综合系统开发 - 基于MSP430单片机的步进电机控制器

#include <msp430x14x.h> #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, continuous unsigned char state = 1; // State variable unsigned char stepIndex = 0; // State table index unsigned int rate = DEFAULT_RATE; // Stepping rate unsigned char change_rate_flag = 0; // Flag indicating rate change unsigned int max_rate = MAX_RATE; // Maximum stepping rate unsigned int min_rate = MIN_RATE; // Minimum stepping rate unsigned int SW[4]; 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_BUF[10]; // 串口 0 的发送缓冲区 char UART1_RX_Temp[10]; char UART0_RX_BUF[10]; // 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A static const unsigned char fullStepA[] = { 0x00, 0x00, 0x01, 0x01 }; // 半步状态表B static const unsigned char fullStepB[] = { 0x01, 0x00, 0x00, 0x01 }; // 半步状态表A static const unsigned char HalfStepA[] = { 0x01, // 001 1 0x06, // 110 2 0x00, // 000 3 0x00, // 000 4 0x00, // 000 5 0x07, // 111 6 0x01, // 001 7 0x01 // 001 8 }; // 逆时钟、半步状态表B static const unsigned char CcwHalfStepB[] = { 0x01, // 001 1 0x01, // 001 2 0x01, // 001 3 0x06, // 110 4 0x00, // 000 5 0x00, // 000 6 0x00, // 000 7 0x07 // 111 8 }; // 顺时钟、半步状态表B static const unsigned char CwHalfStepB[] = { 0x00, // 000 1 0x00, // 000 2 0x00, // 000 3 0x07, // 111 4 0x01, // 001 5 0x01, // 001 6 0x01, // 001 7 0x06 // 110 8 }; void main(void) { int i; // 停止WDT WDTCTL = WDTPW + WDTHOLD; sys_init(); _EINT(); for(;;) { if(nRev_UART0 == 1) { nRev_UART0 = 0; for(i = 0;i < nRX0_Len;i++) UART1_RX_Temp[i] = UART0_RX_BUF[i]; if((UART1_RX_Temp[0] == 'A') && (UART1_RX_Temp[1] == 'T')) { UART0_TX_BUF[0] = 'O'; UART0_TX_BUF[1] = 'K'; UART0_TX_BUF[2] = 13; nTX0_Len = 3; switch(UART1_RX_Temp[2]) { case 'D': // 方向 toggle_direction(); break; case 'C': // 运动模式 toggle_motion(); break; case 'M': // 步进模式 toggle_stepping_mode(); break; case 'F': // 增加速率 increase_stepping_rate(); break; case 'S': // 降低速率 decrease_stepping_rate(); break; default: break; } } else { UART0_TX_BUF[0] = 'E'; UART0_TX_BUF[1] = 'R'; UART0_TX_BUF[2] = 'O'; UART0_TX_BUF[3] = 'R'; UART0_TX_BUF[4] = 'R'; UART0_TX_BUF[5] = 13; nTX0_Len = 6; } // 设置中断标志，进入发送中断程序 IFG1 |= UTXIFG0; nRX0_Len = 0; } } } void sys_init(void) { // 设置下降沿触发中断 P1IES = 0x0f; P1IFG = 0x00; P1IE = 0x0f; // 设置 P2.3,2,1,0 为输出 // 设置 P3.3,2,1,0 为输出 P2OUT = 0x00; P3OUT = 0x00; P2DIR |= 0x0f; P3DIR |= 0x0f; // 设置DCO Set_DCO(DCO_FREQ); // 初始化 Timer A timerA_Init(); // 初始化 UART0 uart0_Init(); // 初始化 WDT wdt_Init(); } void Set_DCO(unsigned long freq) { unsigned int clkCnt; unsigned int numDcoClks; unsigned int prevCnt = 0; // ACLK = LFXT1CLK/8 = 4096 Hz BCSCTL1 |= DIVA_3; numDcoClks = freq/4096; TACCTL2 = CM_1 + CCIS_1 + CAP; TACTL = TASSEL_2 + MC_2 + TACLR; while(1) { while( !(TACCTL2 & CCIFG) ) { } TACCTL2 &= ~CCIFG; clkCnt = TACCR2 - prevCnt; prevCnt = TACCR2; if( numDcoClks == clkCnt ) { break; } else if( clkCnt > numDcoClks ) { DCOCTL--; if( DCOCTL == 0xFF ) { if( BCSCTL1 & 0x07 ) { BCSCTL1--; } else { break; } } } else { DCOCTL++; if( DCOCTL == 0x00 ) { if( (BCSCTL1 & 0x07) != 0x07 ) { BCSCTL1++; } else { break; } } } } // ACLK = LFXT1CLK/1 = 32768 Hz BCSCTL1 &= ~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 |= fullStepA[index]; p3 |= fullStepB[index]; P2OUT = p2; P3OUT = p3; ++stepIndex; break; case 0x01: // 整步、顺时钟方向 index = stepIndex & 0x03; p3 |= fullStepA[index]; p2 |= fullStepB[index]; P3OUT = p3; P2OUT = p2; ++stepIndex; break; case 0x02: // 半步、逆时钟方向 index = stepIndex & 0x07; p2 |= HalfStepA[index]; p3 |= CcwHalfStepB[index]; P2OUT = p2; P3OUT = p3; ++stepIndex; break; case 0x03: // 半步、顺时钟方向 index = stepIndex & 0x07; p3 |= CwHalfStepB[index]; p2 |= HalfStepA[index]; 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_BUF[nRX0_Len_temp] = RXBUF0; nRX0_Len_temp += 1; if(nRX0_Len_temp >= 2) if(UART0_RX_BUF[nRX0_Len_temp - 2] == '\r' && UART0_RX_BUF[nRX0_Len_temp - 1] == '\n') { // 过滤掉回车换行(\r\n) 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_BUF[nSend_TX0]; nSend_TX0 += 1; if(nSend_TX0 >= nTX0_Len) { nSend_TX0 = 0; nTX0_Len = 0; nTX0_Fla