飛思卡爾智能車的舵機測試程序

飛思卡爾智能車的舵機測試程序

#include ????? /* common defines and macros */
#include ???? /* derivative information */
#pragma LINK_INFO DERIVATIVE "mc9s12xs128"

void SetBusCLK_16M(void)????????????
{??
??? CLKSEL=0X00;???
??? PLLCTL_PLLON=1;????????? //鎖相環(huán)電路允許位
??? SYNR=0x00 | 0x01;??????? //SYNR=1
??? REFDV=0x80 | 0x01;?????
??? POSTDIV=0x00;???????
??? _asm(nop);?????????
??? _asm(nop);
??? while(!(CRGFLG_LOCK==1));??
??? CLKSEL_PLLSEL =1;?????????
}

void PWM_01(void) {???? //舵機初始化
?? PWMCTL_CON01=1;??? //0和1聯(lián)合成16位PWM；
??? PWMCAE_CAE1=0;??? //選擇輸出模式為左對齊輸出模式
??? PWMCNT01 = 0;???? //計數(shù)器清零；
??? PWMPOL_PPOL1=1;??? //先輸出高電平，計數(shù)到DTY時，反轉(zhuǎn)電平
??? PWMPRCLK = 0X40;??? //clockA 不分頻,clockA=busclock=16MHz;CLK B 16分頻:1Mhz
??? PWMSCLA = 0x08;??? //對clock SA 16分頻,pwm clock=clockA/16=1MHz;????
??? PWMCLK_PCLK1 = 1;?? //選擇clock SA做時鐘源
??? PWMPER01 = 20000;?? //周期20ms； 50Hz;
??? PWMDTY01 = 1500;?? //高電平時間為1.5ms;
??? PWME_PWME1 = 1;???