資源簡介
程序名稱： 飛思卡爾智能車舵機調試工具 v1.1
程序作者： LinX
時 間： 2009-03-07
聯系方式： Q Q : 408111919
Email: linhaiwz@163.com" & vbCrLf & vbCrLf & _
〖 本程序為方便舵機調試而編寫，錯誤在所難免，如有建議歡迎和我聯系！ 〗
角度轉換為高電平時間
角度 -45 0 45 (anger/度)
高電平時間 1000 1500 2000 (t/us)
計算公式為：T = 1000 + (anger + 45) * (1000 / 90)
該程序可以通過串口與單片機進行通訊，實時改變舵機的角度。
通訊協議為：0xfe 0xMM 0xNN (其中0xfe為包頭，0xMM為PWMDTYx高8位，0xN為PWMDTYx低8位)
在串口中斷中分三次接收，在第二次接收時保存數據到temp0中，在第三次接收到數據時將PWMDTY01= ((unsigned int)temp0 <<8) | RxData 就可以完成PWM改變輸出了。
下位機程序如下：
#include /* common defines and macros */
#include /* derivative information */
#pragma LINK_INFO DERIVATIVE "mc9s12xs128"
unsigned char RX=0,temp0;
void uart_putchar(unsigned char ch)
{
if (ch == '\n')
{
while(!(SCI0SR1&0x80)) ;
SCI0DRL= 0x0d;
return;
}
while(!(SCI0SR1&0x80)) ;
SCI0DRL=ch;
}
static void PWM_Init(void)
{
//SB,B for ch2367
//SA,A for ch0145
PWMCTL_CON01=1; //0和1聯合成16位PWM；
PWMCAE_CAE1=0; //選擇輸出模式為左對齊輸出模式
PWMCNT01 = 0; //計數器清零；
PWMPOL_PPOL1=1; //先輸出高電平，計數到DTY時，反轉電平
PWMPRCLK = 0X40; //clockA不分頻,clockA=busclock=16MHz;CLK B 16分頻:1Mhz
PWMSCLA = 8; //對clock SA 進行2*8=16分頻；pwm clock=clockA/16=1MHz;
PWMCLK_PCLK1 = 1; //選擇clock SA做時鐘源
PWMPER01 = 20000; //周期20ms； 50Hz;(可以使用的范圍：50-200hz)
PWMDTY01 = 1500; //高電平時間為1.5ms;
PWME_PWME1 = 1;
}
void setbusclock(void) //PLL setting
{
CLKSEL=0X00; //disengage PLL to system
PLLCTL_PLLON=1; //turn on PLL
SYNR=1;
REFDV=1; //pllclock=2*osc*(1+SYNR)/(1+REFDV)=32MHz;
_asm(nop); //BUS CLOCK=16M
_asm(nop);
while(!(CRGFLG_LOCK==1)); //when pll is steady ,then use it;
CLKSEL_PLLSEL =1; //engage PLL to system;
}
static void SCI_Init(void) //SCI
{
SCI0CR1=0x00;
SCI0CR2=0x2c; //enable Receive Full Interrupt,RX enab
代碼片段和文件信息
/******************************************************************************
??FILE????????:?datapage.c
??PURPOSE?????:?paged?data?access?runtime?routines
??MACHINE?????:?Freescale?68HC12?（Target）
??LANGUAGE????:?ANSI-C
??HISTORY?????:?21.7.96?first?version?created
******************************************************************************/
#include?“hidef.h“
#include?“non_bank.sgm“
#include?“runtime.sgm“
#ifndef?__HCS12X__?/*?it‘s?different?for?the?HCS12X.?See?the?text?below?at?the?#else?//?__HCS12X__?*/
/*
???According?to?the?-Cp?option?of?the?compiler?the
???__DPAGE__?__PPAGE__?and?__EPAGE__?macros?are?defined.
???If?none?of?them?is?given?as?argument?then?no?page?accesses?should?occur?and
???this?runtime?routine?should?not?be?used?!
???To?be?on?the?save?side?the?runtime?routines?are?created?anyway.
???If?some?of?the?-Cp?options?are?given?an?adapted?versions?which?only?covers?the
???needed?cases?is?produced.
*/
/*?if?no?compiler?option?-Cp?is?given?it?is?assumed?that?all?possible?are?given?:?*/
/*?Compile?with?option?-DHCS12?to?activate?this?code?*/
#if?defined（HCS12）?||?defined（_HCS12）?||?defined（__HCS12__）?/*?HCS12?family?has?PPAGE?register?only?at?0x30?*/
#define?PPAGE_ADDR?（0x30+REGISTER_base）
#ifndef?__PPAGE__?/*?may?be?set?already?by?option?-CPPPAGE?*/
#define?__PPAGE__
#endif
/*?Compile?with?option?-DDG128?to?activate?this?code?*/
#elif?defined?DG128?/*?HC912DG128?derivative?has?PPAGE?register?only?at?0xFF?*/
#define?PPAGE_ADDR?（0xFF+REGISTER_base）
#ifndef?__PPAGE__?/*?may?be?set?already?by?option?-CPPPAGE?*/
#define?__PPAGE__
#endif
#elif?defined（HC812A4）
/*?all?setting?default?to?A4?already?*/
#endif
#if?!defined（__EPAGE__）?&&?!defined（__PPAGE__）?&&?!defined（__DPAGE__）
/*?as?default?use?all?page?registers?*/
#define?__DPAGE__
#define?__EPAGE__
#define?__PPAGE__
#endif
/*?modify?the?following?defines?to?your?memory?configuration?*/
#define?EPAGE_LOW_BOUND???0x400u
#define?EPAGE_HIGH_BOUND??0x7ffu
#define?DPAGE_LOW_BOUND???0x7000u
#define?DPAGE_HIGH_BOUND??0x7fffu
#define?PPAGE_LOW_BOUND???（DPAGE_HIGH_BOUND+1）
#define?PPAGE_HIGH_BOUND??0xBFFFu
#define?REGISTER_base??????0x0u
#ifndef?DPAGE_ADDR
#define?DPAGE_ADDR????????（0x34u+REGISTER_base）
#endif
#ifndef?EPAGE_ADDR
#define?EPAGE_ADDR????????（0x36u+REGISTER_base）
#endif
#ifndef?PPAGE_ADDR
#define?PPAGE_ADDR????????（0x35u+REGISTER_base）
#endif
/*
??The?following?parts?about?the?defines?are?assumed?in?the?code?of?_GET_PAGE_REG?:
??-?the?memory?region?controlled?by?DPAGE?is?above?the?area?controlled?by?the?EPAGE?and
????below?the?area?controlled?by?the?PPAGE.
??-?the?lower?bound?of?the?PPAGE?area?is?equal?to?be?the?higher?bound?of?the?DPAGE?area?+?1
*/
#if?EPAGE_LOW_BOUND?>=?EPAGE_HIGH_BOUND?||?EPAGE_HIGH_BOUND?>=?DPAGE_LOW_BOUND?||?DPAGE_LOW_BOUND?>=?DPAGE_HIGH_BOUND?||?DPAGE_HIGH_BOUND?>=?PPAGE_LOW_BOUND?||?PPAGE_LOW_BOUND?>=?PPAGE_HIGH_BOUND
#error?/*?please?adapt?_GET_PAGE_REG?for ?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????105??2010-03-05?16:56??舵機調試工具\測試程序\bin\Full_Chip_Simulation.map
?????文件?????147259??2010-03-05?16:56??舵機調試工具\測試程序\bin\TBDML.abs
?????文件???????1130??2010-03-05?16:56??舵機調試工具\測試程序\bin\TBDML.abs.glo
?????文件???????1100??2010-03-05?16:56??舵機調試工具\測試程序\bin\TBDML.abs.s19
?????文件?????100713??2010-03-05?16:56??舵機調試工具\測試程序\bin\TBDML.map
?????文件?????????59??2010-03-05?16:56??舵機調試工具\測試程序\cmd\Full_Chip_Simulation_Postload.cmd
?????文件?????????60??2010-03-05?16:56??舵機調試工具\測試程序\cmd\Full_Chip_Simulation_Preload.cmd
?????文件?????????60??2010-03-05?16:56??舵機調試工具\測試程序\cmd\Full_Chip_Simulation_Reset.cmd
?????文件?????????59??2010-03-05?16:56??舵機調試工具\測試程序\cmd\Full_Chip_Simulation_SetCPU.cmd
?????文件?????????59??2010-03-05?16:56??舵機調試工具\測試程序\cmd\Full_Chip_Simulation_Startup.cmd
?????文件???????1514??2010-03-05?16:56??舵機調試工具\測試程序\cmd\TBDML_Erase_unsecure_hcs12xe.cmd
?????文件?????????59??2010-03-05?16:56??舵機調試工具\測試程序\cmd\TBDML_Postload.cmd
?????文件?????????60??2010-03-05?16:56??舵機調試工具\測試程序\cmd\TBDML_Preload.cmd
?????文件?????????60??2010-03-05?16:56??舵機調試工具\測試程序\cmd\TBDML_Reset.cmd
?????文件?????????59??2010-03-05?16:56??舵機調試工具\測試程序\cmd\TBDML_Startup.cmd
?????文件?????????77??2010-03-05?16:56??舵機調試工具\測試程序\cmd\TBDML_Vppoff.cmd
?????文件?????????78??2010-03-05?16:56??舵機調試工具\測試程序\cmd\TBDML_Vppon.cmd
?????文件????????855??2010-03-05?16:56??舵機調試工具\測試程序\C_Layout.hwl
?????文件????????161??2010-03-05?16:56??舵機調試工具\測試程序\Default.mem
?????文件????????874??2010-03-05?16:56??舵機調試工具\測試程序\Full_Chip_Simulation.ini
?????文件??????10141??2010-03-05?16:56??舵機調試工具\測試程序\prm\burner.bbl
?????文件???????4975??2010-03-05?16:56??舵機調試工具\測試程序\prm\Full_Chip_Simulation_li
?????文件???????4975??2010-03-05?16:56??舵機調試工具\測試程序\prm\TBDML_li
?????文件???????3113??2010-03-05?16:56??舵機調試工具\測試程序\readme.txt
?????文件??????68446??2010-03-05?16:56??舵機調試工具\測試程序\Sources\datapage.c
?????文件???????4283??2010-03-05?16:56??舵機調試工具\測試程序\Sources\main.c
?????文件??????22599??2010-03-05?16:56??舵機調試工具\測試程序\Sources\Start12.c
?????文件???????3008??2010-03-05?16:56??舵機調試工具\測試程序\TBDML.ini
?????文件?????110297??2010-03-05?16:56??舵機調試工具\測試程序\test1.mcp
?????文件???????4434??2010-03-05?16:56??舵機調試工具\測試程序\test1_Data\CWSettingsWindows.stg
............此處省略24個文件信息
評論
共有 條評論
川公網安備 51152502000135號