Fly Sikar mc9s12xs128 function module driver

It has been used for more than a year as the processor, and now summarizes the drivers of various functional modules.

// The bus frequency of the Phase-Locked Loop clock Initialization is 40 MHz (half of the Phase-Locked Loop clock)
// 11.0592 MHz Crystal Oscillator
Void pll_init (void) // pllclk = 2 * oscclk * (synr + 1)/(refdv + 1)
{// Phase-Locked Loop clock = 2*11.0592*(39 + 1)/(10 + 1) = 80 MHz bus clock is 40 MHz
Refdv = 0x0a;
Synr = 0x67; // The value of the 0110_0111 low 6 bits is 19, and the value of the high bits is the recommended value.

While (crgflg_lock! = 1 );
Clksel_pllsel = 1; // select the PLL clock
// Fclkdiv = 0x0f; // flash clock divide factor 16 m/16 = 1 m
}

 

// Initialize the periodical interrupt timer-
/// Periodic interrupt Channel 1 is used for timing sampling of the pulse accumulators. the scheduled period is 10 Ms = (199 + 1) * (1999 + 1)/(40 m) (not used)
// The periodic interrupt channel 0 is used to control the rotation of the laser tube. The scheduled cycle is 2000us = (399 + 1) * (199 + 1)/(40 m)
// Change the scheduled time to 1 ms on

Void pit_init (void)
{
Pitcflmt_pite = 0; // do not use the pit module pitcflmt: pit control to forcibly load the microcounter register.
Pitce_pce0 = 1; // enable timer channel 0
// Pitce_pce1 = 1; // enable timer Channel 1
Pitmux = 0; // channel 0, and channel 1 both Select 8-bit Micro counter 0

// Modify the following four rows for the modification time:
Pitmtld0 = 199; // The value loaded to the eight-bit counter
Pitld0 = 199; // value loaded to the 16-bit counter
// Pitmtld1 = 39; // The value loaded to the eight-bit counter is 8 bits, and the maximum value cannot exceed 255.
// Pitld1 = 1999; // value loaded to the 16-bit counter

Pitinte | = 0x01; // enable the timer to interrupt the channel 0
Pitcflmt_pite = 1; // enable the pit Module
}

 

// Pulse accumulators initialization, pT7 external Photoelectric Encoder
// Latest modification:
Void pt7_pulacc_init (void)
{
Ddrt & = 0x77; // set pT7 and pt3 port as input (pT7 and pt3 are connected to one part by Jumper)
PERT | = 0x80; // enables the uplink resistance of Channel 7.
Ppst & = 0x7f; // The resistance is set to the pull-up resistance.
Tctl4 & = 0x3f; // disable the input capture function of pt3
Pactl = 0x50; // start the pulse accumulation counter, trigger the rising edge, disable triggering the interrupt and overflow interruption, and disable the main timer.
}

 

// Channel 1 is used to control the steering gear 1 PWM High level,
// Channel 3 is used to control the low PWM of motor 1, which is different from that of the previous two generations !!!!!
// Channel 7 is used to provide a PWM signal for the upper laser tube. The PWM signal is valid at a high level !!!!!
// Channel 6 is used to provide the PWM signal for the lower-line laser tube. The PWM signal is valid at a high level !!!!!
// Added the use of port A to add Channel 6
// Added the combined use of Channel 4 and 5, used to control the lower direction Steering Gear
Void pwm_init (void)
{
Pwme = 0x00; // PWM disabled

Pwmprclk = 0x03; // clocka = 40 m/8 = 5 m, clock B = 40 m/1 = 40 m
Pwmsclb = 10; // clock sb = 40/2*10 = 2 MHz (for motor supply)
Pwmscla = 5; // SA = clock a/2*5 = 5 m/10 = 500 k = sa used to control the steering gear
Pwmpol = 0xe2; // 1110_0010 Channel 7. Channel 6 and Channel 1. Channel 5 first outputs the high level and then outputs the low level. polx = 1 first outputs the high level and then outputs the low level; ppolx = 0 first output low level)
Pwmcae = 0x00; // left-aligned output (caex = 0 is left-aligned, and vice versa)

// Pwmclk = 0010_1010 (0 1 4 5-bit control sa_1; or a_0; 2 3 6 7-bit control SB_1 or B _0)
// Select the clock SA (500 kHz) for PWM channel 1 ),
// Select the clock SA (500 kHz) for the PWM channel 5 ),
// Select the clock Sb (10 MHz) for Channel 3)
// Select the clock B (40 MHz) for Channel 7)
// Select the clock B (40 MHz) for Channel 6)
Pwmclk = 0x2a; // 0010_1010

Pwmctl = 0x70; // 01100000000 con45 = 1, which is used together with Channel 4 and Channel 5. Con01 = 1. Use con23 = 1 in combination with Channel 0 and channel 1 to use Channel 3 and Channel 2.
Pwmper23 = 1000; // The channel period is 0.5 ms and the frequency is 2 kHz

Pwmdty23 = 0; // The duty cycle is 0%.

Pwmper01 = 10000; // one cycle is 50Hz = 500 kHz/10000
Pwmdty01 = upservocenter; // The duty cycle is 7.5%.

Pwmper45 = 10000; // one cycle is 50Hz = 500 kHz/10000
Pwmdty45 = 745; // The duty cycle is 7.5%.

Pwmper6 = 222; // the output frequency is 180 kHz = 40 m/222
Pwmdty6 = 67; // The duty cycle is 30%.
Pwmper7 = 222; // the output frequency is 180 kHz = 40 m/222
Pwmdty7 = 44; // The duty cycle is 20%.
Pwme = 0xea; // 1110_1010 enable Channels 1, 3, 7, 6, and 5 (the Enable of the combined channel is determined by Qualcomm channel)
}

/*************************************** ****************************
Gpio Initialization
1: output, 0: Input
Pb [0 .. 7] as the output port,

Pa [0 .. 7] as the output port
PM [0 .. 7] is used as the output port to control eight small LEDs (1 off, 0 on) on the core board)
PH [0 .. 3] as the input port
Added the use of port
**************************************** ****************************/
Void gpio_init (void)
{
Ddra | = 0xff; // port a serves as the output port
Ddrb | = 0xff; // port B serves as the output port
Ddrm | = 0xff; // M Port as the output port
Ddrh & = 0xf0; // The minimum four digits of pH are used as the input port.

Atd0dienl = 0xff;
Ddr1ad0 = 0x00; // use the pt1ad0 port as the input port

Porta = 0x00; // No signal is sent from the laser tube
Portb = 0x00; // No signal is sent from the laser tube
PTM = 0xff; // initialize to completely off (New Car Light)
}