飞思卡尔舵机程序

#include       
#include “derivative.h“

int u_lu_ru0;    int speedbackq;      
float u1u2m;

//设置锁相环

void PLL_Init（void）            //总线频率80M
{
    CLKSEL_PLLSEL = 0;         //不选择锁相环
    PLLCTL_PLLON = 0;          //关闭锁相环电路
    SYNR = 0xc0 | 0x09;        //倍频                               
    REFDV = 0xc0 | 0x01;       //分频     
                               //计算公式：  f（OSC）=16  f（VCO）= 2 × f（OSC）* （1+SYNDIV）/（REFDIV + 1）=128M    
    POSTDIV = 0x00;            //一分频; f（PLL）=f（VCO）=64M                                                   
    PLLCTL_PLLON = 1;                          
    while（CRGFLG_LOCK == 0）;  
    CLKSEL_PLLSEL = 1;         //选择锁相环时钟       
  
 }                                                                                              



//延时函数

void DelayMs（unsigned int i）       //总线频率为80MHz时  i=   1    时间为    1ms
                                   
{