#include???????/*?common?defines?and?macros?*/
#include??????/*?derivative?information?*/
#pragma?link_INFO?DERIVATIVE?“mc9s12xs128“


#define?uint?unsigned?int
#define?uchar?unsigned?char
#define?DJ_MID_RUDDER?4500????//最右4160最左4900
#define?DJ_MID_CAMERA?4500?????//最右1200最左6900



#define?in_y??PTIH_PTIH7
unsigned?char?ly_ct=0;
unsigned?char?ly_flag=1;
unsigned?char?ly_lhj[4];
uchar?table[]=?{0xc00xf90xa40xb00x990x920x820xf80x800x90};//表：共陽數碼管?0-9?




#define?H1?PT1AD0_PT1AD07???//片選
#define?H2?PT1AD0_PT1AD06
#define?H3?PT1AD0_PT1AD05
#define?H4?PT1AD0_PT1AD04
#define?DA?PT1AD0_PT1AD03?//數據輸出
#define?SC?PT1AD0_PT1AD02?//移位時鐘
#define?ST?PT1AD0_PT1AD01?//鎖存信號	



//超頻到48MHz
?void?PLL_Init（void）???????//PLLCLK=2*OSCCLK*（SYNR+1）/（REFDV+1）即?鎖相環時鐘=2*16*（2+1）/（1+1）=48MHz
{
????REFDV=0x01;????????//總線時鐘=48/2=24MHz
????SYNR=0x02;
????while（!（CRGFLG&0x08））;???//wait?until?pll_lock=0;鎖相環頻率為鎖定；
????CLKSEL=0x80;????????????//置位PLLSEL=1;選定鎖相環時鐘；
}

void?delay（int?time）{//0.1ms
uint?i;uint?j;
for?（i=0;ifor?（j=0;j<400;j++）;
ly_ct++;
}

void?delayus（int?time）{//1us
uint?i;uint?j;
for?（i=0;ifor?（j=0;j<4;j++）;
ly_ct++;
}


//PWM初始化?????
void?PWM_Init（void）
{

PWME=0x00;
PWMCTL=0xF0;?????????????///級聯01234567
PWMPRCLK=0x22;???????????///?A時鐘、B時鐘為總線時鐘的1/4分頻??A=B=24M/4=6M???
PWMSCLA=0x01;???????????//時鐘SA=時鐘A/2/1=3M???????時鐘SA?=時鐘A/（2*PWMSCLA）
PWMSCLB=0x01;???????????//時鐘SB=時鐘B/2/1=3M???????時鐘SB?=時鐘B/（2*PWMSCLB）
PWMCLK=0xF0;??????????????////時鐘A控制01，B控23，SA控制45，SB控制67
PWMPOL=0xFF;??????????????///對外輸出波形先是高電平然后再變為低電平
PWMCAE=0x00;???????????????///左對齊輸出
PWMPER23=600;?????????????????//pwm3控制????????PWM3_Period=6M/600=10KHZ
PWMDTY23=0;????????????????
PWMPER01=600;?????????????????//pwm1控制????????PWM1_Period=6M/600=10KHZ
PWMDTY01=0;
PWMPER45=60000;????????????//45攝像頭舵機?頻率為3MHz/60000=50Hz???周期為20ms?
PWMDTY45=DJ_MID_CAMERA;????????????///攝像頭舵機初值歸中
PWMPER67=60000;????????????//67方向舵機?頻率為3MHz/60000=??50Hz???周期為20ms??
PWMDTY67=DJ_MID_RUDDER;????????????///方向舵機初值歸中
PWME=0xFF;?????????????????//啟動PWM
?
}


void?PH7_Init（void）{


PPSH_PPSH7=0;//0下降沿觸發
PIEH_PIEH7=0;//中斷disable
DDRH_DDRH7=0;//輸入
PTIH_PTIH7=0;//input?reg
}




void?IO_Init（void）{

DDR1AD0=0xFF;
RDR1AD0=0XFF;


}




void?output（uchar?dat）?//移出一字節
{???

????uchar?i;
????for（i=0;i<8;i++）
????{
???????SC=0;
???????if（（dat）&（0x80））
???????DA=1;
???????else?
???????DA=0;
???????SC=1;
???????dat<<=1;?
?????}
??
?????
?????
}

void?display（uint?data）{??

uint?data_lowdata_middata_highi;
data_low=data%10;???????//個位
data_mid=（data/10）%10;//十位
data_high=data/100;//百位?
//H3=1;
H4=1;
ST=0;

for（i=2;i>1;i--）{
??
H1=1;??
H3=1;
H2=0;??//十位
output（table[data_mid]）;
ST=1;
delay（50）;ST=0;
}

for（i=2;i>1;i--）{
??
H1=1;
H2=1;?
H3=0;?//個位??
output（table[data_low]）;
ST=1;
delay（50）;ST=0;??
}

for（i=2;i>1;i--）{
??
H2=1;