飞思卡尔智能车测速程序：数码管显示速度调试

#include <hidef.h>      /* common defines and macros */
#include "derivative.h"      /* derivative-specific definitions */



#define uint unsigned int
#define uchar unsigned char
#define DJ_MID_CAMERA   4500               //45   //右极限1200；左极限7000；
#define DJ_MID_RUDDER   4500               //67   //左拐极限4900；右拐极限4100；
#define DJ_camera PWMDTY45         //60000
#define DJ_rudder PWMDTY67        //60000
#define MOTOR_go  PWMDTY01      //6000 前进
#define MOTOR_back PWMDTY23     //6000 倒后

#define H1 PT1AD0_PT1AD07   //片选
#define H2 PT1AD0_PT1AD06
#define H3 PT1AD0_PT1AD05
#define H4 PT1AD0_PT1AD04
#define DA PT1AD0_PT1AD03 //数据输出
#define SC PT1AD0_PT1AD02 //移位时钟
#define ST PT1AD0_PT1AD01 //锁存信号

#define PITTIME0 50000//设定为300MS定时
#define PITTIME1 2400 //设定为12MS定时
uint counter=0,PITcounter=0,overflow_times=0,remain_num=0,speed=0;
uchar table[]= {0xc0,0xf9,0xa4,0xb0,0x99,0x92,0x82,0xf8,0x80,0x90};//表：共阳数码管 0-9 


        //PLL超频到48MHZ//
/////////////////////////////////////////

 void PLL_Init(void){       //PLLCLK=2*OSCCLK*(SYNR+1)/(REFDV+1)即 锁相环时钟=2*16*(2+1)/(1+1)=48MHz

  REFDV=0x01;        //总线时钟=48/2=24MHz
    SYNR=0x02;
    while(!(CRGFLG&0x08));   //wait until pll_lock=0;锁相环频率为锁定；
    CLKSEL=0x80;            //置位PLLSEL=1;选定锁相环时钟；
}


///PWM初始化/////
void PWM_Init(void){
PWME=0x00;
PWMCTL=0xF0;             ///级联01,23,45,67
PWMPRCLK=0x22;           /// A时钟、B时钟，1/4分频  A=B=24M/4=6M    SA=SB=3M 
PWMSCLA=0x01;           //时钟SA=时钟A/2/1=3M       时钟SA =时钟A/(2*PWMSCLA)
PWMSCLB=0x01;           //时钟SB=时钟B/2/1=3M       时钟SB =时钟B/(2*PWMSCLB)
PWMCLK=0xF0;              ////时钟A控制01，B控23，SA控制45，SB控制67
PWMPOL=0xFF;              ///对外输出波形先是高电平然后再变为低电平
PWMCAE=0x00;               ///左对齐输出
PWMPER23=600;                   ///01前进   6MHz/600=10KHz
PWMDTY23=0;                
PWMPER01=600;                  ///23后退   6MHz/600=10KHz
PWMDTY01=0;
PWMPER45=60000;            //45摄像头舵机 频率为3MHz/60000=50Hz   周期为20ms 
PWMDTY45=DJ_MID_CAMERA;            ///摄像头舵机初值归中
PWMPER67=60000;            //67方向舵机 频率为3MHz/60000=  50Hz   周期为20ms  
PWMDTY67=DJ_MID_RUDDER;            ///方向舵机初值归中
PWME=0xFF;                 //启动PWM
}