求PWM控制二相步进电机程序，谢谢 - 智能车制作

#include <hidef.h> /* common defines and macros */
#include <MC9S12XS128.h> /* derivative information */
#pragma LINK_INFO DERIVATIVE "mc9s12xs128"
//unsigned char g,s,b,q;
unsigned char table[]={0xC0, 0xF9, 0xA4, 0xB0, 0x99, 0x92, 0x82, 0xF8, 0x80, 0x90,0xff };
void delay(unsigned int t)
{ unsigned int i,j;
for(i=0;i<t;i++)
for(j=0;j<110;j++);
}
void disp(unsigned char g,unsigned char s,unsigned char b,unsigned char q)
{ DDRM=0xff;
DDRH=0xff;
PTM=0b00000001;
PTH=table[g];
delay(20);
PTM=PTM<<1;
PTH=table[s];
delay(20);
PTM=PTM<<1;
PTH=table[b];
delay(20);
PTM=PTM<<1;
PTH=table[q];
delay(20);
}
void PLL_Init(void) //PLLCLK=2*OSCCLK*(SYNR+1)/(REFDV+1)
{ //锁相环时钟=2*16*(2+1)/(1+1)=48MHz
REFDV=1; //总线时钟=48/2=24MHz
SYNR=2;
while(!(CRGFLG&0x08));
CLKSEL=0x80;
}
void pwminitial0()
{
PWMPOL=0X81; //通道0、7输出波形开始极性为高 output waveform which high first then low when the duty counter is reached
PWMCAE=0x80; //0左对齐输出模式、7居中对齐 output left align waveform
PWMCLK=0X81; //PWM时钟源为0 SA，7-SB SAClock SA is the clock source for PWM channel 0
PWMPRCLK=0X23; //时钟A8分频 Clock A is 24MHz/8=3MHz
PWMSCLA=0X96; //时钟SA为3MHz/300=10khz
PWMSCLB=0X96;
PWMPER0=100; //设定输出周期=通道时钟周期*20 f=100hz
PWMPER7=100;
PWMDTY0=50; //占空比初始为0 Duty is 50%,and PWM waveform's frequent is 16
PWMDTY7=50;
PWME=0X81; //通道0使能 enable pwm channel 0
}
/*void pwminitial1()
{
PWMPOL=0X02; //通道1输出波形开始极性为1 output waveform which high first then low when the duty counter is reached
PWMCAE=0x02; //居中对齐输出模式 output left align waveform
PWMCLK=0X03; //PWM时钟源为 SAClock SA is the clock source for PWM channel 1
PWMPRCLK=0X06; //时钟A8分频 Clock A is 8MHz/8=1MHz
PWMSCLA=0Xff; //时钟SA为1MHz/128/2 Clock SA is 1MHz/128/2=4KHz
PWMPER1=122; //设定输出周期=通道时钟周期*256
PWMDTY1=61; //占空比初始为0.5 Duty is 50%,and PWM waveform's frequent is 16
PWME=0X02; //通道1使能 enable pwm channel 0
}*/
void main()
{
pwminitial0();
DDRA=0xff;
// pwminitial1();
for(;;) {
PORTA_PA1=PTP_PTP7;
PORTA_PA3=PTP_PTP0;
PORTA_PA4=0;
PORTA_PA5=0;
PORTA_PA6=0;
PORTA_PA7=0;
PORTA_PA0=1;
// PORTA=PTP;
if(PORTA_PA3==0&&PORTA_PA1==1)
disp(1,10,10,10) ;
else if(PORTA_PA3==0&&PORTA_PA1==0)
disp(10,2,10,10) ;
else if(PORTA_PA3==1&&PORTA_PA1==0)
disp(10,10,3,10) ;
else//(PTP_PTP0==1&&PTP_PTP1==1)
disp(10,10,10,4) ;
}
/* please make sure that you never leave this function */
}

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