舵机调试

朝彻见独 · 发表于 2012-5-6 15:00:18

寻求高人指点，调试舵机我选用20ms为周期，用示波器检测PWM端口波形一切正常。我不管怎么改变PWMDTY01的值，舵机老是只往右转，随后就乱转，与我的初衷完全不一样，请求高人指点迷津
/*********************************************************
**** 函数名：脉宽调制模块初始化
*
*** 说明：用于舵机和电机
**********************************************************/

void PWM_init(void) //脉宽调制模块的初始化
{

  /*//SB,B for ch2367
  //SA,A for ch0145
  PWME=0x00;
  PWMPRCLK=0x44; // 0100 0100 A=B=48M/16= 3M
  PWMSCLA=150;
  PWMSCLB=150;  // SB=B/2/150=10K
  PWMCLK_PCLK0=1;  //  PWM0---SB
  PWMPOL_PPOL0=1;  // duty = high time
  PWMCAE_CAE0=0;  //  left-aligned
  PWMCTL=0x00;
  PWMPER0=200;  // frequency = SB/200 = 100Hz 20ms
  PWMDTY0=16;  //  duty cycle =
  PWME=0x01;  */

  //  0.1.4.5 A SA
  //  2.3.6.7 B SB

   //舵机摇头
//SB,B for ch2367
//SA,A for ch0145
PWMPRCLK=0x44; // 0100 0100 A=B=48M/16= 3M
//PWMSCLA = 0x03; //对clock SA 进行2*PWMSCLA=6分频；pwm clock=clockA/6=500k;
//PWMSCLB = 0x03; //clk SB=clk B/(2*pwmsclb)=500k
PWMSCLA=150; //SA=A/2/150=10K
PWMSCLB = 0x03; //clk SB=clk B/(2*pwmsclb)=500k
//pwm01
PWMCTL_CON01=1;
PWMCNT01 = 0;
PWMCAE_CAE1=0;
PWMPOL_PPOL1=1;
PWMCLK_PCLK1=1;
PWME_PWME1 = 0;

PWMPER01 =100;  // frequency = SB/100 = 100Hz 10ms
PWMDTY01 =16; //  duty cycle = 16%
PWME_PWME1 = 1;

/* //pwm23
PWMCTL_CON23=1;
PWMCNT23 = 0;
PWMCAE_CAE3=0;
PWMPOL_PPOL3=1;
PWMCLK_PCLK3=1;
PWME_PWME3 = 0;

PWMPER23 =10000;  //50hz
PWMDTY23 =750;//参数可调 PWMDTY0 =750,1.5ms 方波
PWME_PWME3 = 1;    */

   //电机
PWME_PWME3 = 0;    //关闭通道
PWMCTL_CON23= 1;    //4.5通道级联
PWMCAE_CAE2 = 0;    //选择左对齐输出模式
PWMCNT23 = 0;       //计数器清零
PWMPOL_PPOL3 = 1; //极性设置为正
PWMCLK_PCLK3 = 1; //选择SA作为时钟源
PWMPER23 = 1000;    //  500HZ
PWMDTY23 = 200;
PWME_PWME3 = 1;       //使能通道
}