/****************************************
测速初始化
捕获模式测速
测速1：TB0.0    P5.6
测速2：TB0.4    P7.6
*****************************************/
void Speed_Check_Init()
{
  TB0CCTL0 |= CCIE + CM_1 + CCIS_0 + CAP + SCS;//捕获中断使能，上升沿捕获，捕获源CCI0A，捕获模式,同步捕获
  TB0CCTL4 |= CCIE + CM_1 + CCIS_0 + CAP + SCS;//同上
  TB0CCTL1 |= CCIE;
  
  TB0CCTL0 &= ~(COV + CCIFG);//清掉TB0.0的COV以及CCIFG
  TB0CCTL4 &= ~(COV + CCIFG);//清掉TB0.4的COV以及CCIFG
  
  TB0CTL |= TBSSEL_1 + MC_2 + TBCLR;//32768HZ,continuous mode
  TBCCR1 = 3276;
   __bis_SR_register(GIE);
  P5DIR &= ~BIT6;//TB0.0捕获输入
  P7DIR &= ~BIT6;//TB0.4捕获输入
  P5SEL |= BIT6;//设置为第二功能
  P7SEL |= BIT6;//设置为第二功能
}
/*void Get_Speed()
{
}*/
/***************************
计数中断，右轮,TB0.4
100MS定时中断测速
*****************************/
#pragma vector=TIMERB1_VECTOR
__interrupt void TIMERB1_ISR(void)
{
  /* Any access, read or write, of the TBIV register automatically resets the
  highest "pending" interrupt flag. */
  switch( __even_in_range(TBIV,14) )
  {
    case  0: break;                          // No interrupt
    case  2: TBCCR1 += 3276;//大约100ms测一次速度
             Speed_Check_Left = Left_Wheel;
             Speed_Check_Right = Right_Wheel;
             
             Left_Wheel &= 0;
             Right_Wheel &= 0;//计数清零
             break;  
    case  4: break;                          // CCR2 not used
    case  6: break;                          // CCR3 not used
    case  8: Right_Wheel++;                  // 脉冲计数加1
             break;
    case 10: break;                          // CCR5 not used
    case 12: break;                          // CCR6 not used
    case 14: break;                          // OVERFOLW NOT USED
            
    default: break;
  }
}
/***************************
计数中断，左轮,TB0.0
*****************************/
#pragma vector=TIMERB0_VECTOR
__interrupt void TIMERB0_ISR(void)
{
  //自动清除中断标志
    Left_Wheel++;
}