pwm.rar_C8051f120 pwm_C8051生成PWM_c8051f120_c8051f120pca

/************************************************************************ 函数定义 ************************************************************************/ #include <C8051F120.h> // SFR declarations #define SYSTEMCLOCK 22118400L int i; /************************************************************************ 函数定义 ************************************************************************/ void OSCILLATOR_Init (void); void PORT_Init (void); void Timer0_Init(void); void PWM_PORT_Init (void); void PWM_PCA_Init(); void move(char state,char speed); void delay(); int main() { WDTCN = 0XDE; WDTCN = 0XAD; //关开门狗必须注意 OSCILLATOR_Init (); //初始化晶振 Timer0_Init(); //初始化定时器 PWM_PORT_Init(); //初始化pwm输出io口 PWM_PCA_Init(); //初始化pca while (1) { move(2,200); move(3,200); delay(); delay(); } } /***************************************************************** 振荡器初始化 *****************************************************************/ void OSCILLATOR_Init (void) { int i; // Software timer char SFRPAGE_SAVE = SFRPAGE; // Save Current SFR page SFRPAGE = CONFIG_PAGE; // Set SFR page OSCICN = 0x80; // Set internal oscillator to run // at its slowest frequency CLKSEL = 0x00; // Select the internal osc. as // the SYSTEMCLOCK source // Initialize external crystal oscillator to use 22.1184 MHz crystal,初始化外部晶体振荡器，使用22.1184 MHz晶体 OSCXCN = 0x67; // Enable external crystal osc. CLKSEL = 0x01; //输出为SYSCLK时不分频，SYSCLK来自外部晶体振荡器 for (i=0; i < 256; i++); // Wait at least 1ms //OSCXCN = OSCXCN|0x80 ; while (!(OSCXCN & 0x80)); // Wait for crystal osc to settle SFRPAGE = LEGACY_PAGE; FLSCL |= 0x30; // Initially set FLASH read timing for // 100MHz SYSTEMCLOCK (most conservative // setting) if (SYSTEMCLOCK <= 25000000) { // Set FLASH read timing for <=25MHz FLSCL &= ~0x30; } else if (SYSTEMCLOCK <= 50000000) { // Set FLASH read timing for <=50MHz FLSCL &= ~0x20; } else if (SYSTEMCLOCK <= 75000000) { // Set FLASH read timing for <=75MHz FLSCL &= ~0x10; } else { // set FLASH read timing for <=100MHz FLSCL &= ~0x00; } // Start PLL for 50MHz operation /* SFRPAGE = PLL0_PAGE; PLL0CN = 0x04; // Select EXTOSC as clk source PLL0CN |= 0x01; // Enable PLL power PLL0DIV = 0x01; // Divide by 4 PLL0FLT &= ~0x0f; PLL0FLT |= 0x01; // Set Loop Filt for (22/4)MHz input clock PLL0FLT &= ~0x30; // Set ICO for 30-60MHz PLL0FLT |= 0x00; PLL0MUL = 0x04; // Multiply by 9 // wait at least 5us for (i = 0; i < 256; i++) ; PLL0CN |= 0x02; // Enable PLL while (PLL0CN & 0x10 == 0x00); // Wait for PLL to lock */ SFRPAGE = CONFIG_PAGE; CLKSEL = 0x01; // Select PLL as SYSTEMCLOCK source SFRPAGE = SFRPAGE_SAVE; // Restore SFRPAGE } void PWM_PORT_Init (void) { char SFRPAGE_save = SFRPAGE; // Save Current SFR page SFRPAGE = CONFIG_PAGE; // Set SFR Page XBR0 = 0x20; XBR2 = 0x40; P0MDOUT = 0xff; // Set p0 to push-pull SFRPAGE = SFRPAGE_save; // Restore SFR Page } void PWM_PCA_Init() { char SFRPAGE_save = SFRPAGE; // Save current SFR Page SFRPAGE = PCA0_PAGE; PCA0CN = 0; //标志位全部清零，禁止pca定时器 PCA0MD = 0x04; //使用定时器0溢出作为时基,关pca定时器中断，230400/256=900hz /*PCA0*/ PCA0CPM0 = 0x42; // Module 0 = 8-bit PWM mode,左轮正转pwm PCA0CPH0 = 0xff; //设置初始占空比为0 /*PCA1*/ PCA0CPM1 = 0x42; // Module 0 = 8-bit PWM mode,左轮反转pwm PCA0CPH1 = 0xff; //设置初始占空比为0 /*PCA2*/ PCA0CPM2 = 0x42; // Module 0 = 8-bit PWM mode,右轮正转pwm PCA0CPH2 = 0xff; //设置初始占空比为0 /*PCA3*/ PCA0CPM3 = 0x42; // Module 0 = 8-bit PWM mode,右轮反转pwm PCA0CPH3 = 0xff; //设置初始占空比为0 CR = 1; //PCA开始工作 SFRPAGE = SFRPAGE_save; } /**************************************************** 小车移动控制---------正转指的车轮是顺时针旋转，反转相反 1.uint state state 电机状态 1 右轮正转 2 左轮反转 3 右轮反转 4 左轮正转 2.uint speed 范围0~256，即由其占空比决定 *****************************************************/ void move(char state,char speed) { speed=255-speed; switch(state) { case 1: { if(!speed) //如果速度为0则占空比为0 { PCA0CPL0 = 0Xff; //向PCA0CPL0写入数据时会将ECOM0清零 } PCA0CPH0 = speed; //向PCA0CPH0写入数据时会将ECOM0置一 PCA0CPL1 = 0Xff; break; } case 2: { if(!speed) //如果速度为0则占空比为0 { PCA0CPL1 = 0Xff; //向PCA0CPL0写入数据时会将ECOM0清零 } PCA0CPH1 = speed; //向PCA0CPH0写入数据时会将ECOM0置一 PCA0CPL0 = 0Xff; break; } case 3: { if(!speed) //如果速度为0则占空比为0 { PCA0CPL2 = 0Xff; //向PCA0CPL0写入数据时会将ECOM0清零 } PCA0CPH2 = speed; //向PCA0CPH0写入数据时会将ECOM0置一 PCA0CPL3 = 0Xff; break; } case 4: { if(!speed) //如果速度为0则占空比为0 { PCA0CPL3 = 0Xff; //向PCA0CPL0写入数据时会将ECOM0清零 } PCA0CPH3 = speed; //向PCA0CPH0写入数据时会将ECOM0置一 PCA0CPL2 = 0Xff; break; } default: break; } } void delay() { int i,j,k; for(i=0;i<=100;i++) for(j=0;j<=100;j++) for(k=0;k<=1000;k++) ; } void Timer0_Init(void) { char SFRPAGE_SAVE = SFRPAGE; // Save Current SFR page SFRPAGE = TIMER01_PAGE; // Set SFR page TH0 = 0xfe; // Init Timer0 High register,460800hz/2=230400hz TL0 = TH0; // Set the intial Timer0 value TMOD = 0x02; // Timer0 in 8-bit reload mode CKCON = 0x02; // Timer0 uses a 1:48 prescaler,22.1184mhz/48=460800hz=460.8khz //ET0=1; // Timer0 interrupt enabled TCON = 0x10; // Timer0 ON SFRPAGE = SFRPAGE_SAVE; // Restore SFR page }