pca测速

/*pca测速中断服务子程序*/
void pca_isp() interrupt 6 using 1//interrupt sevice routine
{
 static bit  flag_pca3=0;
 static bit  flag_pca4=0;
 static unsigned long idata temp1_pca3=0x00;
 static unsigned long idata temp2_pca3=0x00;
 static unsigned long idata temp1_pca4=0x00;
 static unsigned long idata temp2_pca4=0x00;
 static uint idata count_pca3=0x00;
 static uint idata count_pca4=0x00;
 if(CCF3)
 {
  CCF3=0;
  if(flag_pca3==0)
  {
    temp1_pca3=CCAP3L|(CCAP3H<<8)|(count_pca3<<16);
   flag_pca3=1;
  }
  else
  {
   temp2_pca3=CCAP3L|(CCAP3H<<8)|(count_pca3<<16);
   right_speed[3]=right_speed[2];
   right_speed[2]=right_speed[1];
   right_speed[1]=right_speed[0];
      if((temp2_pca3-temp1_pca3)<65535)
    right_speed[0]=(uint)(sensitive/((temp2_pca3-temp1_pca3)/1000.0)); //单位为（mm/s）
    else
     right_speed[0]=0;  //速度过低标志
   flag_pca3=0; 
  }
 }
 if(CCF4)
 {
  CCF4=0;
  if(flag_pca4==0)
  {
    temp1_pca4=CCAP4L|(CCAP4H<<8)|(count_pca4<<16);
   flag_pca4=1;
  }
  else
  {
   temp2_pca4=CCAP4L|(CCAP4H<<8)|(count_pca4<<16);
   left_speed[3]=left_speed[2];
   left_speed[2]=left_speed[1];
   left_speed[1]=left_speed[0]; 
      if((temp2_pca4-temp1_pca4)<65535)
    left_speed[0]=(uint)(sensitive/((temp2_pca4-temp1_pca4)/1000.0)); //单位为（mm/s）
    else
     left_speed[0]=0; //速度过低标志
   flag_pca4=0; 
  }
 }
 if(CF)
 { 
  count_pca3++;
  count_pca4++;
  if(!count_pca3)
   flag_pca3=0;
  if(!count_pca4)
   flag_pca4=0;
 }
 CF=0;
}

 

 

pca_init()

{

EC=1;//允许pca中断
 EA=1;
 CMOD=0X01;//12us计数，使能ccon中的cf位来生成中断
 CH=0X00;//计数器清零
 CL=0X00;
 CCAPM3=0X21;//p1.6上跳沿捕捉，并允许ccf0中断
 CCAPM4=0X21;
 CR=1;//计数开始

}