jiaodu.rar_msp430 传感器_msp430角度_角度传感器

#include "SPCE061V004.H" //====================================================== //延时 delay(unsigned int us) { while(us--) *P_Watchdog_Clear=0x0001; } //====================================================== //读角度传感器 unsigned int uzz9001(void) { unsigned int i,temp=0; *P_IOA_Dir|=0x0003; //低位依次为cs（IOA2）,sck,sda *P_IOA_Dir&=0xfffb; *P_IOA_Attrib|=0x0003; *P_IOA_Attrib&=0xfffb; *P_IOA_Data=*P_IOA_Buffer|0x0007; *P_IOA_Data=*P_IOA_Buffer&0xfffe;//cs=0 i=16; while(i--) { temp<<=1; *P_IOA_Data=*P_IOA_Buffer&0xfffd; //SCK=0 *P_Watchdog_Clear=0x0001; *P_IOA_Data=*P_IOA_Buffer|0x0002; //SCK=1 if(*P_IOA_Data&0x0004) temp|=0x0001; else temp&=0xfffe; } *P_IOA_Data=*P_IOA_Buffer|0x0001; return(temp); } //====================================================== //计算角度 float anglee(void) { unsigned int temp0,temp1; float jiaodu; temp0=uzz9001(); temp1=temp0&0x3f00; temp1>>=1; temp0&=0x007f; temp0=temp0+temp1; jiaodu=temp0*180.001/8192.001; return(jiaodu); } //====================================================== //读8次角度求平均值 float angle(void) { unsigned int i; float jiaodu=0; for(i=0;i<8;i++) { jiaodu+=anglee(); } jiaodu/=8; return(jiaodu); } //====================================================== //读取初始角度 float chujiao(void) { unsigned int i; float temp; for(i=0;i<100;i++) { temp+=angle(); } temp/=100; return(temp); } //====================================================== // main() { float data; float zuo,you; unsigned int temp; // while(1) // { // zuo=chujiao()+120; // if(zuo<180) // break; // } while(1) { data=angle(); if(data>100) data-=60; else data+=120; temp=*P_IOB_Buffer&0xff0f; if(data<95.07) *P_IOB_Data=temp+0x0000; else if(data>=95.07&&data<101.32) *P_IOB_Data=temp+0x0010; else if(data>=101.32&&data<103.41) *P_IOB_Data=temp+0x0020; else if(data>=103.41&&data<104.1) *P_IOB_Data=temp+0x0040; else if(data>=104.1&&data<105.05) *P_IOB_Data=temp+0x0050; else if(data>=105.05&&data<105.75) *P_IOB_Data=temp+0x0060; else if(data>=105.75&&data<107.58) *P_IOB_Data=temp+0x0080; else if(data>=107.58&&data<113.83) *P_IOB_Data=temp+0x0090; else if(data>=113.83) *P_IOB_Data=temp+0x00a0; } }