MSP430f5529之PWM控制舵機(jī)程序

ID:519285 · 發(fā)表于 2019-4-23 09:39

#include <msp430.h>                      //函數(shù)庫
int sum=0;                               //全局變量
int main(void)
{
  volatile unsigned int i;                //局部變量
            //設(shè)置timerA相關(guān)參數(shù)
  WDTCTL = WDTPW+WDTHOLD;                // 關(guān)閉看門狗
  P1DIR |= BIT2;                         // 將P1.2設(shè)置為輸出端口，驗(yàn)證狀態(tài)
  P2DIR |= BIT0;                         //P2.0輸出PWM波
  TA0CCTL1 = OUTMOD_7;                      //將輸出模式選擇為模式7
  TA0CTL = TASSEL_1 + MC_1 + TACLR ;       //選擇ACLK時(shí)鐘源，timerA計(jì)數(shù)模式選擇up模式，計(jì)數(shù)到TA0CCR0，重置timerA計(jì)數(shù)器
  TA1CCTL1 = OUTMOD_7;
  TA1CTL = TASSEL_1 + MC_1 +TACLR ;

P1REN |= BIT7;                         // 使能端口1.7
P1OUT |= BIT7;                         // 選擇下拉模式
P1IES |= BIT7;                         // 1.7端口中斷觸發(fā)沿選擇下降沿，高到低觸發(fā)
P1IFG &= ~BIT7;                         // 1.7端口中斷寄存器清零
P1IE |= BIT7;                      // 1.7端口中斷使能

__bis_SR_register(GIE);                   //將GIE置1，打開全局中斷使能

  while(1)                                     // 采用switch，每一個(gè)case值對應(yīng)一個(gè)狀態(tài)
  {
switch (sum)
{
case 0:
P1OUT &= ~BIT2;                            //初始狀態(tài)為低功耗狀態(tài)
      TA0CCR1 = 0;
      __bis_SR_register(LPM3_bits);          //將LPM3置1，使系統(tǒng)進(jìn)入低功耗
      break;                                  //跳出switch函數(shù)
case 1:                                     //選系統(tǒng)的默認(rèn)時(shí)鐘，頻率為1MHZ。
      P1OUT &= ~BIT2;                //狀態(tài)1要求：轉(zhuǎn)到—60°，900微秒，設(shè)置的為1000微秒，時(shí)鐘頻率為32768Hz
      TA0CCR0 = 20000;       //驗(yàn)證進(jìn)入狀態(tài)1
      TA0CCR1 = 10000;
      TA1CCR0 = 100;             //輸出PWM波周期
      TA1CCR1 = 34;             占空比
      P1DIR |=BIT2;
      P1SEL |=BIT2;
      P2DIR |=BIT0;
      P2SEL |=BIT0;
      break;
case 2:
      P1OUT &= ~BIT2;                //狀態(tài)2要求：轉(zhuǎn)到0°。1520微秒
      TA0CCR0 = 20000;
      TA0CCR1 = 5000;
      TA1CCR0 = 100;
      TA1CCR1 = 50;
      P1DIR |=BIT2;
      P1SEL |=BIT2;
      P2DIR |=BIT0;
      P2SEL |=BIT0;
      break;
case 3:                   //時(shí)鐘為輔助時(shí)鐘ACLK，頻率為32768HZ
//P1OUT &= ~BIT2;                //狀態(tài)3要求：轉(zhuǎn)到60° 2100微秒
      TA0CCR0 = 20000;
      TA0CCR1 = 800;
      TA1CCR0 = 100;
      TA1CCR1 = 66;
      P1DIR |=BIT2;
      P1SEL |=BIT2;  //選擇1.2端口的復(fù)用功能，使之能夠?qū)崿F(xiàn)亮和滅
      P2DIR |=BIT0;
      P2SEL |=BIT0;
      break;

}
if(sum>3)                   //當(dāng)sum的值超過3時(shí)，要讓sum減3，重新進(jìn)入循環(huán)
      {
         sum=sum-3;
      }

  }
}

//采用S1作為按鍵實(shí)現(xiàn)
#pragma vector=PORT1_VECTOR             //端口p1的中斷函數(shù)
__interrupt void Port_1(void)
{
unsigned int push_key =0;
push_key == P1IFG & (P1IN);
__delay_cycles(20000);                //精確時(shí)間延遲，乘以MCLK時(shí)鐘周期,防止抖動
if( push_key == (P1IN & BIT7))
{
__low_power_mode_off_on_exit();       //SR寄存器置0，退出低功耗
sum=sum+1;                            // 按下p1.7，sum加1，周期變化一次
}
   P1IFG &= ~BIT7;                         // p1.7中斷重置
}