以kl25z为主控，3144霍尔传感器,液晶显示器DV12864G计算轮子速度及距离的代码

以下是基于kl25z主控、3144霍尔传感器和液晶显示器DV12864G的代码，用于计算轮子速度和距离：

#include "MKL25Z4.h"
#include "stdio.h"
#include "math.h"

#define PI 3.14159265358979323846
#define CLOCKS_PER_SEC 1000

volatile int cnt = 0;
volatile int speed = 0;
volatile int distance = 0;

void PORTA_IRQHandler(void)
{
  if ((PORTA->PCR[13] & 0x01000000) != 0)
  {
    cnt++;
    PORTA->PCR[13] |= 0x01000000; 
  }
}

void TPM0_IRQHandler(void)
{
  TPM0->SC |= 0x80; 
  speed = (cnt * 60 * CLOCKS_PER_SEC) / (2 * 20 * TPM0->MOD);
  distance += 2 * PI * 0.05 / 20;
  cnt = 0;
}

void init_hall_sensor(void)
{
  SIM->SCGC5 |= 0x200; 
  PORTA->PCR[13] |= 0x00000110; 
  NVIC_EnableIRQ(PORTA_IRQn);
}

void init_tpm(void)
{
  SIM->SCGC6 |= 0x01000000; 
  SIM->SOPT2 |= 0x01000000; 
  TPM0->SC = 0; 
  TPM0->SC = 0x07; 
  TPM0->MOD = 5000; 
  TPM0->SC |= 0x80; 
  NVIC_EnableIRQ(TPM0_IRQn);
}

void init_lcd(void)
{
  SIM->SCGC5 |= 0x1000; 
  PORTD->PCR[0] |= 0x00000100; 
  PORTD->PCR[1] |= 0x00000100; 
  PORTD->PCR[2] |= 0x00000100; 
  PORTD->PCR[3] |= 0x00000100; 
  PORTD->PCR[4] |= 0x00000100; 
  PORTD->PCR[5] |= 0x00000100; 
  PORTD->PCR[6] |= 0x00000100; 
  PORTD->PCR[7] |= 0x00000100; 
  PTD->PDDR = 0xff; 
  PTD->PDOR = 0xff; 
  PTD->PDOR = 0x3f; 
  PTD->PDOR = 0x1f; 
  PTD->PDOR = 0x0f; 
  PTD->PDOR = 0x07; 
  PTD->PDOR = 0x03; 
  PTD->PDOR = 0x01; 
  PTD->PDOR = 0x00; 
}

void lcd_cmd(unsigned char cmd)
{
  PTD->PDOR = cmd;
  PTD->PDOR = cmd | 0x80;
  PTD->PDOR = cmd;
}

void lcd_data(unsigned char data)
{
  PTD->PDOR = data;
  PTD->PDOR = data | 0x80;
  PTD->PDOR = data;
}

void lcd_clear(void)
{
  lcd_cmd(0x01);
  for (int i = 0; i < 10000; i++);
}

void lcd_putc(unsigned char c)
{
  lcd_data(c);
}

void lcd_puts(char *s)
{
  while (*s)
  {
    lcd_putc(*s++);
  }
}

void init_sys(void)
{
  init_hall_sensor();
  init_tpm();
  init_lcd();
}

int main()
{
  init_sys();
  lcd_clear();
  lcd_puts("Speed: ");
  lcd_puts("Distance: ");
  while (1)
  {
    char buf[16];
    sprintf(buf, "%d", speed);
    lcd_cmd(0x80 + 7);
    lcd_puts(buf);
    sprintf(buf, "%d", distance);
    lcd_cmd(0x80 + 17);
    lcd_puts(buf);
    for (int i = 0; i < 1000000; i++);
  }
}

代码中使用了两个中断，一个用于检测霍尔传感器的计数器，另一个用于更新速度和距离。在初始化函数中，初始化了霍尔传感器、计时器和液晶显示器。在主循环中，将速度和距离输出到液晶显示器上。