MSP430f5529小车源码

代码，打算后期更改成ccs的代码：原文：http://www.51hei.com/bbs/dpj-196382-1.html

//******************************************************************************
//   Author:wwj
//   Built with IAR V7.0
//   Gui Lin
//   IDE IAR430
/*截止当前：
功能：
本程序从平衡车程序移植出来，仍有平衡车的影子，但不影响运行。
1.硬件IIC读取6050，并在OLED上显示
2.中断测速
3.pwm电机驱动
4.循迹（由于每个人装循迹模块的位置都会有差异，需要自己调整传感器）
5.按键检测
6.蓝牙控制
7....ADD ING

勿拿本代码做交易！！！
勿拿本代码做交易！！！
勿拿本代码做交易！！！

本来只想放出来演示，突然发现有人从中谋取利益，于是决定共享源码！!!
各位朋友加油，未来的科技看你们！！！

*/

//******************************************************************************

#include <msp430.h> 
#include <stdint.h>
#include <stdbool.h>
//#include "oledfont.h"
//#include "msp430f5529.h"
#include "MPU6050.h"
#include "uart.h"
#include "exter_interr.h"
#include "pwm.h"
#include "time.h"
#include "hardw_i2c_oled.h"
#include "mathfun.h"
#include "xunji.h"

void OledDisApp(void);

void delay(unsigned int z)
{
  unsigned int x,y;
  for(x=z;x>0;x--)
    for(y=5000;y>0;y--);
}


//******************************************************************************
// Device Initialization *******************************************************
//******************************************************************************

void initClockTo16MHz()
{
    UCSCTL3 |= SELREF_2;                      // Set DCO FLL reference = REFO
    UCSCTL4 |= SELA_2;                        // Set ACLK = REFO
    __bis_SR_register(SCG0);                  // Disable the FLL control loop
    UCSCTL0 = 0x0000;                         // Set lowest possible DCOx, MODx
    UCSCTL1 = DCORSEL_5;                      // Select DCO range 16MHz operation
    UCSCTL2 = FLLD_0 + 487;                   // Set DCO Multiplier for 16MHz
                                              // (N + 1) * FLLRef = Fdco
                                              // (487 + 1) * 32768 = 16MHz
                                              // Set FLL Div = fDCOCLK
    __bic_SR_register(SCG0);                  // Enable the FLL control loop

    // Worst-case settling time for the DCO when the DCO range bits have been
    // changed is n x 32 x 32 x f_MCLK / f_FLL_reference. See UCS chapter in 5xx
    // UG for optimization.
    // 32 x 32 x 16 MHz / 32,768 Hz = 500000 = MCLK cycles for DCO to settle
    __delay_cycles(500000);//
    // Loop until XT1,XT2 & DCO fault flag is cleared
    do
    {
        UCSCTL7 &= ~(XT2OFFG + XT1LFOFFG + DCOFFG); // Clear XT2,XT1,DCO fault flags
        SFRIFG1 &= ~OFIFG;                          // Clear fault flags
    }while (SFRIFG1&OFIFG);                         // Test oscillator fault flag
}
uint16_t setVCoreUp(uint8_t level){
    uint32_t PMMRIE_backup, SVSMHCTL_backup, SVSMLCTL_backup;

    //The code flow for increasing the Vcore has been altered to work around
    //the erratum FLASH37.
    //Please refer to the Errata sheet to know if a specific device is affected
    //DO NOT ALTER THIS FUNCTION

    //Open PMM registers for write access
    PMMCTL0_H = 0xA5;

    //Disable dedicated Interrupts
    //Backup all registers
    PMMRIE_backup = PMMRIE;
    PMMRIE &= ~(SVMHVLRPE | SVSHPE | SVMLVLRPE |
                SVSLPE | SVMHVLRIE | SVMHIE |
                SVSMHDLYIE | SVMLVLRIE | SVMLIE |
                SVSMLDLYIE
                );
    SVSMHCTL_backup = SVSMHCTL;
    SVSMLCTL_backup = SVSMLCTL;

    //Clear flags
    PMMIFG = 0;

    //Set SVM highside to new level and check if a VCore increase is possible
    SVSMHCTL = SVMHE | SVSHE | (SVSMHRRL0 * level);

    //Wait until SVM highside is settled
    while((PMMIFG & SVSMHDLYIFG) == 0)
    {
        ;
    }

    //Clear flag
    PMMIFG &= ~SVSMHDLYIFG;

    //Check if a VCore increase is possible
    if((PMMIFG & SVMHIFG) == SVMHIFG)
    {
        //-> Vcc is too low for a Vcore increase
        //recover the previous settings
        PMMIFG &= ~SVSMHDLYIFG;
        SVSMHCTL = SVSMHCTL_backup;

        //Wait until SVM highside is settled
        while((PMMIFG & SVSMHDLYIFG) == 0)
        {
            ;
        }

        //Clear all Flags
        PMMIFG &= ~(SVMHVLRIFG | SVMHIFG | SVSMHDLYIFG |
                     SVMLVLRIFG | SVMLIFG |
                     SVSMLDLYIFG
                     );

        //Restore PMM interrupt enable register
        PMMRIE = PMMRIE_backup;
        //Lock PMM registers for write access
        PMMCTL0_H = 0x00;
        //return: voltage not set
        return false;
    }

    //Set also SVS highside to new level
    //Vcc is high enough for a Vcore increase
    SVSMHCTL |= (SVSHRVL0 * level);

    //Wait until SVM highside is settled
    while((PMMIFG & SVSMHDLYIFG) == 0)
    {
        ;
    }

    //Clear flag
    PMMIFG &= ~SVSMHDLYIFG;

    //Set VCore to new level
    PMMCTL0_L = PMMCOREV0 * level;

    //Set SVM, SVS low side to new level
    SVSMLCTL = SVMLE | (SVSMLRRL0 * level) |
               SVSLE | (SVSLRVL0 * level);

    //Wait until SVM, SVS low side is settled
    while((PMMIFG & SVSMLDLYIFG) == 0)
    {
        ;
    }

    //Clear flag
    PMMIFG &= ~SVSMLDLYIFG;
    //SVS, SVM core and high side are now set to protect for the new core level

    //Restore Low side settings
    //Clear all other bits _except_ level settings
    SVSMLCTL &= (SVSLRVL0 + SVSLRVL1 + SVSMLRRL0 +
                 SVSMLRRL1 + SVSMLRRL2
                 );

    //Clear level settings in the backup register,keep all other bits
    SVSMLCTL_backup &=
        ~(SVSLRVL0 + SVSLRVL1 + SVSMLRRL0 + SVSMLRRL1 + SVSMLRRL2);

    //Restore low-side SVS monitor settings
    SVSMLCTL |= SVSMLCTL_backup;

    //Restore High side settings
    //Clear all other bits except level settings
    SVSMHCTL &= (SVSHRVL0 + SVSHRVL1 +
                 SVSMHRRL0 + SVSMHRRL1 +
                 SVSMHRRL2
                 );

    //Clear level settings in the backup register,keep all other bits
    SVSMHCTL_backup &=
        ~(SVSHRVL0 + SVSHRVL1 + SVSMHRRL0 + SVSMHRRL1 + SVSMHRRL2);

    //Restore backup
    SVSMHCTL |= SVSMHCTL_backup;

    //Wait until high side, low side settled
    while(((PMMIFG & SVSMLDLYIFG) == 0) &&
          ((PMMIFG & SVSMHDLYIFG) == 0))
    {
        ;
    }

    //Clear all Flags
    PMMIFG &= ~(SVMHVLRIFG | SVMHIFG | SVSMHDLYIFG |
                SVMLVLRIFG | SVMLIFG | SVSMLDLYIFG
                );

    //Restore PMM interrupt enable register
    PMMRIE = PMMRIE_backup;

    //Lock PMM registers for write access
    PMMCTL0_H = 0x00;

    return true;
}
bool increaseVCoreToLevel2()
{
    uint8_t level = 2;
    uint8_t actlevel;
    bool status = true;

    //Set Mask for Max. level
    level &= PMMCOREV_3;

    //Get actual VCore
    actlevel = PMMCTL0 & PMMCOREV_3;

    //step by step increase or decrease
    while((level != actlevel) && (status == true))
    {
        if(level > actlevel)
        {
            status = setVCoreUp(++actlevel);
        }
    }

    return (status);
}

void initGPIO()
{
    //I2C Pins
    P3SEL |= BIT0 + BIT1;                     // P3.0,1 option select
    
    P1DIR |=BIT0;
    P4DIR |=BIT7;
    //按键输入
    P2DIR &=~BIT1;
    P1DIR &=~BIT1;
    
    P2REN |= BIT1;//使能上下拉
    P2OUT |= BIT1;//上拉
    
    P1REN |= BIT1;//使能上下拉
    P1OUT |= BIT1;//上拉
}

void initI2C()
{
  
  
    UCB0CTL1 |= UCSWRST;                      // Enable SW reset(复位使能)
    UCB0CTL0 =  UCMST + UCMODE_3 + UCSYNC;     //  Master, I2C,synchronous mode(同步模式)
    UCB0CTL1 = UCSSEL_2 + UCSWRST;            // Use SMCLK, keep SW reset
    UCB0BR0 = 160;                            // fSCL = SMCLK/160 = ~100kHz
    UCB0BR1 = 0;
    UCB0CTL0 &=~UCSLA10;                      //7位地址模式
    UCB0I2CSA = SLAVE_ADDR>>1; //SlaveAddress>>1;//SLAVE_ADDR>>1;                //  
    UCB0CTL1 &= ~UCSWRST;                     // Clear SW reset, resume operation
    
    UCB0IFG &=~UCTXIFG;
    
}

int num;
int main(void) {

    WDTCTL = WDTPW | WDTHOLD;                 // Stop watchdog timer
    increaseVCoreToLevel2();
    initClockTo16MHz();                        //配置系统时钟为16Mhz
    //delay(10);
    initGPIO();
    initI2C();
    //delay(10);
    OLED_Init();
    //delay(10);
    UART_Init('n',8,1);
    InitMPU6050();
    //delay(10);
    exterPin();//外部引脚中断
    //MotorSpeedDetectionInit();    
    PWMInit();
    TB6612INOUT();
    time0InterInit();
    xunioinit();//寻迹引脚初始化
    delay(10);
    //OLED_ShowChar(0,0,'A',16);
    //OLED_ShowChar(16,0,'B',16);
    //OLED_ShowChar(16*2,0,'C',16);
    
    _EINT();//开启总中断
    //曾经由于没开总中断，调了一下午...
    while(1)
    {
      //按键检测
      if((P2IN & BIT1) == 0)
      {
        delay(3);
        if((P2IN & BIT1) == 0)
        {
          P1OUT ^= BIT0; 
        }
        
      //PWM_Motor(-20,-20);
      }
      while(!(P2IN&BIT1));
      
      xunjiing();//寻迹
     
      
  if(count_time >=20)
  {
    count_time =0;
   // P1OUT ^= BIT0;              //形成闪灯效果
   Angle = Mpu6050AccelAngle(ACCEL_XOUT,ACCEL_ZOUT);
   Angle_dot =  Mpu6050GyroAngle(GYRO_YOUT);
  
  // pwm_calculate();//PWM计算输出
     
    
  }
        

  
#if 1
  if(count_time2 >=10)
  {
      count_time2 =0;
      OledDisApp();
    
  }
#endif
  
#if 0
  if(Angle >10.0)
  {
   PWM_Motor(20,20);
  }
  else if(Angle < -10.0)
  {
  PWM_Motor(-20,-20);
  }
  else
  {
  Stop();
  }
  
#endif
  
  
  
  
  //printf ("Pwm = %d \r\n",Pwm);
  
   // 
    // OLED_Show_Number(0,6,abs(Angle),16);
     //P1OUT ^=BIT0;
      
     //printf("angle = %1f , angle_dot = %2f \r\n",Angle,Angle_dot);
     //printf("ML = %d , MR = %d \r\n",speed_mL,speed_mR);//打印编码器
      
      
     //PWM_Motor(20,-20);//测试电机,应看到左轮后退，右轮前进
      
      //TA2CCR1 = abs(-100);//L
      //TA1CCR1 = abs(256/2);//R
      
     P4OUT ^=BIT7;
     
     
   // delay(10);
    }
    
}
void OledDisApp(void)
{
#if 1
if(Angle < 0.0)
{    
//sprintf
OLED_ShowChar(32, 2,  '-', 16);
}
else
{
OLED_ShowChar(32, 2, ' ', 16);
}
OLED_ShowNum(32+8, 2, abs(Angle), 3, 16);
OLED_ShowNum(32+8, 5, speedcar/2, 3, 16);
#endif
//================Speed====================
#if 0
if(Speed < 0.0)
{    
//sprintf
OLED_ShowChar(50, 2,  '-', 16);
}
else
{
OLED_ShowChar(50, 2, ' ', 16);
}
OLED_ShowNum(50+8, 2, abs(Speed), 3, 16);
#endif

//fillRect(124, 64/2, 2, -63, 1,1);

  
  }