飞思卡尔源程序
#include <hidef.h> /* common defines and macros */
#include "derivative.h" /* derivative-specific definitions */
static int left = 0;
static int right = 0;
/*******************延时函数*********************/
void delayms(int ms)
{
int ii,jj;
if(ms<1)
ms=1;
for(ii=0;ii<ms;ii++)
for(jj=0;jj<3338*2;jj++); //80MHz--1ms
}
//总线始终初始化
void CRG_Init(void)
{
PLLCTL=0xE1; //锁相环允许
SYNR=0x02; //频率合成=2
REFDV=0x01; //参考分频因子=1,总线频率= 24MHz
while(CRGFLG_LOCK!=1); //等待频率稳定
CLKSEL=0x80; //选择锁相环时钟
}
//舵机用PWM初始化
void Servo_Init(void)
{
PWME_PWME5 = 0;
PWMCTL_CON45=1; //通道4和通道5合成一个16位通道
PWMCLK_PCLK5=1; //通道45用SB时钟源
PWMPRCLK_PCKB2=0; //通道时钟B=24MHz/8
PWMPRCLK_PCKB1=1;
PWMPRCLK_PCKB0=1;
