#include <hidef.h> /* common defines and macros */

#include <MC9S12XS128.h> /* derivative information */

#pragma LINK_INFO DERIVATIVE "mc9s12xs128"

//探测头用了12个的TCRT5000，光电管的序号1 2 3 4 5 6 7 8 9 10 11 12

// 对应的端口序号PORTA7 A6A5A4A3A2A1 A0 PORTB3 B2B1 B0

unsigned int light=0; //光电检测

unsigned short direction_turn[]={260,290,340,410,460,510,568,626,704,762,800}; //11个转向给定值初始化

unsigned short direction_run[]={ 32,35,40,50 }; //电机控制速度

unsigned short start_flag=0;//起跑圈数

///////////////////////////////////////////////////////////////////////

unsigned char flag=0;

unsigned char flag1=0; // 鸵机标志位

//////////////////////////////////////////////////////////////////////

//====================时钟初始化===================================

void PLL_Init()

{

REFDV=0x81; /* PLLCLK=2*OSCCLK*(SYNR+1)/(REFDV+1)*/

SYNR=2; /* 锁相环时钟=2*16*(2+1)/(1+1)=48MHZ */

while(!(CRGFLG&0x08)); /* 总线时钟=48/2=24MHZ */

CLKSEL=0x80;

}

/*********************PWN初始化*******************************/

void PWM_Init()

{

PWME=0x00; //关闭PWM使能

PWMPRCLK=0x66; //A,B时钟均为总线的64分频,375KHZ

//PWMSCLA=0x01; //clockSA=clockA/(2*PWMSCLA) = 1500KHZ

//PWMSCLB=0X01; //clockSB=clockB/(2*PWMSCLB) =1500KHZ

PWMCLK=0x00;

PWMPOL=0xFF; //PWM输出起始电平为高电平

PWMCAE=0x00; //输出左对齐

PWMCTL=0xf0; //通道01，23，45，67级联

PWMPER01=7500; //舵机频率为50Hz

PWMDTY01=500; //占空比a=（PWMDTY01+1）/(PWMPER01+1)

PWMPER23=100; //PWM通道3周期为3750HZ

PWMDTY23=40; //占空比a=（PWMDTY01+1）/(PWMPER01+1)

PWME=0xff; //使能pwm

}

/*******************定时与延时函数**************************/

/*void Pit0_Init() //PIT初始化

{

PITCFLMT_PITE=0; //关PIT使能

PITCE_PCE0=1; //通道0使能

PITMUX_PMUX0=0; //通道0接微时钟0

PITMTLD0=99; //微时钟0值设置为7f

PITLD0=3839; //time-out period = (PITMTLD + 1) * (PITLD + 1) / fBUS.

//时间计算 100*3840/24000000=0.016s

PITINTE_PINTE0=1; //通道0中断时能

PITCFLMT_PITE=1; //PIT使能

}

void dly_1ms()

{

int i,j;

for(i=0;i<200;i++)

{

for(j=0;j<1000;j++){;}

}

}

*/

void delay(int zz)

{

int i,j;

for(i=0;i<zz;i++)

for(j=0;j<4000;j++);

}

//=================鸵机转向函数===================//

void turning()

{

flag=PORTA;

flag1= PORTB;

flag1=flag1<<4;

light=((unsigned int)flag<<8)|((unsigned int)flag1);

//==============二分法鸵机中间值语句=====================//

if((light&0x0600)||(light==0xfff0))

PWMDTY01=direction_turn[5];

//===========二分法鸵机左边语句================//

if(light&0xf800)//0xf800

{

if(light&0x3800) //26,28,32,37,40

{

if(light&0x1800)

{

if(light==0x0800)

{

PWMDTY01=direction_turn[4]; //拐弯的角度

PWMDTY23=direction_run[3]; //对应的减速

}

if(light==0x1000)

{

PWMDTY01=direction_turn[3];

PWMDTY23=direction_run[2];

}

}

if(light==0x2000)

{

PWMDTY01=direction_turn[2];

PWMDTY23=direction_run[1];

}

}

if(light==0x4000)

{

PWMDTY01=direction_turn[1];

PWMDTY23=direction_run[0] ;

}

if(light==0x8000)

{

PWMDTY01=direction_turn[0];

PWMDTY23=direction_run[0] ;

}

}

//========二分法鸵机右边函数===============//

if(light&0x01f0)

{

if(light&0x01c0)

{

if(light&0x0180)

{

if(light==0x0100)

{

PWMDTY01=direction_turn[6];

PWMDTY23=direction_run[3];

}

if(light==0x0080)

{

PWMDTY01=direction_turn[7];

PWMDTY23=direction_run[2];

}

}

if(light==0x0040)

{

PWMDTY01=direction_turn[8];

PWMDTY23=direction_run[1] ;

}

}

if(light==0x0020)

{

PWMDTY01=direction_turn[9];

PWMDTY23=direction_run[0] ;

}

if(light==0x0010)

{

PWMDTY01=direction_turn[10];

PWMDTY23=direction_run[0] ;

}

}

}

/**************************鸵机转向函数*********************/

/******************************************************************************/

void main()

{

DisableInterrupts; /* 关中断 */

PORTA=0X00;

PORTB=0X00;

DDRA=0x00;

DDRB=0x00;

DDRE_DDRE3=0; /* PTE5 as INPUT */

DDRE_DDRE2=0; /* PTE6 as INPUT */

PORTE_PE3=1;

PORTE_PE2=1;

PLL_Init();

PWM_Init();

//Pit0_Init();

EnableInterrupts;

for(;;)

{

turning(); //舵机转向函数

}

}