void Gyro_Process(void)
     { 
       if(Gyro_Start == 1)
       { 
         unsigned int Max,Min,i,Value;
         signed long Sum;
         Gyro_Data_Num = 0;
         while(Gyro_Data_Num < 13)
         {
           Gyro_Collection();//AD轉(zhuǎn)換后的數(shù)據(jù)采集函數(shù)
         }
         Gyro_Start = 0;
         for(i=1,Max=0,Min=0xffff,Sum
         =0;i<13;i++)
         {
           Value=Gyro_Data_BUF[i];
           Sum+=Value;
            if(Max                Max=Value;
            if(Min>Value)
               Min=Value;
         }
         Sum= Sum-Max-Min ;
         SUM_Test =  Sum;
         CarAngel_V=((((signed long)(Sum/10)- (signed long)Gyro_
            MidValue)*10000)>>16);
        /限幅處理/
         if(CarAngel_V > 0)
         {
           CarAngel_V = (CarAngel_V *
             1013) / 1000;
         }
         if(CarAngel_V<0)
         {
           CarAngel_V = (CarAngel_V *
           1004)/ 1000;
         }
         if(CarAngel_V>32767)
         {
           CarAngel_V=32767;
         }
         if(CarAngel_V<-32767)
         {
           CarAngel_V=-32767;
         }
         if(Gyro_Calibration_Flag == 1)
           CarAngelRate = (unsigned int)
              (CarAngel_V + 32767);
         else
           CarAngelRate = 32767;
        
       }
     }

　　TPM模塊在伺服電機(jī)中的應(yīng)用

　　MC9S08DZ60擁有8路獨(dú)立的PWM通道，可以獨(dú)立配置PWM的頻率和占空比，最高頻率為總線時(shí)鐘頻率20MHz，可以滿足對(duì)舵機(jī)和電機(jī)的控制。同時(shí)此模塊還有兩路計(jì)數(shù)器模塊，可以采集碼盤返回的電機(jī)速度值，以便用于速度閉環(huán)控制。其中電機(jī)控制中的PWM初始化如下：