程序一直在ADC的中断里循环，不知道为毛啊，不是说ADC自动清0标志位么

只看该作者 · 2015-7-27 19:55

#include  <msp430x14x.h>
#include  "cry1602.h"

#define Num_of_Results 32
#define Num1_of_Results  32

#define DIR1 P1OUT|=BIT0;
#define DIR0 P1OUT&=~BIT0;

uchar shuzi[] = {"0123456789."};
uchar tishi[] = {"The volt is:"};

uint  Error=0;          // Error
uint  LastError=0;    // Error[-1]
uint  PrevError=0;    // Error[-2]
uint  d_Error=0,dd_Error=0;
uint  speed_change=0;

unsigned long sum;
unsigned long int Curr_Volt;
unsigned long int Curr_Volt1;

//static uint results[Num_of_Results];//保存ADC转换结果的数组 //
static uint results1[Num1_of_Results];

int Kp = 0;
int Ki = 0;
int Kd = 0;

unsigned int PWMPeriod = 200;
unsigned int PWMPeriod1= 300;
unsigned int i=0;
unsigned int j=0;

void motor_fast_go()
{
  DIR1;//正转
  TBCCR0=800-1;
  TBCCTL1 = OUTMOD_7;
  TBCCR1 = 400;             //50%
  TBCTL = TBSSEL_2 + MC_1;                // SMCLK, up mode
  _BIS_SR(LPM3_bits);// Enter LPM0
}

void motor_fast_back()
{
  DIR0;//反转
  TBCCR0=800-1;
  TBCCTL2 = OUTMOD_7;
  TBCCR2 = 400;             //50%
  TBCTL = TBSSEL_2 + MC_1;                // SMCLK, up mode
  _BIS_SR(LPM3_bits);                         // Enter LPM0
}

void motor_slow_go()
{
  DIR1;//正转
  TBCCR0=800-1;
  TBCCTL3 = OUTMOD_7;
  TBCCR3 = 200;             //25%
  TBCTL = TBSSEL_2 + MC_1;                // SMCLK, up mode
  _BIS_SR(LPM3_bits);                         // Enter LPM0
}

void motor_slow_back()
{
  DIR0;//反转
  TBCCR0=800-1;
  TBCCTL4 = OUTMOD_7;
  TBCCR4 = 200;             //25%
  TBCTL = TBSSEL_2 + MC_1;                // SMCLK, up mode
  _BIS_SR(LPM3_bits);                      // Enter LPM0
}

void motor_stop()
{
  DIR0;//DIR为任意状态
  TBCCTL5 = OUTMOD_7;
  TBCCR5 = 0;                               //0%
  TBCTL = TBSSEL_2 + MC_1;                // SMCLK, up mode
  _BIS_SR(LPM3_bits);                         // Enter LPM0
}

void delay1ms(uint z)
{
unsigned int x,y;
for(x=z;x>0;x--)
for(y=110;y>0;y--);
}

void Trans1_val(uint Hex_Val1)
{
unsigned long caltmp1;
//unsigned long Curr_Volt1;
uchar t2;
uchar ptr1[4];

caltmp1 = Hex_Val1;
caltmp1 = (caltmp1 << 5) + Hex_Val1;          //caltmp = Hex_Val * 33
caltmp1 = (caltmp1 << 3) + (caltmp1 << 1);    //caltmp = caltmp * 10
Curr_Volt1 = caltmp1 >> 12;                //Curr_Volt = clatmp / 2^n
ptr1[0] = Curr_Volt1 / 100;                //Hex->Dec变换
t2 = Curr_Volt1 - (ptr1[0] * 100);
ptr1[2] = t2 / 10;
ptr1[3] = t2 - (ptr1[2] * 10);
ptr1[1] = 10;                               //shuzi表中第10位对应符号"."
//for(j=0;j< 4;j++);
//Disp1Char((6 + j),0,shuzi[ptr1[j]]);
}

            /*PID的总调节量在26~42，则中间值在34*/
            /*假设在小于45度和大于135度时，电机不转*/
int PID_Cal(int SetPoint,int NextPoint)
{
      int Speed=0;
Error    =  SetPoint - NextPoint;
d_Error =  Error - LastError;
dd_Error  =  d_Error - PrevError;
LastError =  Error;          // △e(k)
PrevError =  d_Error;          // △e(k)-△e(k-1)
    Speed    =  Kp * d_Error
            +  Ki * Error
           +  Kd * dd_Error;
/*
      if(Speed > 90)
{
   Speed =90 ;
}
      */
return Speed;

}

void ADCinit()
{
LcdReset();                            //复位1602液晶
Disp1Char(11,0,'V');                //显示提示信息
Disp1Char(11,1,'V');                   //显示电压单位
P6SEL |= 0x0F;                         // 使能ADC通道
ADC12CTL0 &= ~(ENC);                   //一开始必须将ENC位置为0，否则无法修改ADC12CTL0中的值，此句话必须加上
ADC12CTL0 = ADC12ON+SHT0_8+MSC;       // 打开ADC，设置采样时间 MSC 多次采样/准换位
ADC12CTL1 = SHP+CONSEQ_1+ADC12SSEL_1;
// ADC12CTL1 = SHP+CONSEQ_1+CSTARTADD_1;// 使用采样定时器 CONSEQ_2单通道多次转换
ADC12MCTL0 |= INCH_0;
ADC12MCTL1 |= INCH_1;
ADC12IE = BIT1+BIT2;
//ADC12IE = 0x02;                         // 使能ADC中断
ADC12CTL0 |= ENC;                      // 使能转换
ADC12CTL0 |= ADC12SC;                   // 开始转换
_EINT();
LPM0;
}

/************************主函数****************************/
void main(void)
{
  WDTCTL = WDTPW + WDTHOLD;                // Stop WDT,一个PWM输出，作为电机速度的调节
  ADCinit();
  while(1)
  {
if(Curr_Volt1>0)
{
   P4DIR |= 0x7e;                         // P4.1 - P4.6 output
   P4SEL |= 0x7e;                         // P4.1 - P4.6 TBx options
   TBCCR0 = 512-1;                         // PWM Period 4.1口作为输出端
   TBCCTL1 = OUTMOD_7;                      // CCR1 reset/set
   TBCCR1 = 400;                                        // CCR1 PWM duty cycle
   TBCTL = TBSSEL_1 + MC_1;                // ACLK, up mode
}
  }
}

#pragma vector=ADC_VECTOR
__interrupt void ADC12ISR (void)
{
  //static uint index = 0;

  static uint index1 = 0;
  //results[index++] = ADC12MEM0;
  results1[index1++] = ADC12MEM1;             // Move results

  if(index1 == Num1_of_Results)
  {
      uchar j;
      unsigned long sum1 = 0;
      index1 = 0;
      for(j = 0; j < Num1_of_Results; j++)
      {
         sum1 += results1[j];
      }
      sum1 >>= 5;                         //除以32
      Trans1_val(sum1);
  }
}

只看该作者 · 2015-7-31 19:54

xiexiefangxiang

程序一直在ADC的中断里循环，不知道为毛啊，不是说ADC自动清0标志位么

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