Basic template program for Freescale XS128

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

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

#include /* common defines and macros */

#include "derivative.h" /* derivative-specific definitions */

#include /* derivative information */

//1M=1006080

//40MHz BUS_CLOCK

/*

#define SynrDefine 0x53

#define RefdvDefine 0x07 //Clock frequency equals 2*crystal frequency*(SYNR0+1)/(REFDV0+1)

#define SciDefine 0x106 //Serial bus frequency = clock frequency / (16*SCI0BDL)

*/

//----------------------------------------------------- 

//80MHz BUS_CLOCK

#define SynrDefine 0xD3

#define RefdvDefine 0x03 //Clock frequency equals 2*crystal frequency*(SYNR0+1)/(REFDV0+1)

#define SciDefine 0x20c //Serial bus frequency = clock frequency / (16*SCI0BDL)

#define WAITTIME 100000 //Start delay time

#define SpeedInterrupt 1000 //Speed ​​cycle sampling time, timing 1000 * 0.01ms = 10ms  

#define AdInterrupt 100 //Ad period sampling time, timing 100 * 0.01ms = 1ms 

int SpeedNow=0; //Speed ​​sampling initialization

int sensor_ad[5]=0; //i=0~4, AD data sampling result

//----------------------------------------------------- 

//92MHz BUS_CLOCK

/*

#define SynrDefine 0xD6

#define RefdvDefine 0x03 //Clock frequency equals 2*crystal frequency*(SYNR0+1)/(REFDV0+1)

#define SciDefine 0x25a //Serial bus frequency = clock frequency / (16*SCI0BDL)

*/

//----------------------------------------------------- 

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

*Function name: Wait_Time

* Input parameters: None

*Export parameters: None

*Function description: Simple delay program

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

void Wait_Time(ulong cnt) {

    unsigned char a,b;

    while(--cnt) {

    for(b=4;b>0;b--)

        for(a=248;a>0;a--);

    }

}

//----------------------------------------------------- 

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

*Function name: PLL_Init

* Entry parameters: SNNR register value, REFDV0 register value

*Export parameters: None

*Function description: Using PLLCLK, clock frequency = 2* crystal frequency*(SYNR0+1)/(REFDV0+1)

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

void PLL_Init(byte SYNR0,byte REFDV0)

{

    CLKSEL=0x00; //disable pll; 

    CLKSEL_PLLSEL = 0; 

    PLLCTL_PLLON = 0;

    SYNR = SYNR0; //

    REFDV = REFDV0; 

    PLLCTL = 0xc0; //0xC0 CME=1,PLLON=1

    PLLCTL_PLLON = 1; 

    while(!CRGFLG_LOCK); 

    CLKSEL_PLLSEL = 1;

    return; 

}

//----------------------------------------------------- 

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

*Function name: SCI_Init

* Entry parameter: SCI0BD register value

*Export parameters: None

*Function description: Use SCI_Init, serial bus frequency = clock frequency/(16*SCI0BDL)

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

static void SCI_Init(int SCI0) 

{

    SCI0CR1 = 0x00;

    SCI0CR2 =0x2c; //enable Receive Full Interrupt, RX enable, Tx enable      

    SCI0BD = SCI0; //SCI0BDL = busclk / (16 * SCI0BDL)

                  //busclk 8MHz, 9600bps,SCI0BD=0x34

                  //busclk 16MHz, 9600bps,SCI0BD=0x68

                  //busclk 24MHz, 9600bps,SCI0BD=0x9C

                  //busclk 32MHz, 9600bps,SCI0BD=0xD0  

                  //busclk 40MHz, 9600bps,SCI0BD=0x106

}

//----------------------------------------------------- 

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

*Function name: Sci0Tx

* Entry parameter: SCI0DRL register value

*Export parameters: None

*Function description: Send serial port data

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

void Sci0Tx(unsigned char text)

{

    unsigned char temp;

    temp=SCI0SR1; /*clear flag*/

    //Before sending, check whether SC0DR is in busy state. SC0DR.7=0: in busy state

    while (!SCI0SR1_TDRE); /* wait for output buffer empty */

    while(!SCI0SR1_TC); //Wait for data transmission to end

    SCI0DRH=0;

    SCI0DRL=text;

}

//----------------------------------------------------- 

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

*Function name: Sci0Rx

* Input parameters: None

*Export parameters: serial port data

*Function description: Receive serial port data

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

byte Sci0Rx(void)

{

    byte result,temp;

    temp=SCI0SR1; /*clear flag*/

    if((temp&0x20)>0)

    result=SCI0DRL;

    return result;

}

//----------------------------------------------------- 

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

*Function name: PWM_Init

* Input parameters: None

*Export parameters: None

*Function description: PWM initialization (BUS_CLOCK=80M), 1 motor, 6 servos

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

void PWM_Init(void) {

    PWME=0x00; //Disable PWM module

    PWMCAE=0x00; //All left-aligned output

    PWMPOL=0xFF; //All output high level first and then low level

    PWMCLK=0xFF; //01 cascade-motor, 6-servo pre-scaling

                     //CLOCK A or CLOCK SA controls the PWM of channels 0, 1, 4, and 5, and CLOCK B or CLOCK SB controls the PWM of channels 2, 3, 6, and 7

    PWMPRCLK=0x22; //CLOCK SA and CLOCK SB are both divided by 4

                     //Set frequency A=bus clock/4=20MHz, B=bus clock/4=20MHz

    PWMSCLA=0x01; //CLOCK SA is divided by 10, i.e. 20MHZ/2/1=10MHZ

    PWMSCLB=0x05; //CLOCK SB is divided by 10, i.e. 20MHZ/2/5=2MHZ

    PWMCTL_CON01=1; //01 cascade

    PWMPER01=2500; //output frequency algorithm: SA clock/2500=4KHz;

    PWMDTY01=1250; //Channel 01 initializes the duty cycle to 50%

    PWMPER6=2000; //output frequency algorithm: SB clock/2000=100Hz;

    PWMDTY6=1000; //Channel 6 initializes the duty cycle to 50%

    PWME=0x22; //Open 01, 6 channels (just open the high bit)

}

//----------------------------------------------------- 

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

*Function name: PIT_Init

* Input parameters: None

*Export parameters: None

*Function description: Clock cycle interrupt initialization program

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

void PIT_Init(void)   

{  

    PITCFLMT_PITE=0; //Close PIT  

    // Loading register of micro timer  

    PITMTLD0 = 80-1; //8-bit timer initial value setting. 80 division, under 80MHzBusClock, is 0.1MHz, that is, 10us=0.01ms  

    //PITMTLD1= 80-1; //8-bit timer initial value setting. 80 division, under 80MHzBusClock, is 0.1MHz, that is, 10us=0.01ms  

    //PITMTLD1= 160-1; //8-bit timer initial value setting, 160 division, at 16MHz bus clock frequency, it is 0.1MHz, that is, 1us=0.01ms  

    //Timer loading register 

    //Interrupt timing reference time setting 

    PITLD0 = SpeedInterrupt - 1; //16-bit timer initial value setting. PITTIME*0.01MS, timing 1000 * 0.01ms = 10ms  

    PITLD1 = AdInterrupt - 1; // Timing 100*0.01ms = 1ms

    PITCE_PCE0=1; //Enable channel 0  

    PITCE_PCE1=1; //Enable channel 0

    PITMUX_PMUX0=0; //0: The corresponding 16-bit timer is connected to micro time base 0  

    PITMUX_PMUX1=0; //0: The corresponding 16-bit timer is connected to micro time base 0

    //PITMUX_PMUX1=1; //1: The corresponding 16-bit timer is connected to micro time base 1  

    PITINTE_PINTE0=1; // Enable the overflow interrupt of PIT0 timer      

    PITINTE_PINTE1=1; // Enable the overflow interrupt of PIT1 timer   

    PITCFLMT_PITE=1; //Enable PIT   

}  

//----------------------------------------------------- 

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

*Function name: ECT_Init

* Input parameters: None

*Export parameters: None

*Function description: Pulse accumulation counting, PTT7 port, circuit connection: pull-up resistor 5.1 kilo ohms required

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

void ECT_Init(void)

{

    TSCR1 = 0x00; //disable clock  

    TIOS = 0x7f; //Set channel 7 to input capture function

    PACTL=0x50;

    PACNT=0x00;

    TSCR2 = 0x00;

    TCTL3 = 0x40; //Set channel 7 rising edge capture

    TSCR1=0x80; //Enable clock counting

}  

//----------------------------------------------------- 

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

*Function name: AD_Init

* Input parameters: None

*Export parameters: None

*Function description: AD module conversion program

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

void AD_init() 

{ 

  ATD0CTL1=0b00000000; // 8-bit conversion

                       //ATD0CTL1=0b00100000; // 10-bit conversion

                       //ATD0CTL1=0b01000000; // 12-bit conversion

  ATD0CTL2=0x40; //Power on, clear the flag quickly, ignore external triggers, and disable interrupts.

  ATD0CTL3 = 0b10101000; //Conversion sequence length is 7, result register data is right aligned

                         //S8C S4C S2C S1C conversion sequence length

                         // 0 0 0 0 8 ATD0CTL3 = ob10000000

                         // 0 0 0 1 1 ATD0CTL3 = ob10001000

                         // 0 0 1 0 2 ATD0CTL3 = ob10010000

                         // 0 0 1 1 3 ATD0CTL3 = ob10011000

                         // 0 1 0 0 4 ATD0CTL3 = ob10100000

                         // 0 1 0 1 5 ATD0CTL3 = ob10101000

                         // 0 1 1 0 6 ATD0CTL3 = ob10110000

                         // 0 1 1 1 7 ATD0CTL3 = ob10111000

                         // 1 x x x 8 ATD0CTL3 = ob11xxx000

  ATD0CTL4=0x44; // The number of sampling cycles is 8, A/D Clocks= 80M / 2*(4+1) = 8M 

                 //SMP2 SMP1 SMP0 PRS4 PRS3 PRS2 PRS1 PRS0

                 //SMP2 SMP1 SMP0 PS, the seventh bit of DG128 is SRES8

                 // 0 0 0 The number of sampling cycles is 4

                 // 0 0 1 The number of sampling cycles is 6

                 // 0 1 0 The number of sampling cycles is 8

                 // 0 1 1 The number of sampling cycles is 10

                 // 1 0 0 The number of sampling cycles is 12

                 // 1 0 1 The number of sampling cycles is 16