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恩智浦13屆智能車比賽電磁直立組程序KEA128,結構體封裝函數,代碼詳細注釋,方便移植參考,mpu6050互補濾波,穩定可上賽道

代碼片段和文件信息
/*********************************************************************************************************************
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?*?Copyright?(c)?2017逐飛科技
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?*?@file??????? common
?*?@company ??? 成都逐飛科技有限公司
?*?@author????? 逐飛科技(QQ3184284598)
?*?@version???? v2.0
?*?@Software? IAR?7.7?or?MDK?5.23
?*?@Target?core S9KEA128AMLK
?*?@Taobao??? https://seekfree.taobao.com/
?*?@date??????? 2017-11-6
?********************************************************************************************************************/
#include?“common.h“
#include?“system_SKEAZ1284.h“
#define?EX_REF_CLK??16000?//(定義外部參考時鐘為16000KHZ)
uint32?ics_clk_khz;
uint32?ftm_clk_khz;
uint32?core_clk_khz;
uint32?bus_clk_khz;
void?get_clk(void)
{
????uint16?prescaler_factor[]={12481632641282565121024};
????
????if(2?==?KEA128_CLOCK)???//內部時鐘
????{
????????ics_clk_khz?=?48000;
????????ftm_clk_khz?=?48000;
????????core_clk_khz?=?48000;
????????bus_clk_khz?=?24000;?
????}
????else????????????????????//外部時鐘
????{
????????ics_clk_khz??=?EX_REF_CLK?*?1280?;
????????ics_clk_khz?=?ics_clk_khz?/?prescaler_factor[((ICS->C1&ICS_C1_RDIV_MASK)?>>?ICS_C1_RDIV_SHIFT)?+?5];????//計算FLL輸出頻率
????????ics_clk_khz?=?ics_clk_khz?/?prescaler_factor[(ICS->C2&ICS_C2_BDIV_MASK)?>>?ICS_C2_BDIV_SHIFT];??????????//計算ICSCLKOUT
????????
????????core_clk_khz?=?ics_clk_khz??/?(((SIM->CLKDIV&SIM_CLKDIV_OUTDIV1_MASK)?>>?SIM_CLKDIV_OUTDIV1_SHIFT)?+?1);
????????bus_clk_khz??=?core_clk_khz?/?(((SIM->CLKDIV&SIM_CLKDIV_OUTDIV2_MASK)?>>?SIM_CLKDIV_OUTDIV2_SHIFT)?+?1);
????????ftm_clk_khz??=?ics_clk_khz??/?(((SIM->CLKDIV&SIM_CLKDIV_OUTDIV3_MASK)?>>?SIM_CLKDIV_OUTDIV3_SHIFT)?+?1);
????}
????uart_init(DEBUG_PORTDEBUG_BAUD);???//初始化調試串口,如果不使用printf可以屏蔽
}
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-05-06?11:15??KEA電磁直立??17秒跑完賽道??各環初步調好\
?????目錄???????????0??2018-05-06?11:15??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\
?????目錄???????????0??2018-05-06?11:15??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\
?????目錄???????????0??2018-05-06?11:15??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\
?????目錄???????????0??2018-05-09?21:06??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\
?????文件????????1559??2018-01-18?19:51??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\KEA128_adc.h
?????文件????????2108??2017-11-17?14:54??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\KEA128_flash.h
?????文件????????1890??2017-11-10?14:48??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\KEA128_ftm.h
?????文件????????4770??2017-11-14?15:15??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\KEA128_gpio.h
?????文件????????1543??2017-11-10?14:48??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\KEA128_i2c.h
?????文件????????1026??2017-11-10?14:48??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\KEA128_irq.h
?????文件????????3044??2017-11-16?12:01??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\KEA128_kbi.h
?????文件????????2263??2017-11-10?14:48??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\KEA128_pit.h
?????文件?????????959??2017-11-27?18:57??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\KEA128_port.h
?????文件????????4290??2018-04-23?11:45??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\KEA128_port_cfg.h
?????文件????????1474??2017-11-22?09:46??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\KEA128_spi.h
?????文件????????1095??2017-11-10?14:48??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\KEA128_systick.h
?????文件????????1467??2017-11-10?14:48??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\KEA128_uart.h
?????文件????????3274??2017-11-24?11:24??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\common.h
?????文件????????4596??2018-05-09?21:06??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\headfile.h
?????文件????????1538??2017-11-27?10:44??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\headfile.h.bak
?????文件????????1630??2017-11-13?11:42??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\inc\misc.h
?????目錄???????????0??2018-05-06?11:15??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\src\
?????文件????????3023??2017-11-20?17:41??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\src\KEA128_adc.c
?????文件????????6125??2017-11-10?14:48??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\src\KEA128_flash.c
?????文件???????17040??2017-11-27?18:57??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\src\KEA128_ftm.c
?????文件????????6066??2017-11-20?17:09??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\src\KEA128_gpio.c
?????文件???????11704??2017-11-20?17:38??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\src\KEA128_i2c.c
?????文件????????2544??2017-11-10?14:48??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\src\KEA128_irq.c
?????文件????????3042??2017-11-27?18:57??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\src\KEA128_kbi.c
?????文件????????5781??2017-12-25?14:51??KEA電磁直立??17秒跑完賽道??各環初步調好\KEA_直立程序\Libraries\drives\src\KEA128_pit.c
............此處省略183個文件信息
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