【180度数字模拟金属舵机试用体验】蓝牙BLE控制舵机角度

uint8 HalPwmInit(void)

{

  P0 = 0;

  P0DIR |= (1<<3);//P0_3 Output

  //PERCFG &= ~(1<<6);//TIMER1 ALT 1

  PERCFG |= (1<<0);//USART0 ALT 2

  PERCFG |= (1<<1);//USART1 ALT 2

  //APCFG = 0;//P0.0-P0.7 Analog disable

  P0SEL |= (1<<3);//selct P0_3 as Peripheral function

  P2SEL |= (1<<3);//P2SEL PORT1复用功能优先级设置

  //P2DIR &= ~(3<<6); //PORT0复用功能优先级设置,上电复位为0

  P2DIR |= (2<<6);//1st priority TIME1 CHL0-1

  //P0INP = 0;//P0上下拉

  //P2INP &= ~(1<<5);//P0上拉

  

  T1CTL = 2 | (2<<2);//10自动重载计数至T1CC0,10 32分频

  T1CCTL0 = 0 | (1<<2) | (0<<3);//CHL0 00 关闭捕获,1 CHL0为比较模式,000set on compare

  T1CC0L = 0x20;

  T1CC0H = 0x4E;//CC0-20000 CC1-10000 50hz

  

  T1CCTL1 = 0 | (1<<2) | (6<<3);//CHL1 00 关闭捕获,1 CHL0为比较模式,110clear when equal T1CC1

  T1CC1L = 0x10;

  T1CC1H = 0x27;//CC0-20000 CC1-10000 50hz

  

  CLKCONCMD = CLKCONCMD & 0x80;

  while ( (CLKCONSTA & ~0x80) != 0);//Timer时钟32M

  

  T1STAT = 0;

  T1CNTL = 0;// Reset timer to 0;

  T1CNTH = 0;

  //T1CCTL0 |= (1<<6);//使能通道0中断

  //TIMIF |= (1<<6);//使能Timer1溢出中断

  

  //IEN0 &= ~(1<<7);//关闭总中断

  IEN1 &= ~(1<<1);//关闭Timer1中断

  return TRUE;

}

uint8 SetAngle(uint8 angleValue)

{

  float val = 0;

  if(angleValue > 180)

    return FALSE;

  

  val = (2000.0/180)*angleValue + 500;

  T1CC1L = (uint16)val & 0xff;

  T1CC1H = ((uint16)val >> 8) & 0xff;

  return TRUE;

}