msp430单片机控制步进电机实验的电路图及C程序.docVIP

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_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