在原始的代码上增加反向转动的功能。。求大神帮忙！！！
用c语言实现！~

void __attribute__((__interrupt__)) _ADCInterrupt (void)
{
IFS0bits.ADIF = 0;
if (Flags.RunMotor)
{
PDC1 = ADCBUF0 >> 1;// get value ...
PDC2 = PDC1;// and load all three PWMs ...
PDC3 = PDC1;// duty cycles
Flags.SndSpeed = 1;// send speed info serially
}
}
int main(void)
{
LATE = 0x0000;
TRISE = 0xFFC0;// PWMs are outputs
CNEN1 = 0x00E0;// CN5,6 and 7 enabled
CNPU1 = 0x00E0;// enable internal pullups
IFS0bits.CNIF = 0;// clear CNIF
IEC0bits.CNIE = 1;// enable CN interrupt
InitMCPWM();
InitADC10();
InitUART();
InitTMR3();
timer3avg = 0;
while(1)
{while (!S2);// wait for start key hit
while (S2)// wait till key is released
DelayNmSec(10);
// read hall position sensors on PORTB
HallValue = PORTB & 0x0038;// mask RB3,4 & 5
HallValue = HallValue >> 3;// shift right to get value 1, 2 ... 6
OVDCON = StateLoTableAntiClk[HallValue];// Load the overide control register
PWMCON1 = 0x0777;// enable PWM outputs
Flags.RunMotor = 1;// set flag
T3CONbits.TON = 1;// start tmr3
polecount = 1;
U1STAbits.UTXEN = 1;// start transmission
U1TXREG = CR;
U1TXREG = LF;
DelayNmSec(100);
while (Flags.RunMotor)// while motor is running
{
if (S2)// if S2 is pressed
{
PWMCON1 = 0x0700;// disable PWM outputs
OVDCON = 0x0000;// overide PWM low.
U1STA = 0x0000;// clear transmit
Flags.RunMotor = 0;// reset run flag
while (S2)// wait for key release
DelayNmSec(10);
}
if (Flags.SndSpeed)
SendSpeed();
}
}// end of while (1)
}
/*******************************************************************
Below is the code required to setup the ADC registers for :
1. 1 channel conversion (in this case RB2/AN2)
2. PWM trigger starts conversion
3. Pot is connected to CH0 and RB2
4. Manual Stop Sampling and start converting
5. Manual check of Conversion complete
*********************************************************************/
void InitADC10(void)
{
ADPCFG = 0xFFF8;// all PORTB = Digital;RB0 to RB2 = analog
ADCON1 = 0x0064;// PWM starts conversion
ADCON2 = 0x0200;// simulataneous sample 4 channels
ADCHS = 0x0002;// Connect RB2/AN2 as CH0 = pot ..
// ch1 = Vbus, Ch2 = Motor, Ch3 = pot
ADCON3 = 0x0005;// Tad = 3Tcy
IFS0bits.ADIF = 0;
IEC0bits.ADIE = 1;
ADCON1bits.ADON = 1;// turn ADC ON
}

/********************************************************************
InitMCPWM, intializes the PWM as follows:
1. FPWM = 16000 hz
2. Independant PWMs
3. Control outputs using OVDCON
4.Set Duty Cycle with the ADC value read from pot
5. Set ADC to be triggered by PWM special trigger
*********************************************************************/
void InitMCPWM(void)
{
PTPER = FCY/FPWM - 1;
PWMCON1 = 0x0700;// disable PWMs
OVDCON = 0x0000;// allow control using OVD
PDC1 = 100;// init PWM 1, 2 and 3 to 100
PDC2 = 100;
PDC3 = 100;
SEVTCMP = PTPER;
PWMCON2 = 0x0F00;// 16 postscale values
PTCON = 0x8000;// start PWM
}
/************************************************************************
Tmr3 is used to determine the rotor speed so it is set to count using Tcy/256
*************************************************************************/
void InitTMR3(void)
{
T3CON = 0x0030;// internal Tcy/256 clock
TMR3 = 0;
PR3 = 0xFFFF;
}
void InitUART(void)
{
//---------------------------------------------------------------------
// Initialize the UART1 for BAUD = 19,200
U1MODE = 0x8000;
U1STA = 0x0000;
U1BRG = ((FCY/16)/BAUD) - 1;// set baud to 19200
//IEC0bits.U1RXIE = 1;
RXPtr = &InData[0];// point to first char in string
Flags.CheckRX = 0;
Flags.SendTX = 0;
// U1STAbits.UTXEN = 1; // Initiate transmission
}
//------------------------------------------------------------------------
// SendSpeed sends the speed information on the uart at 19200 baud
//------------------------------------------------------------------------
void SendSpeed()
{
unsigned int k;
unsigned char c;
k = SPEEDMULT/timer3avg;
c = k/10000;
if (c > 0)
k = k - c*10000;
OutData[OFFSET] = (c + 0x30);
c = k/1000;
if (c > 0)
k = k - c*1000;
OutData[OFFSET+1] = (c + 0x30);
c = k/100;
if (c > 0)
k = k - c*100;
OutData[OFFSET+2] = (c + 0x30);
c = k/10;
if (c > 0)
k = k - c*10;
OutData[OFFSET
+3
] = (c + 0x30);
OutData[OFFSET+4] = (char)(k + 0x30);
TXPtr = &OutData[0];
SendMsg();
Flags.SndSpeed = 0;
}
void SendMsg(void)
{
while (*TXPtr)
{
while (U1STAbits.UTXBF);
U1TXREG = *TXPtr++;
}
}
//---------------------------------------------------------------------
// This is a generic 1ms delay routine to give a 1mS to 65.5 Seconds delay
// For N = 1 the delay is 1 mS, for N = 65535 the delay is 65,535 mS.
// Note that FCY is used in the computation. Please make the necessary
// Changes(PLLx4 or PLLx8 etc) to compute the right FCY as in the define
// statement above.
void DelayNmSec(unsigned int N)
{
unsigned int j;
while(N--)
for(j=0;j < MILLISEC;j++);
}

这是原始代码，现在是按下S2会正向转动，要求按下S3反向转动！

这是第一段~漏掉了。。

void __attribute__((__interrupt__)) _CNInterrupt (void)
{
IFS0bits.CNIF = 0;// clear flag
HallValue = PORTB & 0x0038;// mask RB3,4 & 5
HallValue = HallValue >> 3;// shift right 3 times
OVDCON = StateLoTableAntiClk[HallValue];
if (HallValue == INDEX)// has the same position been sensed?
if (polecount++ == POLEPAIRS)//has one mech rev elasped?
{// yes then read timer3
timer3value = TMR3;
TMR3 = 0;
timer3avg = ((timer3avg + timer3value) >> 1);
polecount = 1;
}
}
//---------------------------------------------------------------------
void __attribute__((__interrupt__)) _U1TXInterrupt(void)
{
IFS0bits.U1TXIF = 0;// clear interrupt flag
}
void __attribute__((__interrupt__)) _U1RXInterrupt(void)
{
IFS0bits.U1RXIF = 0;// clear interrupt flag
*RXPtr = U1RXREG;
if (*RXPtr == CR)
{Flags.CheckRX = 1;RXPtr = &InData[0];}
else *RXPtr++;
}
/*********************************************************************
The ADC interrupt loads the PDCx registers with the demand pot
value. This is only done when the motor is running.

代码好像完整的发不了~希望有兴趣的大神能留下QQ~

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