MSP430F5529控制360度舵机SG90旋转指定角度

简介

    SG90控制信号为周期是20ms 的PWM信号，正转高电平时间1-1.5ms，1ms最快，1.5ms停止。只要控制转速和时间就能控制角度。

    生成50HZ信号，我采用REFOCLK作为辅助时钟ACLK的信号源。频率为32768HZ。将timerPeriod设置成660即可生成50HZ信号。当dutyCycle等于48时，舵机为最慢正转。

代码

#include "driverlib.h"
#include "stdio.h"
#include <string.h>
#include <stdarg.h>
static int a=0;
static int t=0;
static int b=0;
static int c=0;
static int angle=0;
static int word[];
static int length=0;
static int data;
void duoji(int x)
{
  b=(x/5)+1;
  Timer_A_startCounter( TIMER_A1_BASE,TIMER_A_UP_MODE);
}
void dj()
{

        Timer_A_outputPWMParam paramr = {0};
        paramr.clockSource = TIMER_A_CLOCKSOURCE_ACLK ;
        paramr.clockSourceDivider = TIMER_A_CLOCKSOURCE_DIVIDER_1;
        paramr.timerPeriod = 660;//20.1ms,49.75HZ
        paramr.compareRegister = TIMER_A_CAPTURECOMPARE_REGISTER_1;
        paramr.compareOutputMode = TIMER_A_OUTPUTMODE_RESET_SET;
        paramr.dutyCycle = a;
        Timer_A_outputPWM(TIMER_A0_BASE, &paramr);
}
void time()
{
     GPIO_setAsOutputPin(GPIO_PORT_P1,GPIO_PIN0);
     Timer_A_initUpModeParam initContParam = {0};
     initContParam.clockSource = TIMER_A_CLOCKSOURCE_SMCLK;
     initContParam.clockSourceDivider = TIMER_A_CLOCKSOURCE_DIVIDER_1;
     initContParam.timerPeriod = 30000;
     initContParam.timerInterruptEnable_TAIE = TIMER_A_TAIE_INTERRUPT_ENABLE;
     initContParam.captureCompareInterruptEnable_CCR0_CCIE = TIMER_A_CCIE_CCR0_INTERRUPT_ENABLE;
     initContParam.timerClear = TIMER_A_DO_CLEAR;
     initContParam.startTimer = false;
     Timer_A_initUpMode(TIMER_A1_BASE, &initContParam);
     Timer_A_clearTimerInterrupt (TIMER_A1_BASE);

}

void uartinit1()
{

    GPIO_setAsPeripheralModuleFunctionInputPin(GPIO_PORT_P4,GPIO_PIN5);
    GPIO_setAsPeripheralModuleFunctionOutputPin(GPIO_PORT_P4, GPIO_PIN4);
    USCI_A_UART_initParam param1 = {0};
    param1.selectClockSource = USCI_A_UART_CLOCKSOURCE_SMCLK;
    param1.clockPrescalar = 6;
    param1.firstModReg = 13;
    param1.secondModReg = 0;
    param1.parity = USCI_A_UART_NO_PARITY;
    param1.msborLsbFirst = USCI_A_UART_LSB_FIRST;
    param1.numberofStopBits = USCI_A_UART_ONE_STOP_BIT;
    param1.uartMode = USCI_A_UART_MODE;
    param1.overSampling = USCI_A_UART_OVERSAMPLING_BAUDRATE_GENERATION;
    if (STATUS_FAIL == USCI_A_UART_init(USCI_A1_BASE, &param1)){
            return;
        }
    USCI_A_UART_enable(USCI_A1_BASE);

    USCI_A_UART_clearInterrupt(USCI_A1_BASE,USCI_A_UART_RECEIVE_INTERRUPT);
    USCI_A_UART_enableInterrupt (USCI_A1_BASE, USCI_A_UART_RECEIVE_INTERRUPT);

}
void UART_printf(uint16_t baseAddress, const char *format,...)
{
    uint32_t length;
    va_list args;
    uint32_t i;
    char TxBuffer[128] = {0};

    va_start(args, format);
    length = vsnprintf((char*)TxBuffer, sizeof(TxBuffer), (char*)format, args);
    va_end(args);

    for(i = 0; i < length; i++)
        USCI_A_UART_transmitData(baseAddress, TxBuffer[i]);
}
int main(void) {

    WDT_A_hold(WDT_A_BASE);
    UCS_initClockSignal(UCS_ACLK,UCS_REFOCLK_SELECT,UCS_CLOCK_DIVIDER_1);
    GPIO_setAsPeripheralModuleFunctionOutputPin(GPIO_PORT_P1,GPIO_PIN2);
    time();
    uartinit1();
    __bis_SR_register(GIE);
    GPIO_setAsOutputPin (GPIO_PORT_P4,GPIO_PIN7 );
    GPIO_setOutputLowOnPin (GPIO_PORT_P4, GPIO_PIN7);
    while(1)
    {

    }
    return (0);
}

#if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__)
#pragma vector=TIMER1_A0_VECTOR
__interrupt
#elif defined(__GNUC__)
__attribute__((interrupt(TIMER1_A0_VECTOR)))
#endif
void TIMER1_A0_ISR (void)
{

    t++;
    if(t<b)
    {
        a=48;
        GPIO_setOutputLowOnPin (GPIO_PORT_P4, GPIO_PIN7);
    }
    else
    {
        a=0;
        GPIO_setOutputHighOnPin (GPIO_PORT_P4, GPIO_PIN7);
        t=0;
        Timer_A_clear (TIMER_A1_BASE);
        Timer_A_stop (TIMER_A1_BASE);
    }
    dj();

    Timer_A_clearTimerInterrupt (TIMER_A1_BASE);
}

#pragma vector=USCI_A1_VECTOR
__interrupt void USCI_A1_ISR()
{
    GPIO_toggleOutputOnPin (GPIO_PORT_P1, GPIO_PIN0);
    data=USCI_A_UART_receiveData (USCI_A1_BASE);
    word[length++] = data;
    if((word[length-1]==0x0A)&&(word[length-2]==0x0D))
    {

        if(length==4)
        {
            angle = word[length-3]-'0' +  (word[length-4]-'0')*10;

        }
        if(length==5)
        {
            angle = word[length-3]-'0' +  (word[length-4]-'0')*10 + (word[length-5]-'0')*100;
        }
        UART_printf(USCI_A1_BASE, "%d\r\n", angle);
        duoji(angle);
        length=0;
    }

}

效果

当串口每接收到一个角度值，舵机SG90就旋转这个角度值。

效果视频