118 lines
4.6 KiB
C
118 lines
4.6 KiB
C
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#include <msp430xG46x.h>
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#include <math.h>
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volatile long int ADCXval, ADCYval, ADCZval;
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volatile float Xper, Yper, Zper, M;
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#define SW1_PRESSED ((BIT0&P1IFG)==0) // SW1 Status
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void TimerA_setup(void) {
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TACCR0 = 3277; // 3277 / 32768 Hz = 0.1s
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TACTL = TASSEL_1 + MC_1; // ACLK, up mode
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TACCTL0 = CCIE; // Enabled interrupt
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}
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void ADC_setup(void) {
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int i =0;
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_EINT(); // Enable interrupts
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P1IE |= BIT1; // P1.1 interrupt enabled
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P1IES |= BIT1; // P1.1 hi/low edge
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P1IFG &= ~BIT1; // P1.1 IFG cleared
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P2DIR |= BIT2; // Set P2 output direction
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P2OUT &= ~BIT2; // Turn Off LED2
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P6DIR &= ~BIT3 + ~BIT5 + ~BIT7; // Configure P6.3, P6.5, and P6.7 as input pins
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P6SEL |= BIT3 + BIT5 + BIT7; // Configure P6.3, P6.5, and P6.7 as analog pins
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// P6DIR &= ~BIT2 + ~BIT4 + ~BIT6; // Configure P6.3, P6.5, and P6.7 as input pins
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// P6SEL |= BIT2+ BIT4 + BIT6; // Configure P6.3, P6.5, and P6.7 as analog pins
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ADC12CTL0 = ADC12ON + SHT0_6 + MSC; // configure ADC converter
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ADC12CTL1 = SHP + CONSEQ_1; // Use sample timer, single sequence
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ADC12MCTL0 = INCH_3; // ADC A3 pin - Stick Z-axis
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ADC12MCTL1 = INCH_5; // ADC A5 pin - Stick Y-axis
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ADC12MCTL2 = INCH_7 + EOS; // ADC A7 pin - Stick X-axis
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// ADC12MCTL0 = INCH_2; // ADC A3 pin - Z-axis
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// ADC12MCTL1 = INCH_4; // ADC A5 pin - Y-axis
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// ADC12MCTL2 = INCH_6 + EOS; // ADC A7 pin - X-axis
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// EOS - End of Sequence for Conversions
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ADC12IE |= 0x03; // Enable ADC12IFG.1
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for (i = 0; i < 0x3600; i++); // Delay for reference start-up
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ADC12CTL0 |= ENC; // Enable conversions
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}
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void UART_putCharacter(char c) {
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while(!(IFG2 & UCA0TXIFG)); // Wait for previous character to be sent
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UCA0TXBUF = c; // Send byte to the buffer for transmitting
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}
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void UART_setup(void) {
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P2SEL |= BIT4 + BIT5; // Set up Rx and Tx bits
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UCA0CTL0 = 0; // Set up default RS-232 protocol
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UCA0CTL1 |= BIT0 + UCSSEL_2; // Disable device, set clock
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UCA0BR0 = 27; // 1048576 Hz / 38400
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UCA0BR1 = 0;
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UCA0MCTL = 0x94;
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UCA0CTL1 &= ~BIT0; // Start UART device
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}
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void sendData(void) {
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int i;
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Xper = (((ADCXval*(3.0/4095)) - 1.5)/0.3); // Calculate percentage outputs
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Yper = (((ADCYval*(3.0/4095)) - 1.5)/0.3);
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Zper = (((ADCZval*(3.0/4095)) - 1.5)/0.3);
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M = sqrt(pow(Xper,2)+pow(Yper,2)+pow(Zper,2));
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if(M > 2){
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P2OUT |= BIT2; //Turn LED1 on
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}
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// Use character pointers to send one byte at a time
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char *xpointer=(char *)&Xper;
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char *ypointer=(char *)&Yper;
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char *zpointer=(char *)&Zper;
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UART_putCharacter(0x55); // Send header
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for(i = 0; i < 4; i++) { // Send x percentage - one byte at a time
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UART_putCharacter(xpointer[i]);
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}
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for(i = 0; i < 4; i++) { // Send y percentage - one byte at a time
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UART_putCharacter(ypointer[i]);
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}
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for(i = 0; i < 4; i++) { // Send y percentage - one byte at a time
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UART_putCharacter(zpointer[i]);
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}
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}
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void main(void) {
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WDTCTL = WDTPW +WDTHOLD; // Stop WDT
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TimerA_setup(); // Setup timer to send ADC data
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ADC_setup(); // Setup ADC
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UART_setup(); // Setup UART for RS-232
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_EINT();
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while (1){
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ADC12CTL0 |= ADC12SC; // Start conversions
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__bis_SR_register(LPM0_bits + GIE); // Enter LPM0
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}
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}
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#pragma vector = ADC12_VECTOR
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__interrupt void ADC12ISR(void) {
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ADCXval = ADC12MEM0; // Move results, IFG is cleared
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ADCYval = ADC12MEM1;
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ADCZval = ADC12MEM2;
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__bic_SR_register_on_exit(LPM0_bits); // Exit LPM0
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}
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#pragma vector = TIMERA0_VECTOR
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__interrupt void timerA_isr() {
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sendData(); // Send data to serial app
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__bic_SR_register_on_exit(LPM0_bits); // Exit LPM0
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}
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// Port 1 interrupt service routine
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#pragma vector = PORT2_VECTOR
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__interrupt void Port2_ISR (void) {
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if(!SW1_PRESSED){
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P2OUT &= ~BIT2;
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P1IES |= BIT1; // P1.1 hi/low edge
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P1IFG &= ~BIT1; // P1.1 IFG cleared
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}
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}
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