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说明：  基于IAR平台来开发MSP430单片机，制作四旋翼遥控器的代码。(Based on IAR platform, MSP430 MCU is developed and the code of Four-rotor remote controller is made.)

步进电机是将电脉冲信号转变为角位移或线位移的开环控制电机，是现代数字程序控制系统中的主要执行元件，应用极为广泛。。在非超载的情况下，电机的转速、停止的位置只取决于脉冲信号的频率和脉冲数，而不受负载变化的影响，当步进驱动器接收到一个脉冲信号，它就驱动步进电机按设定的方向转动一个固定的角度，称为“步距角”，它的旋转是以固定的角度一步一步运行的。可以通过控制脉冲个数来控制角位移量，从而达到准确定位的目的；同时可以通过控制脉冲频率来控制电机转动的速度和加速度，从而达到调速的目的。(Stepper motor is an open loop control motor which transforms electrical pulse signal into angular displacement or linear displacement. It is the main executive element in modern digital control system, and is widely applied. In the case of non overloaded, the motor speed and stop position depends only on the pulse frequency and pulse number, regardless of load changes, when the stepper driver receives a pulse signal, it drives stepper motor to set the direction of rotation of a fixed angle, called "step", it is the rotation of the fixed point of the operation step by step. We can control the angular displacement by controlling the number of pulses, so as to achieve the goal of accurate positioning. At the same time, we can control the speed and acceleration of motor rotation by controlling the pulse frequency, so as to achieve the purpose of speed regulation.)

CD4051,CD4052,CD4053 模拟开关。 PDF 说明文档(CD4051, CD4052, CD4053 analog switches. PDF documentation)

光照传感器BH1750FVI在lcd显示(Light sensor is displayed in the lcd)

基于单片机的多功能智能小车设计论文（电路+程序+论文）(Microcontroller-based multifunction smart car design paper (the circuit the+ program+ paper))

用于在通讯协议中生成crc校验码，保证通讯数据的完整性(Used to generate crc check code in communication protocol to ensure the integrity of communication data)

音量控制芯片，六通道音量控制芯片，可单独和全控。(The volume control chip)

无线模块24L01的驱动和测试程序，经过验证，可以正常使用。(Wireless module 24L01 drivers and test program, after verification, can be used normally.)

LCD 的接口简介 8080 模式 6800 模式(About the LCD Interface 8080 Mode 6800 Mode)

此代码为基于单片机开发板的交通灯案例，模仿交通灯工作原理(This code is based on a traffic light microcontroller development board case, imitating traffic lights works)