//this interrupt is triggered once each second and prints result from ADC conversion and clears interrupt flag
void timer_A_ISR(){ //Timers_A_ISR runs at 1 Hz
//Turn light to signal timer interrupt is working
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P1, GPIO_PIN0);
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P2, GPIO_PIN0);
Timer_A_clearCaptureCompareInterrupt(TIMER_A0_MODULE,TIMER_A_CAPTURECOMPARE_REGISTER_0);
printf("%f \n",(ADC_result/1023.0)*3.3*100.0);//(float)ADC_result);// also try 100.0 as a fix!!! (ADC_result/1023.0)*198.0); // 150F/2.5V = 60F per V. Thus, 150+(3.3-2.5)*60 = 198
// This conversion is necessary because 0-2.5 V corresponds to 0-150F
// On the microncontroller, 0-3.3 V corresponds to 0-1023 binary
// And the result of the ADC is a binary value
//Turn off LED's
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P1, GPIO_PIN0);
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P2, GPIO_PIN0);
}
void initI2CModule(void)
{
unsigned int flags = EUSCI_B_I2C_TRANSMIT_INTERRUPT0 |
EUSCI_B_I2C_RECEIVE_INTERRUPT0 |
EUSCI_B_I2C_TRANSMIT_INTERRUPT1 |
EUSCI_B_I2C_RECEIVE_INTERRUPT1 |
EUSCI_B_I2C_STOP_INTERRUPT |
EUSCI_B_I2C_NAK_INTERRUPT;
#if 0
/* Select Port B1 for I2C - Set Pin 4, 5 to input Primary Module Function,
* (UCB1SIMO/UCB1SDA, UCB1SOMI/UCB1SCL).
*/
GPIO_setAsPeripheralModuleFunctionInputPin(GPIO_PORT_P6,
GPIO_PIN4 + GPIO_PIN5, GPIO_PRIMARY_MODULE_FUNCTION);
/* eUSCI I2C Slave Configuration */
I2C_initSlave(EUSCI_B1_BASE, SLAVE_ADDRESS, EUSCI_B_I2C_OWN_ADDRESS_OFFSET0,
EUSCI_B_I2C_OWN_ADDRESS_ENABLE);
I2C_initSlave(EUSCI_B1_BASE, 0xC, EUSCI_B_I2C_OWN_ADDRESS_OFFSET1,
EUSCI_B_I2C_OWN_ADDRESS_ENABLE);
I2C_setMode(EUSCI_B1_BASE, EUSCI_B_I2C_RECEIVE_MODE);
/* Enable the module and enable interrupts */
I2C_enableModule(EUSCI_B1_BASE);
MAP_I2C_clearInterruptFlag(EUSCI_B1_BASE, EUSCI_B_I2C_RECEIVE_INTERRUPT0);
MAP_I2C_enableInterrupt(EUSCI_B1_BASE, EUSCI_B_I2C_RECEIVE_INTERRUPT0);
MAP_Interrupt_enableInterrupt(INT_EUSCIB1);
#else
/* eUSCI I2C Slave Configuration */
I2C_initSlave(EUSCI_B0_BASE, SLAVE_ADDRESS, EUSCI_B_I2C_OWN_ADDRESS_OFFSET0,
EUSCI_B_I2C_OWN_ADDRESS_ENABLE);
#if 1
I2C_initSlave(EUSCI_B0_BASE, 0xC, EUSCI_B_I2C_OWN_ADDRESS_OFFSET1,
EUSCI_B_I2C_OWN_ADDRESS_ENABLE);
#endif
/* Select Port B2 for I2C - Set Pin 6, 7 to input Primary Module Function
*/
MAP_GPIO_setAsPeripheralModuleFunctionInputPin(GPIO_PORT_P1,
GPIO_PIN6 | GPIO_PIN7, GPIO_PRIMARY_MODULE_FUNCTION);
/* Define the SMbus alert pin */
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P5, GPIO_PIN0);
MAP_GPIO_setAsOutputPin(GPIO_PORT_P5, GPIO_PIN0);
I2C_setMode(EUSCI_B0_BASE, EUSCI_B_I2C_RECEIVE_MODE);
/* Enable the module and enable interrupts */
I2C_enableModule(EUSCI_B0_BASE);
MAP_I2C_clearInterruptFlag(EUSCI_B0_BASE, flags);
MAP_Interrupt_setPriority(INT_EUSCIB0, configMAX_SYSCALL_INTERRUPT_PRIORITY);
MAP_I2C_enableInterrupt(EUSCI_B0_BASE, flags);
MAP_Interrupt_enableInterrupt(INT_EUSCIB0);
#endif
}
void I2C_AlertDone()
{
#if 0
I2C_initSlave(EUSCI_B0_BASE, 0xC, EUSCI_B_I2C_OWN_ADDRESS_OFFSET1,
EUSCI_B_I2C_OWN_ADDRESS_DISABLE);
#endif
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P5, GPIO_PIN0);
}
/*
* ======== WiFiCC3100_deAssertCS ========
* Deassert the CC3100 chip select pin.
*/
static void WiFiCC3100_deAssertCS() {
WiFiCC3100_HWAttrs const *hwAttrs = wifiHandle->hwAttrs;
#if defined(MSP430WARE) || defined(MSP432WARE)
MAP_GPIO_setOutputHighOnPin(hwAttrs->csPort, hwAttrs->csPin);
#else
GPIOPinWrite(hwAttrs->csPort, hwAttrs->csPin, hwAttrs->csPin);
#endif
Log_print0(Diags_USER2, "SPI CS deasserted, end of transfer.");
}
/*
* ======== CC3100_enable ========
* SimpleLink Host Driver API to toggle the CC3100 device enable pin.
*/
void CC3100_enable() {
WiFiCC3100_HWAttrs const *hwAttrs = wifiHandle->hwAttrs;
#if defined(MSP430WARE) || defined(MSP432WARE)
MAP_GPIO_setOutputHighOnPin(hwAttrs->enPort, hwAttrs->enPin);
#else
GPIOPinWrite(hwAttrs->enPort, hwAttrs->enPin, hwAttrs->enPin);
#endif
Log_print0(Diags_USER2, "CC3100 has been enabled.");
}
/* EUSCI A0 UART ISR - Echos data back to PC host */
void euscia0_isr(void)
{
uint32_t status = MAP_UART_getEnabledInterruptStatus(EUSCI_A0_MODULE);
MAP_UART_clearInterruptFlag(EUSCI_A0_MODULE, status);
if(status & EUSCI_A_UART_RECEIVE_INTERRUPT)
{
RXData = MAP_UART_receiveData(EUSCI_A0_MODULE);
if(RXData != TXData) // Check value
{
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P1, GPIO_PIN0);
while(1); // Trap CPU
}
TXData++;
MAP_Interrupt_disableSleepOnIsrExit();
}
}
/*
* ======== MSP_EXP432P401R_initWiFi ========
*/
void MSP_EXP432P401R_initWiFi(void)
{
/* Configure EN & CS pins to disable CC3100 */
MAP_GPIO_setAsOutputPin(GPIO_PORT_P3, GPIO_PIN0);
MAP_GPIO_setAsOutputPin(GPIO_PORT_P4, GPIO_PIN1);
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P3, GPIO_PIN0);
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P4, GPIO_PIN1);
/* Configure CLK, MOSI & MISO for SPI0 (EUSCI_B0) */
MAP_GPIO_setAsPeripheralModuleFunctionOutputPin(GPIO_PORT_P1,
GPIO_PIN5 | GPIO_PIN6, GPIO_PRIMARY_MODULE_FUNCTION);
MAP_GPIO_setAsPeripheralModuleFunctionInputPin(GPIO_PORT_P1, GPIO_PIN7,
GPIO_PRIMARY_MODULE_FUNCTION);
/* Configure IRQ pin */
MAP_GPIO_setAsInputPinWithPullDownResistor(GPIO_PORT_P2, GPIO_PIN5);
MAP_GPIO_interruptEdgeSelect(GPIO_PORT_P2, GPIO_PIN5,
GPIO_LOW_TO_HIGH_TRANSITION);
/* Initialize SPI and WiFi drivers */
MSP_EXP432P401R_initDMA();
SPI_init();
WiFi_init();
}
int main(void)
{
WDT_A_holdTimer();
//Configure Timer
unsigned int dcoFrequency = 3E+6;
MAP_CS_setDCOFrequency(dcoFrequency);
MAP_CS_initClockSignal(CS_SMCLK, CS_DCOCLK_SELECT, CS_CLOCK_DIVIDER_1); // ( 1Mhz / 64 ) / (Period = 15625) = 1 second
////////////////////////////////////////////////////////////////////////////////////////////////////
// Buttons init
////////////////////////////////////////////////////////////////////////////////////////////////////
// Set switch 1 (S1) as input button (connected to P1.1)
MAP_GPIO_setAsInputPinWithPullUpResistor( GPIO_PORT_P1, GPIO_PIN1 );
// Set switch 2 (S2) as input button (connected to P1.4)
MAP_GPIO_setAsInputPinWithPullUpResistor( GPIO_PORT_P1, GPIO_PIN4 );
////////////////////////////////////////////////////////////////////////////////////////////////////
// Timer A 0 and PWM on 2.4
////////////////////////////////////////////////////////////////////////////////////////////////////
GPIO_setAsPeripheralModuleFunctionOutputPin(GPIO_PORT_P2, GPIO_PIN4, GPIO_PRIMARY_MODULE_FUNCTION); //writes 0's in PXSEL registers for pins 1.2 and 1.3
// Set Timer A period (PWM signal period)
TA0CCR0 = 10000 ; // i think i wrote this wring, his example he showed in class is is 10000
// Set Duty cycle
TA0CCR1 = 0 ; //inital DutyCycle of 0% (we don't want the motor to move unless we push button
// Set output mode to Reset/Set
TA0CCTL1 = OUTMOD_7 ; // Macro which is equal to 0x00e0, defined in msp432p401r.h
// Initialize Timer A
TA0CTL = TASSEL__SMCLK | MC__UP | TACLR ; // this bitwise or’s multiple settings at the same time (this just sets different bits in the register to set these functionalities/settings)
//Timer_A_startCounter(TIMER_A0_MODULE, TIMER_A_UP_MODE);
////////////////////////////////////////////////////////////////////////////////////////////////////
// Timer A 2 and PWM on P5.6
////////////////////////////////////////////////////////////////////////////////////////////////////
GPIO_setAsPeripheralModuleFunctionOutputPin(GPIO_PORT_P5, GPIO_PIN6, GPIO_PRIMARY_MODULE_FUNCTION); //writes 0's in PXSEL registers for pins 1.2 and 1.3
// Set Timer A period (PWM signal period)
TA2CCR0 = 10000 ; // i think i wrote this wring, his example he showed in class is is 10000
// Set Duty cycle
TA2CCR1 = 0 ; //inital DutyCycle of 0% (we don't want the motor to move unless we push button
// Set output mode to Reset/Set
TA2CCTL1 = OUTMOD_7 ; // Macro which is equal to 0x00e0, defined in msp432p401r.h
// Initialize Timer A
TA2CTL = TASSEL__SMCLK | MC__UP | TACLR ; // this bitwise or’s multiple settings at the same time (this just sets different bits in the register to set these functionalities/settings)
//Does this start the timer?? (is next line necessary?)
//Timer_A_startCounter(TIMER_A1_MODULE, TIMER_A_UP_MODE);
/////////////////////////////////////////////////////////////////////////////////////////////////////
//Set LED's as outputs and turn off
MAP_GPIO_setAsOutputPin(GPIO_PORT_P1,GPIO_PIN0);
MAP_GPIO_setAsOutputPin(GPIO_PORT_P2,GPIO_PIN0);
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P1, GPIO_PIN0);
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P2, GPIO_PIN0);
int countedges1 = 1;
int countedges2 = 1;
while(1){
//infinite loop
////////////////////////////////////////////////////////////////////////////////////////////////////
// Turn one direction
////////////////////////////////////////////////////////////////////////////////////////////////////
if(GPIO_INPUT_PIN_LOW == MAP_GPIO_getInputPinValue ( GPIO_PORT_P1, GPIO_PIN1 )){
//stop timer 2
Timer_A_stopTimer(TIMER_A2_MODULE);
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P5, GPIO_PIN6);
//start timer 1
Timer_A_startCounter(TIMER_A0_MODULE, TIMER_A_UP_MODE);
TA0CCR1 = 1000 * countedges1; //increse Duty Cycle by 10% (period is 10000)
if (TA0CCR1 > TA0CCR0){ //if Dutcy Cycle = 100%, go back to 0%
TA0CCR1 = 0;
}//end nested if
if (countedges1>11){
countedges1 = 0;
}
countedges1++;
while(GPIO_INPUT_PIN_LOW == MAP_GPIO_getInputPinValue ( GPIO_PORT_P1, GPIO_PIN1 )){
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P1, GPIO_PIN0);
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P2, GPIO_PIN0);
}//end nested while
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P1, GPIO_PIN0);
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P2, GPIO_PIN0);
}//end switch 1 if
else{ //the button is not being pushed so do not spin motor (DutyCycle = 0);
TA0CCR1 = 0;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
// Turn other direction
////////////////////////////////////////////////////////////////////////////////////////////////////
if(GPIO_INPUT_PIN_LOW == MAP_GPIO_getInputPinValue ( GPIO_PORT_P1, GPIO_PIN4 )){
//stop timer 1
Timer_A_stopTimer(TIMER_A0_MODULE);
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P2, GPIO_PIN4);
//start timer 2
Timer_A_startCounter(TIMER_A2_MODULE, TIMER_A_UP_MODE);
TA2CCR1 = countedges2 * 1000; //increse Duty Cycle by 10% (period is 10000)
if (TA2CCR1 > TA2CCR0){ //if Dutcy Cycle = 100%, go back to 0%
TA2CCR1 = 0;
}//end nested if
if (countedges2>11){
countedges2 = 0;
}
countedges2++;
while(GPIO_INPUT_PIN_LOW == MAP_GPIO_getInputPinValue ( GPIO_PORT_P1, GPIO_PIN4 )){
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P1, GPIO_PIN0);
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P2, GPIO_PIN0);
}//end nested while
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P1, GPIO_PIN0);
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P2, GPIO_PIN0);
}//end switch 2 if
else{ //the button is not being pushed so do not spin motor (DutyCycle = 0)
TA2CCR1 = 0;
}
}//end while
}//end main
