msp430单片机控制步进电机实验的电路图及C程序.doc

各模块的电路图如下：试验程序如下:#include #define DCO_FREQ 1000000 / DCO frequency#define ONE_SEC_CNT 512 / Number of WDT interrupts in 1 second#define DEBOUNCE_CNT 0x05 / (1/512)*5 = 10 msec debounce#define DIR_MASK 0x01 / 0x01 is clockwise, 0x00 is counter-clockwise#define STEP_MASK 0x02 / 0x00 is full-stepping, 0x02 is half-stepping#define MOTION_MASK 0x04 / 0x00 is continuous, 0x04 is single-step#define DEFAULT_RATE 0x8000 / Default stepping rate#define MIN_RATE 0x8000 / Minimum stepping rate#define MAX_RATE 0x0800 / Maximum stepping rate/ Default state is full-stepping, clockwise, continuousunsigned char state = 1; / State variableunsigned char stepIndex = 0; / State table indexunsigned int rate = DEFAULT_RATE; / Stepping rateunsigned char change_rate_flag = 0; / Flag indicating rate changeunsigned int max_rate = MAX_RATE; / Maximum stepping rateunsigned int min_rate = MIN_RATE; / Minimum stepping rateunsigned int SW4; void sys_init(void);void Set_DCO(unsigned long freq);void timerA_Init(void);void uart0_Init(void);void wdt_Init(void);void toggle_stepping_mode(void);void increase_stepping_rate(void);void decrease_stepping_rate(void);void toggle_motion(void);void toggle_direction(void);/定义串口操作变量char nRev_UART0;/ 串口 0 的接收标志char UART0_TX_BUF10;/ 串口 0 的发送缓冲区char UART1_RX_Temp10;char UART0_RX_BUF10;/ 串口 0 的接收缓冲区int nTX0_Len;int nRX0_Len;int nRX0_Len_temp;char nTX0_Flag;int nSend_TX0;/ 整步状态表Astatic const unsigned char fullStepA =0x00,0x00,0x01,0x01;/ 半步状态表Bstatic const unsigned char fullStepB =0x01,0x00,0x00,0x01;/ 半步状态表Astatic const unsigned char HalfStepA =0x01, / 001 10x06, / 110 20x00, / 000 30x00, / 000 40x00, / 000 50x07, / 111 60x01, / 001 70x01 / 001 8;/ 逆时钟、半步状态表Bstatic const unsigned char CcwHalfStepB =0x01, / 001 10x01, / 001 20x01, / 001 30x06, / 110 40x00, / 000 50x00, / 000 60x00, / 000 70x07 / 111 8;/ 顺时钟、半步状态表Bstatic const unsigned char CwHalfStepB =0x00, / 000 10x00, / 000 20x00, / 000 30x07, / 111 40x01, / 001 50x01, / 001 60x01, / 001 70x06 / 110 8;void main(void)int i;/ 停止WDTWDTCTL = WDTPW + WDTHOLD;sys_init();_EINT();for(;)if(nRev_UART0 = 1) nRev_UART0 = 0;for(i = 0;i numDcoClks )DCOCTL-;if( DCOCTL = 0xFF )if( BCSCTL1 & 0x07 )BCSCTL1-;elsebreak;elseDCOCTL+;if( DCOCTL = 0x00 )if( (BCSCTL1 & 0x07) != 0x07 )BCSCTL1+; elsebreak;/ ACLK = LFXT1CLK/1 = 32768 HzBCSCTL1 &= DIVA_3; TACCTL2 = 0; TACTL = 0;void wdt_Init(void)/ 设置时钟源为ACLK，1秒内产生512此WDTCTL = WDTPW + WDTTMSEL + WDTCNTCL + WDTSSEL + WDTIS0 + WDTIS1;void uart0_Init(void) /将寄存器的内容清零 U0CTL = 0X00;/数据位为8bit U0CTL += CHAR; U0TCTL = 0X00;/波特率发生器选择ACLK U0TCTL += SSEL0; /波特率为9600 UBR0_0 = 0X03; UBR1_0 = 0X00; UMCTL_0 = 0x4A; /使能UART0的TXD和RXD ME1 |= UTXE0 + URXE0; /使能UART0的RX中断 IE1 |= URXIE0;/使能UART0的TX中断 IE1 |= UTXIE0; /设置P3.4为UART0的TXD P3SEL |= BIT4;/设置P3.5为UART0的RXD P3SEL |= BIT5; /P3.4为输出管脚 P3DIR |= BIT4;void timerA_Init(void)TACCR0 = rate;TACCTL0 = CCIE;TACTL = TASSEL_2 + MC_1 + TACLR;interrupt TIMERA0_VECTOR void TimerA_ISR(void)unsigned char index;unsigned char p2 = 0;unsigned char p3 = 0;/ 判断步进速率是否需要改变if( change_rate_flag )TACCR0 = rate;change_rate_flag = 0;/ 判断状态switch( (state & 0x3) )case 0x00: / 整步、逆时钟方向index = stepIndex & 0x03;p2 |= fullStepAindex;p3 |= fullStepBindex;P2OUT = p2;P3OUT = p3;+stepIndex;break;case 0x01: / 整步、顺时钟方向index = stepIndex & 0x03;p3 |= fullStepAindex;p2 |= fullStepBindex;P3OUT = p3;P2OUT = p2;+stepIndex;break;case 0x02: / 半步、逆时钟方向index = stepIndex & 0x07;p2 |= HalfStepAindex;p3 |= CcwHalfStepBindex;P2OUT = p2;P3OUT = p3;+stepIndex;break;case 0x03: / 半步、顺时钟方向index = stepIndex & 0x07;p3 |= CwHalfStepBindex;p2 |= HalfStepAindex;P3OUT = p3;P2OUT = p2;+stepIndex;break;default: break;/ 如果单步状态下，禁止定时器中断if( state & MOTION_MASK )TACCTL0 &= CCIE;/ 处理来自串口 0 的接收中断interrupt UART0RX_VECTOR void UART0_RX_ISR(void)/接收来自的数据 UART0_RX_BUFnRX0_Len_temp = RXBUF0; nRX0_Len_temp += 1; if(nRX0_Len_temp = 2) if(UART0_RX_BUFnRX0_Len_temp - 2 = r & UART0_RX_BUFnRX0_Len_temp - 1 = n) / 过滤掉回车换行(rn) if(nRX0_Len_temp = 2) nRX0_Len_temp = 0; else if(nRX0_Len_temp 2) nRX0_Len = nRX0_Len_temp; nRev_UART0 = 1; nRX0_Len_temp = 0; / 处理来自串口 0 的发送中断interrupt UART0TX_VECTOR void UART0_TX_ISR(void) if(nTX0_Len != 0) / 表示缓冲区里的数据没有发送完 nTX0_Flag = 0; TXBUF0 = UART0_TX_BUFnSend_TX0; nSend_TX0 += 1; if(nSend_TX0 = nTX0_Len) nSend_TX0 = 0; nTX0_Len = 0; nTX0_Flag = 1; interrupt WDT_VECTOR void WDT_ISR(void)unsigned char sw_state;static unsigned char one_sec_flag = 0;/ 获得P1口的输入sw_state = P1IN & 0x0f;/ 判断是否有键按下if( sw_state = 0x00 )/ 禁止看门狗中断IE1 &= WDTIE;/ 判断是否S2的激活状态小于1秒if( !one_sec_flag & (SW1 = DEBOUNCE_CNT) )toggle_motion();/ 复位状态计数器SW0 = 0;SW1 = 0;SW2 = 0;SW3 = 0;/ 复位标志one_sec_flag = 0;/ 使能P1口的中断功能P1IFG = 0x00;P1IE = 0x0f;else/ 检查是否是S1状态if( sw_state & 0x01 )if( SW0 ONE_SEC_CNT )/ 增加状态计数器+SW0;if( SW0 = DEBOUNCE_CNT )toggle_direction();elseSW0 = 0;/ 检查是否是S2状态if( sw_state & 0x02 )if( SW1 = DEBOUNCE_CNT) )toggle_motion();one_sec_flag = 0;SW1 = 0;/ 检查是否是S3状态if( sw_state & 0x04 )/ 检查是否是连续模式if( (state & MOTION_MASK) = 0 )if( SW2 ONE_SEC_CNT )/ 增加状态计数器+SW2;if( SW2 = DEBOUNCE_CNT )increase_stepping_rate();else / 单步模式/ 增加状态计数器+SW2;if( (SW2 % DEBOUNCE_CNT) = 0 )increase_stepping_rate();else SW2 = 0;/ 检查是否是S4状态if( sw_state & 0x08 )if( SW3 1;if( new_rate = max_rate )rate = new_rate;change_rate_flag = 1;/使能定时器A的中断TACCTL0 |= CCIE;void decrease_stepping_rate(void)/ 检查是否是连续模式if( (state & MOTION_MASK) = 0 )if( rate 1) )rate 1);change_rate_flag = 1;max_rate = (MAX_RATE 1);min_rate