为什么舵机不转

漂流_d36zV · 发表于 2016-2-24 20:09:16

#include <hidef.h>    /* common defines and macros */
#include "derivative.h"    /* derivative-specific definitions */
void PLL() {
  PLLCTL_PLLON=1;

  SYNR=0x04|0xc0;//SYNR=2*16*(4+1)/(1+1)=80MHz
  REFDV=0x01|80;
  POSTDIV=0;
  _asm(nop);
  _asm(nop);
  CLKSEL_PLLSEL=1;//BUSCLK=80/2=40MHz;
}
void Steer_Init(void)
{
PWME_PWME3 = 0;    //先禁止竿ǖ朗涑?
PWMCTL_CON23 = 1; //两两级联成16位PWM
PWMPRCLK_PCKB = 2;  //预分频系数为B 4，总线频率,即10MHZ
PWMSCLB = 2;  //SB_CLK = B_CLK / (2*2) ==2.5MHz
PWMCLK_PCLK3 = 1; //通道选  clock SB做时钟源

PWMCNT23=0;  //23计数器清零
PWMCAE_CAE3=0; //选择输出模式为左对齐输出模式
PWMPOL_PPOL3=1; //先输出高电平，计数到DTY时，反转电平

PWMPER23=50000; // 20ms ；50Hz
PWMDTY23=0;
PWME_PWME3 = 1;
}

void delay(int p) {

  int m=60000;
  while(p--)
  while(m--);
}

void main(void) {
  /* put your own code here */

EnableInterrupts;
DDRP_DDRP3=1 ;
PTP=0XFF;
PLL();
Steer_Init();
  for(;;) {

  Steer_Init();
  PWMDTY23=5000;
  delay(2);
_FEED_COP(); /* feeds the dog */
  } /* loop forever */
  /* please make sure that you never leave main */
}