各模块的电路图如下：试验程序如下:#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_RA TE 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_RA TE; // Stepping rateunsigned char change_rate_flag = 0; // Flag indicating rate changeunsigned int max_rate = MAX_RA TE; // Maximum stepping rateunsigned int min_rate = MIN_RA TE; // 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 < 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DCOSet_DCO(DCO_FREQ);// 初始化Timer AtimerA_Init();// 初始化UART0uart0_Init();// 初始化WDTwdt_Init();}void Set_DCO(unsigned long freq){unsigned int clkCnt;unsigned int numDcoClks;unsigned int prevCnt = 0;// ACLK = LFXT1CLK/8 = 4096 HzBCSCTL1 |= DIV A_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 HzBCSCTL1 &= ~DIV A_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8bitU0CTL += CHAR;U0TCTL = 0X00;//波特率发生器选择ACLKU0TCTL += SSEL0;//波特率为9600UBR0_0 = 0X03;UBR1_0 = 0X00;UMCTL_0 = 0x4A;//使能UART0的TXD和RXDME1 |= 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TXDP3SEL |= BIT4;//设置P3.5为UART0的RXDP3SEL |= 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_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 && (SW[1] >= DEBOUNCE_CNT) ){toggle_motion();}// 复位状态计数器SW[0] = 0;SW[1] = 0;SW[2] = 0;SW[3] = 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( SW[0] < ONE_SEC_CNT ){// 增加状态计数器++SW[0];}if( SW[0] == DEBOUNCE_CNT ){toggle_direction();}}else{SW[0] = 0;}// 检查是否是S2状态if( sw_state & 0x02 ){if( SW[1] < ONE_SEC_CNT ){// 增加状态计数器++SW[1];}if( SW[1] == ONE_SEC_CNT )toggle_stepping_mode();one_sec_flag = 1;SW[1] = 0;}}else{// 判断是否S2的激活状态小于1秒if( !one_sec_flag && (SW[1] >= DEBOUNCE_CNT) ) {toggle_motion();}one_sec_flag = 0;SW[1] = 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( SW[2] < ONE_SEC_CNT ){// 增加状态计数器++SW[2];}if( SW[2] == DEBOUNCE_CNT ){increase_stepping_rate();}}else // 单步模式{// 增加状态计数器++SW[2];if( (SW[2] % DEBOUNCE_CNT) == 0 ){increase_stepping_rate();}}else{SW[2] = 0;}// 检查是否是S4状态if( sw_state & 0x08 ){if( SW[3] < ONE_SEC_CNT ){// 增加状态计数器++SW[3];}if( SW[3] == DEBOUNCE_CNT ){decrease_stepping_rate();}}else{SW[3] = 0;}}}interrupt [PORT1_VECTOR] void PORT1_ISR(void) {// 禁止端口1的中断P1IE = 0x00;// 清除端口1的中断标志P1IFG = 0x00;// 使能看门狗中断IE1 |= WDTIE;}void increase_stepping_rate(void){unsigned int new_rate;// 检查是否是连续模式if( (state & MOTION_MASK) == 0 )new_rate = rate >> 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 <= (min_rate >> 1) ){rate <<= 1;change_rate_flag = 1;}}// 使能定时器A的中断TACCTL0 |= CCIE;}void toggle_stepping_mode(void){// 切换步进模式state ^= STEP_MASK;// 检查是否是半步模式if( state & STEP_MASK ){// 从整步模式切换到半步模式// 定时器的频率加倍rate = (rate >> 1);change_rate_flag = 1;max_rate = (MAX_RA TE >> 1);min_rate = (MIN_RATE >> 1);}else // 整步模式// 从半步模式切换到整步模式// 定时器的频率减半rate = (rate << 1);change_rate_flag = 1;max_rate = MAX_RATE;min_rate = MIN_RA TE;}}void toggle_motion(void){state ^= MOTION_MASK;// 检查是否是连续步进模式if( (state & MOTION_MASK) == 0 ){// 使能定时器中断TACCTL0 |= CCIE;}}void toggle_direction(void){state ^= DIR_MASK;}。
