Introduction to MSP430G2553 and

MPU6050

Outline

Key Features
CPU Introduction
Interrupt
I/O
Clock
Timer
ADC
USCI

Key features
Ultralow-power architecture extends battery life
0.1 A RAM retention
0.8 A real-time clock mode
250 A/MIPS active
16-bit RISC CPU enables new applications at a fraction of the code size.
Large register file eliminates working file bottleneck
Compact core design reduces power consumption and cost
Optimized for modern high-level programming
Only 27 core instructions and seven addressing modes
Extensive vectored-interrupt capability
In-system programmable Flash(16KB) permits flexible code changes, field
upgrades and data logging.

MSP430 Architecture

CPU Introduction
RISC architecture with 27 instructions and 7
addressing modes.
Full register access including program counter,
status registers, and stack pointer.
Single-cycle register operations.
Large 16-bit register file reduces fetches to
memory.
16-bit address bus allows direct access and
branching throughout entire memory range.
16-bit data bus allows direct manipulation of
word-wide arguments.
Constant generator provides six most used
immediate values and reduces code size.
Direct memory-to-memory transfers without
intermediate register holding.
Word and byte addressing and instruction
formats.
5

27 Core RISC Instructions

3 Instruction Formats

CPU Operating modes

Interrupt
Are events applied to the application program that force a detour
in program flow;
Cause CPU subprogram execution (ISR);
When Interrupt Service Routine (ISR) ends, the program flow
returns to the previous state.
There are three classes of interrupts:
Reset.
Interrupts not maskable by GIE which cannot be disabled by
the general interrupt enable bit (GIE), but are enabled by
individual interrupt enable bits (NMIIE, ACCVIE, OFIE). Used
for high priority events.
Interrupts maskable by GIE where peripherals with interrupt
capability or the watchdog timer overflow in interval timer
mode, etc. Can be switched off by software.
The interrupt latency is the time between the event beginning and
the ISR execution; Normally needs 6 cycles

Interrupt vector

11

#pragma vector = TIMER0_A0_VECTOR

__interrupt void TA0_ISR(void)
{
__bic_SR_register_on_exit(CPUOFF);
}

// Exit LPM0

#pragma vector = USCIAB0TX_VECTOR

__interrupt void USCIAB0TX_ISR(void)
{
UCB0TXBUF = (UCB0RXBUF << 4) | 0x0f;
// Move RX data to TX
__bic_SR_register_on_exit(CPUOFF);
// Exit LPM0
}

12

Clock

ACLK: Auxiliary clock. ACLK is divided by 1, 2, 4, or 8 and is

software selectable for individual peripheral modules.
MCLK: Master clock. MCLK is divided by 1, 2, 4, or 8 and is
used by the CPU and system.
SMCLK: Sub-main clock. SMCLK is divided by 1, 2, 4, or 8 and
is software selectable for individual peripheral modules.
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Digital I/O Introduction

MSP430G2553 has 2 ports (P1 and P2), each port has up to eight I/O
pins (P1.0P1.7, P2.0-P2.5). Every I/O pin is individually configurable
for input or output direction, and each I/O line can be individually read or
written to.

Independently programmable individual I/Os

Any combination of input or output
Individually configurable P1 and P2 interrupts
Independent input and output data registers
Individually configurable pullup or pulldown resistors

Direction Registers PxDIR (P1DIR=0x01)

Input Register PxIN
Output Registers PxOUT

14

Timer
WDT is 16-bit timer that can be
used as a watchdog or as an
interval timer. WDT module
performs a controlled system
restart after a software problem
occurs(Four softwareselectable time intervals).
WDT Control register is password
protected and is Powers-up
active.

WDTCTL = WDTPW + WDTHOLD;

15

Timer_A
Timer_A is a 16-bit timer/counter with three capture/compare registers

Asynchronous 16-bit timer/counter with four operating modes

Selectable and configurable clock source
Two or three configurable capture/compare registers
Configurable outputs with PWM capability

16

17

Timer control register(TACTL)

18

ADC
The ADC10 module supports fast, 10-bit analog-to-digital conversions.

200-kbps maximum conversion rate

Sample-and-hold with programmable sample periods
Conversion initiation by software or Timer_A
Software selectable on-chip reference voltage generation (1.5 V or 2.5 V)
Software selectable internal or external reference
Up to eight external input channels
Selectable conversion clock source
Single-channel, repeated single-channel, sequence, and repeated
sequence conversion modes
ADC core and reference voltage can be powered down separately
Data transfer controller for automatic storage of conversion results

19

ADC operation steps

Here are the steps you must take to perform an A/D operation:
Define the port pins that will be used as analog input channels. (INCHx)
Select a clock source for the conversion operation, or set up the Watchdog
timer.(ADC10SSELx)
Select a conversion mode (e.g., continuous, one-time conversion, etc).
(CONSEQx)
Select the reference voltage VREF. (SREFx)
Select the sample-and-hold time for the conversion. (ADC10SHTx)
Enable the corresponding chosen pin for analog input.
Switch ON the ADC functionality. (ADC10ON)
Enable ADC (take a reading)
Read the value after conversion; set a program variable to the reading.

20

Example

ADC10CTL1 = INCH_3 + CONSEQ_1; // A3/A2/A1, single sequence

ADC10CTL0 = ADC10ON + ADC10IE; // ADC10ON, interrupt enabled
ADC10AE0 |= 0x0E;
// P1.1,2,3 ADC option select
ADC10CTL0 |= ENC + ADC10SC;
// Sampling and conversion start

21

USCI I2C Mode

Figure : I2C Bus Connection

Diagram
The two pull up resistor is necessary for I2C mode to work properly

22

I2C Module Operating Modes

Transmitt
er
Mast
er
Receiver

I2C

Transmitt
er
Slave
Receiver

23

I2C data transfer

Figure : I2C Module Data Transfer

The first byte after a START condition consists of a 7-bit slave address and the
R/W bit. When R/W = 0, the master transmits data to a slave. When R/W = 1,
the master receives data from a slave. The ACK bit is sent from the receiver
after each byte on the 9th SCL clock.

24

I2C initialization code

void Init_i2c(uint8_t devAddr)
{
UCB0CTL1 |= UCSWRST; // Enable SW reset
UCB0CTL0 = UCMST + UCMODE_3 + UCSYNC; // I2C Master, synchronous mode
UCB0CTL1 = UCSSEL_2 + UCSWRST; // Use SMCLK, keep SW reset
UCB0BR0 = 10; // fSCL = 1Mhz/10 = ~100kHz
UCB0BR1 = 0;
P1SEL = BIT6 + BIT7; // Assign I2C pins to USCI_B0
P1SEL2 = BIT6 + BIT7; // Assign I2C pins to USCI_B0
UCB0I2CSA = devAddr; // Slave Address is 069h
UCB0CTL1 &= ~UCSWRST; // **Initialize USCI state machine**
IE2 |= UCB0RXIE + UCB0TXIE; // Enable RX and TX interrupt
}

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USCI UART Mode

In asynchronous mode, the USCI_Ax modules connect the MSP430

to an external system via two external pins, UCAxRXD and
UCAxTXD. UART mode is selected when the UCSYNC bit is cleared.
In UART mode, the USCI transmits and receives characters at a bit
rate asynchronous to another device. Timing for each character is
based on the selected baud rate of the USCI. The transmit and
receive functions use the same baud rate frequency.

26

UART initialization code

void initUart(void)
{
UCA0CTL1 |= UCSSEL_2;
UCA0BR0 = 104;
UCA0BR1 = 0;
UCA0MCTL = UCBRS0;
P1SEL = BIT1 + BIT2 ;
P1SEL2 = BIT1 + BIT2 ;
UCA0CTL1 &= ~UCSWRST;
IE2 |= UCA0TXIE;
}

// Use SMCLK
// 1MHz 9600
// 1MHz 9600
// Modulation UCBRSx = 1
// P1.1 = RXD, P1.2=TXD
// P1.1 = RXD, P1.2=TXD
// **Initialize USCI state machine**

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USCI SPI Mode

SPI mode features include:

7-bit or 8-bit data length
3-pin and 4-pin SPI operation
Master or slave modes
Independent transmit and receive shift registers
Separate transmit and receive buffer registers
Selectable UCLK polarity and phase control
Programmable UCLK frequency in master mode
Independent interrupt capability for receive and transmit

28

USCI SPI Mode

29

SPI example code

P1SEL = BIT1 + BIT2 + BIT4;
P1SEL2 = BIT1 + BIT2 + BIT4;
UCA0CTL0 |= UCCKPL + UCMSB + UCMST + UCSYNC;
UCA0CTL1 |= UCSSEL_2;
UCA0BR0 |= 0x02;
UCA0BR1 = 0;
UCA0CTL1 &= ~UCSWRST;
IE2 |= UCA0RXIE;

30

MPU6050
MPU6050: Gyroscope + Accelerometer
2g, 4g, 8g and 16g
250, 500, 1000, and 2000/sec
VCC and GND for power supply:3-5v
SCL and SDA for I2C communication with MSP430
XCL and XDA to connect magnetic sensor
Reference : MSP430 x2xx user guide
MPU6050 datasheet and register file

Where to buy
MSP430G2 $9.99
https://estore.ti.com/MSP-EXP430G2-MSP430LaunchPad-Value-Line-Development-kitP2031.aspx

MPU6050 $5.75
http://www.ebay.com/itm/MPU-6050-3-AxisAccelerometer-Sensor-Gyroscope-6DOF-Module-33V-5V-For-Arduino-/161108492494?
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