Microcontroller Programming for Engineers (5th Edition)
Talley, Harlan
The first chapters of this book introduce the reader to the concept of a microcontroller and lead him through the basics of C programming and a structured programming process.
The following chapters teach the reader to program and effectively use the 68HCS12 GPIO ports, A/D converters, timing system, PWM generators, and interrupt system.
The final sections describe basic motor control algorithms and describe a distributed control system ...