MSP432P401R的TA1.0或TA2.0之类的引脚如何配置PWM引脚操作舵机的机械臂

相关例程您可以参考

http://dev.ti.com/tirex/explore/node?node=APAOZq40W2CyGVgJMMsEMA__z-lQYNj__LATEST  

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/*******************************************************************************
 * MSP432 Port Mapper - Remapping Timer_A CCR
 *
 * Description: This program generates a PWM output on P2.4 using the port
 * mapper to internally redirect the CCR0 output of Timer A1 to P2.4 (it
 * is originally P7.7). After the port mapping function is called, the timer
 * is setup normally with a 75% duty cycle. The output of the timer can be
 * seen on P2.4 using a probe/debugger.
 *
 *         MSP432P401
 *      -------------------
 *  /|\|                   |
 *   | |                   |
 *   --|RST                |
 *     |                   |
 *     |             P2.4  |--> CCR1 - 75% PWM
 *     |                   |
 *
 *******************************************************************************/
/* DriverLib Includes */
#include <ti/devices/msp432p4xx/driverlib/driverlib.h>

/* Standard Includes */
#include <stdint.h>
#include <stdbool.h>

//![Simple PMAP Config]
/* Port mapper configuration register */
const uint8_t port_mapping[] =
{
        //Port P2:
        PMAP_NONE, PMAP_NONE, PMAP_NONE, PMAP_NONE, PMAP_TA1CCR1A, PMAP_NONE,
        PMAP_NONE, PMAP_NONE
};
//![Simple PMAP Config]

/* Timer_A UpDown Configuration Parameter */
const Timer_A_UpDownModeConfig upDownConfig =
{
        TIMER_A_CLOCKSOURCE_SMCLK,              // SMCLK Clock SOurce
        TIMER_A_CLOCKSOURCE_DIVIDER_1,          // SMCLK/1 = 3MHz
        127,                                    // 127 tick period
        TIMER_A_TAIE_INTERRUPT_DISABLE,         // Disable Timer interrupt
        TIMER_A_CCIE_CCR0_INTERRUPT_DISABLE,    // Disable CCR0 interrupt
        TIMER_A_DO_CLEAR                        // Clear value

};

/* Timer_A Compare Configuration Parameter  (PWM1) */
const Timer_A_CompareModeConfig compareConfig_PWM1 =
{
        TIMER_A_CAPTURECOMPARE_REGISTER_1,          // Use CCR1
        TIMER_A_CAPTURECOMPARE_INTERRUPT_DISABLE,   // Disable CCR interrupt
        TIMER_A_OUTPUTMODE_TOGGLE_SET,              // Toggle output but
        32                                          // 32 Duty Cycle
};

int main(void)
{
    MAP_WDT_A_holdTimer();

    //![Simple PMAP Example]
    /* Remapping  TACCR0 to P2.4 */
    MAP_PMAP_configurePorts((const uint8_t *) port_mapping, PMAP_P2MAP, 1,
            PMAP_DISABLE_RECONFIGURATION);
    //![Simple PMAP Example]

    MAP_GPIO_setAsPeripheralModuleFunctionOutputPin(GPIO_PORT_P2,
            GPIO_PIN4, GPIO_PRIMARY_MODULE_FUNCTION);

    /* Initialize compare registers to generate PWM1 */
    MAP_Timer_A_initCompare(TIMER_A1_BASE, &compareConfig_PWM1);

    /* Configuring Timer_A1 for UpDown Mode and starting */
    MAP_Timer_A_configureUpDownMode(TIMER_A1_BASE, &upDownConfig);
    MAP_Timer_A_startCounter(TIMER_A1_BASE, TIMER_A_UPDOWN_MODE);

    while (1)
    {
        MAP_PCM_gotoLPM0();
    }
}

如何配置TA0.0  TA1.0之类的，上图中1.2和1.0都配置了分别为周期和占空比·，如果配置1.0，周期选哪个？