MSP430F5529控制180度舵机MG90S

点亮一个MCU

已于 2023-08-01 15:45:17 修改

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文章标签：单片机嵌入式硬件

于 2023-08-01 10:35:14 首次发布

本文链接：https://blog.csdn.net/m0_70642907/article/details/132036856

版权

引言

180度舵机，给一个占空比就转相应的角度

50HZ： 0.5ms高电平----0度

1ms高电平 ----45度

1.5ms高电平----90度

2.5ms高电平----180度

代码

PC向单片机发送一个角度值（0-180），舵机就转到相应的角度。串口调试助手里勾上“发送新行”。

#include "driverlib.h"
#include "stdio.h"
#include <string.h>
#include <stdarg.h>
#define MCLK_IN_HZ      1048576

#define delay_us(x)     __delay_cycles((MCLK_IN_HZ/1000000*(x)))
#define delay_ms(x)     __delay_cycles((MCLK_IN_HZ/1000*(x)))

static int a=0;
static int t = 0;
static int b=0;
static int c=0;
static int word[];
static int length=0;
static int data;
static int angle = 0;

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]);
}
void action()
{

             GPIO_setOutputHighOnPin (GPIO_PORT_P1, GPIO_PIN2);

             b=0;
             while(b<c)
             {
                 delay_ms(0.085);
                 b++;
             }
             b=0;
             GPIO_setOutputLowOnPin (GPIO_PORT_P1, GPIO_PIN2);
             while(b<200-c)
             {
                 delay_ms(0.085);
                 b++;
             }

}
int main(void) {

    WDT_A_hold(WDT_A_BASE);
    uartinit1();
    GPIO_setAsOutputPin (GPIO_PORT_P1,GPIO_PIN2);
    GPIO_setAsOutputPin (GPIO_PORT_P1,GPIO_PIN0 );
    __bis_SR_register(GIE);
    while(1)
    {
        action();
    }
    return (0);
}

#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==3)
        {
            angle = word[length-3]-'0';
        }
        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);
        c = angle/9 + 5;
        UART_printf(USCI_A1_BASE, "%d\r\n", c);
        length=0;
    }

}