看這個版面有點冷,先來一些
Souece Code main.c
/*
* main.c MSP430G2553 Control 8 SERVO With CD4017
* CD4017 With 8 Servos
* connect Servo Signal to CD4017.Output1...Output8
*/
#include <msp430g2553.h>
#define CPU_FQ 16 //16Mhz
#define CPU_F 16000000
#define SERVO_INIT 1000
void delay_us( double x)
{
unsigned long count=0;
while(count++<=(x*CPU_FQ))
_nop();
}
void delay_ms(unsigned long x)
{
unsigned long count=0;
while(count++<=(x*CPU_FQ*1000))
_nop();
}
#define delay_us(x) __delay_cycles((long)(CPU_F*(double)x/1000000.0))
#define delay_ms(x) __delay_cycles((long)(CPU_F*(double)x/1000.0))
#define CLK_0 P1OUT &=~BIT0
#define CLK_1 P1OUT |= BIT0 // CD4017.CLK on P1.0
#define RST_0 P2OUT &=~BIT6
#define RST_1 P2OUT |= BIT6 // CD4017.RST on P2.6
unsigned int postion[8]={0,100,300,500,600,750,900,999}; //Servo Position from 0 to 999
unsigned char yn=0;
void delayus(long i)
{
TACCR0 = i;
TACTL = TASSEL_2+ID_3+ MC_1; // SMCLK, div 8, up mode,TACTL = TASSEL_2 + MC_1 + ID_3+
TACCTL0 = CCIE; // Enable interrupts for CCR0.
yn=1;
// clear timer
__enable_interrupt();
while(yn==1);
_disable_interrupt();
}
void run_servo(void)
{
unsigned char icount=0;
RST_0;
// to move CD4017 to Output 1
CLK_1;
delayus(1);
CLK_0;
while(icount<8)
{
delayus(SERVO_INIT+postion[icount++]);
CLK_1;
delay_us(1);
CLK_0;
}
// to move CD4017 to Output 0
CLK_1;
delayus(1);
CLK_0;
delayus(9000);
RST_1;
//delay_us(1);
}
void main(void)
{
unsigned int i,j;
WDTCTL = WDTPW + WDTHOLD;//關閉看門狗
BCSCTL1 = CALBC1_8MHZ; // Set DCO to 16MHz
DCOCTL = CALDCO_8MHZ; // enable P2.6 / P2.7 to Digial IO
P1SEL = 0;// set P1 to digial IO
P2SEL = 0;// set P2 to digial IO
P1DIR = BIT0; // Set P1.0 to Outpot
P2DIR = BIT6; //設定 P2.6 為輸出
while(1)
{
run_servo();
}
}
#pragma vector = TIMER0_A0_VECTOR
__interrupt void Timer0_A0 (void)
{
yn=0;
}
/*
/*
*
* This file is part of the MSP430 PWM example. It controls two servos on P1.6 and P2.2.
*
* Copyright (C) 2012 Stefan Wendler <sw@kaltpost.de>
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
#include <msp430.h>
void delay()
{
P1OUT ^= BIT0;
volatile unsigned long i;
i = 49999;
do (i--);
while (i != 0);
}
int main(void)
{
WDTCTL = WDTPW + WDTHOLD;
P1DIR |= BIT0;
// Internal LEDs P1.0 of Launchpad is output
P1DIR |= BIT6;
// P1.6/TA0.1 is used for PWM, thus also an output -> servo 1
P2DIR |= BIT2;
// P2.2/TA1.1 is used for PWM, thus also an output -> servo 2
P1OUT = 0;
// Clear all outputs P1
P2OUT = 0;
// Clear all outputs P2
P1SEL |= BIT6; // P1.6 select TA0.1 option
P2SEL |= BIT2; // P2.2 select TA1.1 option
// if SMCLK is about 1MHz (or 1000000Hz),
// and 1000ms are the equivalent of 1 Hz,
// then, by setting CCR0 to 20000 (1000000 / 1000 * 20)
// we get a period of 20ms
TA0CCR0 = 20000-1; // PWM Period TA0.1
TA1CCR0 = 20000-1; // PWM Period TA1.1
// setting 1500 is 1.5ms is 0deg. servo pos
TA0CCR1 = 1500; // CCR1 PWM duty cycle
TA1CCR1 = 1500; // CCR1 PWM duty cycle
TA0CCTL1 = OUTMOD_7; // CCR1 reset/set
TA0CTL = TASSEL_2 + MC_1; // SMCLK, up mode
TA1CCTL1 = OUTMOD_7; // CCR1 reset/set
TA1CTL = TASSEL_2 + MC_1; // SMCLK, up mode
// loop just blinks build in LEDs to show activity
for (;;)
{
delay();
TA0CCR1 = 1000;
TA1CCR1 = 2000;
delay();
TA0CCR1 = 1500;
TA1CCR1 = 1500;
delay();
TA0CCR1 = 2000;
TA1CCR1 = 1000;
delay();
TA0CCR1 = 1500;
TA1CCR1 = 1500;
}
}
*/ |
發表於 2013-8-12 17:31:37
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