MSP432多角度驱动舵机附角度计算公式

MSP432P401R驱动舵机

一、舵机接线

二、公式计算

• 定时器PWM周期：

  T_timer_a = CLKDIV * (CCR0 + 1) / f_clk

  = 48 * （19999 + 1） / 48000000

  = 0.02s = 50Hz

CLKDIV=48，CCR0=19999

• 角度计算

0度：( 499 + 1) / (19999 + 1) = 500 / 20000 = 2.5%

45度：( 999 + 1) / (19999 + 1) = 1000 / 20000 = 5%

90度：( 1499 + 1) / (19999 + 1) = 1500 / 20000 = 7.5%

135度：( 1999 + 1) / (19999 + 1) = 2000 / 20000 = 10%

180度：( 2499 + 1) / (19999 + 1) = 2500 / 20000 = 12.5%

225度：( 2999 + 1) / (19999 + 1) = 3000 / 20000 = 15%

270度：( 3499 + 1) / (19999 + 1) = 3500 / 20000 = 17.5%

三、代码

timA.h

#ifndef __RNA_TIMA_H
#define __RNA_TIMA_H
#include 

void TimA0_PWM_Init(uint16_t ccr0, uint16_t psc);

#endif

timA.c

#include "timA.h"

void TimA0_PWM_Init(uint16_t ccr0, uint16_t psc)
{
    /*初始化引脚*/
    MAP_GPIO_setAsPeripheralModuleFunctionOutputPin(GPIO_PORT_P2, GPIO_PIN4, GPIO_PRIMARY_MODULE_FUNCTION);

    Timer_A_PWMConfig TimA0_PWMConfig;
    /*定时器PWM初始化*/
    TimA0_PWMConfig.clockSource = TIMER_A_CLOCKSOURCE_SMCLK;             //时钟源
    TimA0_PWMConfig.clockSourceDivider = psc;                            //时钟分频 范围1-64
    TimA0_PWMConfig.timerPeriod = ccr0;                                  //自动重装载值（ARR）
    TimA0_PWMConfig.compareRegister = TIMER_A_CAPTURECOMPARE_REGISTER_1; //通道一 （引脚定义）
    TimA0_PWMConfig.compareOutputMode = TIMER_A_OUTPUTMODE_TOGGLE_SET;   //输出模式
    TimA0_PWMConfig.dutyCycle = ccr0;                                    //这里是改变占空比的地方 默认100%

    MAP_Timer_A_generatePWM(TIMER_A0_BASE, &TimA0_PWMConfig); /* 初始化比较寄存器以产生 PWM1 */
}

main.c

#include "sysinit.h"
#include "usart.h"
#include "delay.h"
#include "led.h"
#include "tim32.h"
#include "timA.h"


int main(void)
{
    SysInit();         // 第3讲 时钟配置
    uart_init(115200); // 第7讲 串口配置
    delay_init();      // 第4讲 滴答延时

    /*开始填充初始化代码*/
		TimA0_PWM_Init(19999, 48);
		LED_Init();
    /*停止填充初始化代码*/

    printf("Hello,MSP432!\r\n");
    MAP_Interrupt_enableMaster(); // 开启总中断
    while (1)
    {
			        /*开始填充用户代码*/
			
			MAP_Timer_A_setCompareValue(TIMER_A0_BASE, TIMER_A_CAPTURECOMPARE_REGISTER_1, 499);//0度
			delay_ms(1500);
			
			MAP_Timer_A_setCompareValue(TIMER_A0_BASE, TIMER_A_CAPTURECOMPARE_REGISTER_1, 999);//45
			delay_ms(1500);
			
			MAP_Timer_A_setCompareValue(TIMER_A0_BASE, TIMER_A_CAPTURECOMPARE_REGISTER_1, 1499);//90
			delay_ms(1500);
			
			MAP_Timer_A_setCompareValue(TIMER_A0_BASE, TIMER_A_CAPTURECOMPARE_REGISTER_1, 1999);//135
			delay_ms(1500);
			
			MAP_Timer_A_setCompareValue(TIMER_A0_BASE, TIMER_A_CAPTURECOMPARE_REGISTER_1, 2499);//180
			delay_ms(1500);
			
			MAP_Timer_A_setCompareValue(TIMER_A0_BASE, TIMER_A_CAPTURECOMPARE_REGISTER_1, 2999);//225
			delay_ms(1500);
			
			MAP_Timer_A_setCompareValue(TIMER_A0_BASE, TIMER_A_CAPTURECOMPARE_REGISTER_1, 3499);//270
			delay_ms(1500);
			
			MAP_Timer_A_setCompareValue(TIMER_A0_BASE, TIMER_A_CAPTURECOMPARE_REGISTER_1, 2999);//225
			delay_ms(1500);
			
			MAP_Timer_A_setCompareValue(TIMER_A0_BASE, TIMER_A_CAPTURECOMPARE_REGISTER_1, 2499);//180
			delay_ms(1500);
			
			MAP_Timer_A_setCompareValue(TIMER_A0_BASE, TIMER_A_CAPTURECOMPARE_REGISTER_1, 1999);//135
			delay_ms(1500);
			
			MAP_Timer_A_setCompareValue(TIMER_A0_BASE, TIMER_A_CAPTURECOMPARE_REGISTER_1, 1499);//90
			delay_ms(1500);
			
			MAP_Timer_A_setCompareValue(TIMER_A0_BASE, TIMER_A_CAPTURECOMPARE_REGISTER_1, 999);//45
			delay_ms(1500);
			
			MAP_Timer_A_setCompareValue(TIMER_A0_BASE, TIMER_A_CAPTURECOMPARE_REGISTER_1, 499);//90
			delay_ms(1500);
        /*停止填充用户代码*/
    }

}