#include "MSP430X16X.h"
#define uint unsigned int
#define uchar unsigned char
#define Num_Of_Results 16
uint A0result[Num_Of_Results];
uint A1result[Num_Of_Results];
uint A2result[Num_Of_Results];
uint A3result[Num_Of_Results];
uchar key1=0;
uint average;
uint x,y,x0,x1,x2,x3;
int long sum;
int long IntDegC;
static uchar index=0;

/**********工作频率设置**********/
void InitClock(void)
{

   uint i;
   BCSCTL1&=~XT2OFF;
   do
   {

      IFG1&=~OFIFG;   
      for(i=0xff;i>0;i--);

   }
   while((IFG1&OFIFG));
   BCSCTL2=0X00;
   BCSCTL2=SELS+SELM_3;

}
/**********舵机初始化**********/
void init_pwm(void)
{

    P1SEL |= BIT2 + BIT3 ;     //选择 p1.2-TA1  作为PWM输出　第二功能
    P1DIR |= BIT2 + BIT3;
    CCR0 = 20000;    //PWM信号频率1KHZ
    CCTL1 = OUTMOD_7;
    CCTL2 = OUTMOD_7;
    TACTL=TASSEL_2 + MC_1 + ID_3 ;//

}

/********************ADC函数********************/
void initADC12(void)
{
P6DIR|=0X00;
P6SEL|=0X0F;
ADC12CTL0=ADC12ON+MSC+SHT0_8+REFON+REF2_5V;
ADC12CTL1=SHP+CONSEQ_3;
ADC12MCTL0=SREF_1+INCH_0;
ADC12MCTL0=SREF_1+INCH_1;
ADC12MCTL0=SREF_1+INCH_2;
ADC12MCTL0=SREF_1+INCH_3+EOS;
ADC12IE=0X08;
ADC12CTL0|=ENC;
_EINT();
ADC12CTL0|=ADC12SC;//开始转换

}
# pragma vector=ADC_VECTOR
__interrupt void ADC12ISR(void)
{

    A0result[index]=ADC12MEM0;
    A1result[index]=ADC12MEM1;
    A2result[index]=ADC12MEM2;
    A3result[index]=ADC12MEM3;
    index=(index+1)%Num_Of_Results;

}
/********************延时函数********************/
void Delay(uint num)
{
  uint  kk,i;

  for(i=0; i<num; i++)
    for(kk=0; kk<8000; kk++);

}

void main( void )
{
   WDTCTL = WDTPW+WDTHOLD;           
  //IE1 |= WDTIE;  
  InitClock();//推荐选择
  init_pwm();
  initADC12();
  x = CCR1;
  y = CCR2;
  for(;;)
  {

    x0=A0result[index];
    x1=A1result[index];
    x2=A2result[index];
    x3=A3result[index];
    if(x0>x2)x=x+180;
    else if(x0<x2)x=x-180;
    else
    x=0;
    if(x1>x3)y=y+180;
    else if(x1<x3)y=y-180;
    else
    y=0;

  }

}