CCS/MSP430FR2311: Creating delay using TimerB0

Part Number:MSP430FR2311

Tool/software: Code Composer Studio

I am controlling a servo motor and my goal is to make it turn counterclockwise for 1 second, stop for 1 minute, and move clockwise for 1 second. In the commented code, I made it work in 3-second intervals using __delay_cycles(). But I know this is very inefficient and I want to use a timer to make these delays work. I used TB1 (using the SMCLK) to setup up the PWM period and duty cycles.

1. How can I use TB0 with the ACLK to setup a timer and make my delays work to achieve my goal?

2. Also, I am not sure if I setup my interrupt correctly.

When I run this code, the servo does not move for about 2 seconds, and then moves clockwise without stopping.

Thank you in advance.

#include <msp430.h>

int main(void)
{
    WDTCTL = WDTPW | WDTHOLD;                 // Stop WDT
    // Configure GPIO
    P2DIR |= BIT0 ;//+ BIT1;
    P2SEL0 |= BIT0 ;//+ BIT1;
    // Disable the GPIO power-on default high-impedance mode to activate
    // previously configured port settings
    PM5CTL0 &= ~LOCKLPM5;

    TB1CCR0 = 20000-1;                        // PWM Period is 20ms or (20,000/1,000,000 Hz)
    TB1CTL = TBSSEL__SMCLK | MC__UP | TBCLR;  // SMCLK, up mode, clear TBR

    TB0CCTL1 = CAP__COMPARE + CCIE;                             // compare mode + enable interrupts
    TB0CTL = TBSSEL__ACLK  | CNTL__16 | MC__CONTINUOUS | TBCLR; //use ACLK, max counter length (TBxR) 16bits, continuous mode, start timer

   /* if (TB1CCR1==1800){
        __delay_cycles(3000000);                  // servo moves ccw for 3 seconds
        TB1CCTL1 = OUTMOD_7;                      // CCR1 reset/set
        TB1CCR1 = 1550;                           // Stop the servo

        if (TB1CCR1==1550){
        __delay_cycles(600000000);                //Servo is stopped for 600 seconds (10min)
        TB1CCTL1 = OUTMOD_7;                      // CCR1 reset/set
        TB1CCR1 = 1300;                           //Move servo cw

        if(TB1CCR1==1300){
            __delay_cycles(3000000);              //servo moves cw for 3 seconds
            TB1CCTL1 = OUTMOD_7;                  // CCR1 reset/set
            TB1CCR1 = 1550;                       // Stop the servo
                         }

        __bis_SR_register(LPM0_bits);             // Enter LPM0
        __no_operation();
                           }
                        }
*/
    while(1) {
    __bis_SR_register(LPM0_bits + GIE);       // Enter LPM0
    __no_operation();                         // For debugger
    TB1CCTL1 = OUTMOD_7;                      // CCR1 reset/set
    TB1CCR1 = 1550;                           // Stop the servo

    TB0CCR0 = 32767;                          //I'm not sure this is doing anything
    TB1CCTL1 = OUTMOD_7;                      // CCR1 reset/set
    TB1CCR1 = 1300;                           // move servo Clockwise
    }
}


//Timer_B1 TBCCR1 Interrupt Vector Handler Routine
#pragma vector = TIMER0_B1_VECTOR
__interrupt void TIMER0_B1_ISR (void)
{
  switch(__even_in_range(TB0IV,TB0IV_TBIFG))
  {
      case TB0IV_NONE: break;  //Vector 0: No interrupt
      case TB0IV_TBCCR1:       //Vector 2: TBCCR1 CCIFG. Interrupt source:capture/compare R1. Interrupt Flag: TBxCCR1 CCIFG.
          TB1CCTL1 = OUTMOD_7;                      // CCR1 reset/set
          TB1CCR1 = 1800;                           // CCR1 PWM duty cycle, start servo Counterclockwise

          __bic_SR_register_on_exit(LPM0_bits + GIE); //exit LPM0

          break;
      case TB0IV_TBCCR2: break;//Vector 4: TBCCR2 CCIFG
      case TB0IV_TBIFG: break; //Vector 6: TBIFG.
      default: break;

  }
}