT0_SCF=1;*/
   _FEED_COP();

}

}
#pragma CODE_SEG __NEAR_SEG NON_BANKED
void interrupt 66 PIT0(void)
{
  PACTL_PAEN=0;//16b计数禁止
  PORTB=PACNT*50/80;
  speed=(float)PACNT*50/40;
  PACNT=0;
  PACTL_PAEN=1;//16b计数允许
  PITTF_PTF0=1;//清除PIT0的标记
}
我明明把PWM01设成50hz，但用示波器测得频率为9khz-10khz。可是我用我的另一个程序就可以，两个程序对PWM的设置是完全一样