I wrote this code with the expectation to enable interrupt functinality. I used a MSP430FR6889 with BMI160 where MSP430FR6889 is planned to operate in low power sleep mode. BMI160 should wake up MSP430 whenever there is any motion detection above defined threshold. This code doesnot work because when I move BMI160, I expect MSP430 to wake up and show data on console but i dont see anything.
//Only Accel Woreking
#include "driverlib.h"
#include <gpio.h>
#include <intrinsics.h>
#include <msp430fr5xx_6xxgeneric.h>
#include <stdint.h>
#include <stdio.h>
#include <msp430.h>
#define ACCEL_THRESHOLD 4000
volatile int16_t accelValue = 0;
//Address if the BMI160
#define SLAVE_ADDR 0x69
//Maximum I2C buffer size
#define MAX_BUFFER_SIZE 20
//Number of FFT samples
#define SAMPLES 10
//#define TimeStampSample 10
#pragma PERSISTENT(input)
int16_t input[SAMPLES] = {0}; //Store samples
volatile uint32_t cycleCount;
#define UP 0x0010 // Timer_A Up mode
#define CONTINUOUS 0x0020 // Timer_A Continuous mode
#define ACLK 0x0100 // Timer_A SMCLK source
#define DEVELOPMENT 0x5A80 // Stop the watchdog timer
#define BOUNCE_DELAY 0xA000 // Delay for Button Bounce
#define MS_10 100 // Approximate value to count for 10ms
#define SMCLK 0x0200 // Timer_A SMCLK source
void timer_init(void)
{
TA0CCTL0 = CCIE; //Enable counter interrupt
TA0CCR0 = 0; //Initially stop Timer by starting at 0
TA0CTL = TASSEL__SMCLK | MC__UP | ID__8; //Set clock source to ACLK, the count mode to Continuous, and the clock divider to 8
TA0EX0 = TAIDEX_7; //Set expansion clock divider to 8
TA1CCTL0 = CCIE; // TACCR0 interrupt enabled
TA1CCR0 = 0; // Set count target to 0 by default
// Set timer clock speed to 4.5898 ticks/s, or 16524 ticks/hour
TA1CTL = TASSEL__ACLK | MC__STOP | ID__8; //Set clock source to ACLK, the count mode to Continuous, and the clock divider to 8
TA1EX0 = TAIDEX_7; //Set expansion clock divider to 8
}
int delay(int count)
{
if(TA1CTL & TAIFG) // If Timer_1 is done counting
{
count = count-1; // Decrement count
TA1CTL = TA1CTL & (~TAIFG); // Reset Timer_1
}
return count; // Return the value of count
}
void UART_transmitString( char *pStr ) //Transmits a string over UART0
{
while( *pStr )
{
while(!(UCA0IFG&UCTXIFG));
UCA0TXBUF = *pStr;
pStr++;
}
}
typedef enum I2C_ModeEnum{
IDLE_MODE,
NACK_MODE,
TX_REG_ADDRESS_MODE,
RX_REG_ADDRESS_MODE,
TX_DATA_MODE,
RX_DATA_MODE,
SWITCH_TO_RX_MODE,
SWITHC_TO_TX_MODE,
TIMEOUT_MODE
} I2C_Mode;
I2C_Mode MasterMode = IDLE_MODE;
uint8_t TransmitRegAddr = 0; //Register address for transmission
uint8_t ReceiveBuffer[MAX_BUFFER_SIZE] = {0}; //Buffer for received values
uint8_t RXByteCtr = 0; //Count received bytes
uint8_t ReceiveIndex = 0; //Index of received data
uint8_t TransmitBuffer[MAX_BUFFER_SIZE] = {0}; //Buffer for transmitted values
uint8_t TXByteCtr = 0; //Count transmitted bytes
uint8_t TransmitIndex = 0; //Index of transmitted data
void CopyArray(uint8_t *source, uint8_t *dest, uint8_t count)
{
uint8_t copyIndex = 0;
for (copyIndex=0; copyIndex<count; copyIndex++)
{
dest[copyIndex]=source[copyIndex];
}
}
I2C_Mode I2C_Master_ReadReg(uint8_t dev_addr, uint8_t reg_addr, uint8_t count)
{
//printf("R\n");
/* Initialize state machine */
MasterMode = TX_REG_ADDRESS_MODE;
TransmitRegAddr = reg_addr;
RXByteCtr = count;
TXByteCtr = 0;
ReceiveIndex = 0;
TransmitIndex = 0;
/* Initialize slave address and interrupts */
UCB1I2CSA = dev_addr;
UCB1IFG &= ~(UCTXIFG + UCRXIFG); // Clear any pending interrupts
UCB1IE &= ~UCRXIE; // Disable RX interrupt
UCB1IE |= UCTXIE; // Enable TX interrupt
UCB1CTLW0 |= UCTR + UCTXSTT; // I2C TX, start condition
__bis_SR_register(LPM0_bits + GIE); // Enter LPM0 w/ interrupts
// UCB1IE &= ~UCRXIE; // Disable RX interrupt
return MasterMode;
}
I2C_Mode I2C_Master_WriteReg(uint8_t dev_addr, uint8_t reg_addr, uint8_t *reg_data, uint8_t count)
{
/* Initialize state machine */
MasterMode = TX_REG_ADDRESS_MODE;
TransmitRegAddr = reg_addr;
//Copy register data to TransmitBuffer
CopyArray(reg_data, TransmitBuffer, count);
TXByteCtr = count;
RXByteCtr = 0;
ReceiveIndex = 0;
TransmitIndex = 0;
/* Initialize slave address and interrupts */
UCB1I2CSA = dev_addr;
UCB1IFG &= ~(UCTXIFG + UCRXIFG); // Clear any pending interrupts
UCB1IE &= ~UCRXIE; // Disable RX interrupt
UCB1IE |= UCTXIE; // Enable TX interrupt
UCB1CTLW0 |= UCTR + UCTXSTT; // I2C TX, start condition
__bis_SR_register(LPM0_bits + GIE); // Enter LPM0 w/ interrupts
//printf("W\n");
return MasterMode;
}
//******************************************************************************
// BMI160 Functions ************************************************************
//******************************************************************************
void bmi160_init(char FOC_axis)
{
uint8_t writeData[1];
//Read Chip ID, which is D1
I2C_Master_ReadReg(SLAVE_ADDR, 0x00, 1);
if(ReceiveBuffer[0] != 0xD1)
{
UART_transmitString(" Incorrect sensor chip ID ");
printf("Incorrect sensor chip ID\n");
}
//Configure the accelerometer
writeData[0]=0b00101000; //Set acc_us to 0 for off, and acc_bwp must then be 010. Set acc_odr to 1011(800Hz),1100(1600Hz),1000(100Hz),0001(25/32Hz)
I2C_Master_WriteReg(SLAVE_ADDR, 0x40, writeData, 1);
//Check if configuration worked
I2C_Master_ReadReg(SLAVE_ADDR, 0x40, 1);
if(ReceiveBuffer[0] != writeData[0])
{
UART_transmitString(" Accelerometer config failed ");
printf("Accelerometer config failed\n");
}
//Set the range of the accelerometer
writeData[0]=0b1000; //0b0011 for 2g, 0b0101 for 4g, 0b1000 for 8g
I2C_Master_WriteReg(SLAVE_ADDR, 0x41, writeData, 1);
//Check if range is set
I2C_Master_ReadReg(SLAVE_ADDR, 0x41, 1);
if(ReceiveBuffer[0] != writeData[0])
{
UART_transmitString(" Accelerometer range set failed ");
printf("Accelerometer range set failed\n");
}
//Set the Accelerometer to normal power mode
writeData[0] = 0x11;
I2C_Master_WriteReg(SLAVE_ADDR, 0x7E, writeData, 1);
//Read power mode status of sensors
I2C_Master_ReadReg(SLAVE_ADDR, 0x03, 1);
if(ReceiveBuffer[0] != 0x10)
{
UART_transmitString(" Accelerometer not on ");
printf("Accelerometer not on\n");
}
}
void initGPIO()
{
// I2C pins (P4.0 is SDA, P4.1 is SCL)
P4SEL1 |= BIT0 | BIT1;
P4SEL0 &= ~(BIT0 | BIT1);
// Configure P3.4 and P3.5 to UART (Primary, TX and RX respectively) for NeoCortec
P3SEL0 |= BIT4 | BIT5; // USCI_A1 UART operation
P3SEL1 &= ~(BIT4 | BIT5); // SEL1 is 0 and SEL0 is 1 for primary operation, inverse for secondary
// Configure P2.0 and P2.1 to UART (Primary, TX and RX respectively) for PC
P2SEL0 |= BIT0 | BIT1; // USCI_A0 UART operation
P2SEL1 &= ~(BIT0 | BIT1); // SEL1 is 0 and SEL0 is 1 for primary operation, inverse for secondary
// Disable the GPIO power-on default high-impedance mode to activate
// previously configured port settings
PM5CTL0 &= ~LOCKLPM5;
__bis_SR_register(GIE);
}
void initClockTo16MHz()
{
FRCTL0 = FRCTLPW | NWAITS_1;
// Clock System Setup
CSCTL0_H = CSKEY_H; // Unlock CS registers
CSCTL1 = DCOFSEL_0; // Set DCO to 1MHz
// Set SMCLK = MCLK = DCO, ACLK = VLOCLK (9.4kHz)
CSCTL2 = SELA__VLOCLK | SELS__DCOCLK | SELM__DCOCLK;
// Per Device Errata set divider to 4 before changing frequency to
// prevent out of spec operation from overshoot transient
CSCTL3 = DIVA__4 | DIVS__4 | DIVM__4; // Set all corresponding clk sources to divide by 4 for errata
CSCTL1 = DCOFSEL_4 | DCORSEL; // Set DCO to 16MHz
// Delay by ~10us to let DCO settle. 60 cycles = 20 cycles buffer + (10us / (1/4MHz))
__delay_cycles(60);
CSCTL3 = DIVA__32 | DIVS__1 | DIVM__1; // Set ACLK to 239.75Hz, SMCLK to 16MHz, and MCLK to 16MHz
CSCTL0_H = 0; // Lock CS registers
}
void initI2C()
{
UCB1CTLW0 = UCSWRST; // Enable SW reset
UCB1CTLW0 |= UCMODE_3 | UCMST | UCSSEL__SMCLK | UCSYNC; // I2C master mode, SMCLK
UCB1BRW = 160; // fSCL = ACLK/160 = ~100kHz
UCB1I2CSA = SLAVE_ADDR; // Slave Address
UCB1CTLW0 &= ~UCSWRST; // Clear SW reset, resume operation
UCB1IE |= UCNACKIE;
}
void UART_init(void)
{
// Configure USCI_A1 for UART mode
UCA1CTLW0 = UCSWRST; // Put eUSCI in reset
UCA1CTLW0 |= UCSSEL__SMCLK; // CLK = SMCLK
UCA1BR0 = 8; // Clock prescaler set to 8
UCA1BR1 = 0x00; // High byte empty, low byte is 8
UCA1MCTLW |= UCOS16 | UCBRF_10 | 0xF700; // Over-sampling on, first modulation register set to 10, second modulation register set to 0xF7 (247) for high byte, 0 for low byte
UCA1CTLW0 &= ~UCSWRST; // Initialize eUSCI
UCA1IE |= UCRXIE; // Enable USCI_A1 RX interrupt
// Configure USCI_A0 for UART mode
UCA0CTLW0 = UCSWRST; // Put eUSCI in reset
UCA0CTLW0 |= UCSSEL__SMCLK; // CLK = SMCLK
UCA0BR0 = 8; // Clock prescaler set to 8
UCA0BR1 = 0x00; // High byte empty, low byte is 8
UCA0MCTLW |= UCOS16 | UCBRF_10 | 0xF700; // Over-sampling on, first modulation register set to 10, second modulation register set to 0xF7 (247) for high byte, 0 for low byte
UCA0CTLW0 &= ~UCSWRST; // Initialize eUSCI
UCA0IE |= UCRXIE; // Enable USCI_A0 RX interrupt
}
void goToSleep(void)
{
// Enable global interrupts
__bis_SR_register(GIE);
// Put MSP430 into LPM3 mode
__bis_SR_register(LPM3_bits);
// After waking up, the program continues from here
}
int main(void)
{
WDTCTL = WDTPW; // Stop watchdog timer
//Initialize all peripherals
initClockTo16MHz();
initGPIO();
UART_init();
initI2C();
timer_init();
bmi160_init('Z');
TA0CTL = TA0CTL | (SMCLK + CONTINUOUS); // SMCLK: Counts faster than ACLK
TA0CCTL0 = CCIE; // Timer_0 interrupt
TA1CTL = TA1CTL | (ACLK + UP ); // Count up from 0 with ACLK
TA1CCR0 = MS_10; // Duration approximatley 10ms
//_BIS_SR(GIE);
__bis_SR_register(GIE);
int i=0;
// Activate all interrupts
while(1)
{ goToSleep();
if (accelValue > ACCEL_THRESHOLD)
{
// Display accelerometer value
printf("Accelerometer value: %d\n", accelValue);
}
/*
printf("Reading samples\n");
//Read SAMPLES amount of data from the BMI160
for(i=0;i<SAMPLES;i++)
{
I2C_Master_ReadReg(SLAVE_ADDR, 0x16, 2); //Read the acceleration value from the BMI160 registers
input[i]= ReceiveBuffer[0] | (ReceiveBuffer[1] << 8); //Store the value in an array
printf("%d\n", (unsigned)(input[i]));
}
*/
}
}
//I2C Interrupt
#pragma vector = USCI_B1_VECTOR
__interrupt void USCI_B1_ISR(void)
{
//Must read from UCB1RXBUF
uint8_t rx_val = 0;
switch(__even_in_range(UCB1IV, USCI_I2C_UCBIT9IFG))
{
case USCI_NONE: break; // Vector 0: No interrupts
case USCI_I2C_UCALIFG: break; // Vector 2: ALIFG
case USCI_I2C_UCNACKIFG: // Vector 4: NACKIFG
UCB1CTLW0 |= UCTXSTT; // Re-send start if NACK
break;
case USCI_I2C_UCSTTIFG: break; // Vector 6: STTIFG
case USCI_I2C_UCSTPIFG: break; // Vector 8: STPIFG
case USCI_I2C_UCRXIFG3: break; // Vector 10: RXIFG3
case USCI_I2C_UCTXIFG3: break; // Vector 12: TXIFG3
case USCI_I2C_UCRXIFG2: break; // Vector 14: RXIFG2
case USCI_I2C_UCTXIFG2: break; // Vector 16: TXIFG2
case USCI_I2C_UCRXIFG1: break; // Vector 18: RXIFG1
case USCI_I2C_UCTXIFG1: break; // Vector 20: TXIFG1
case USCI_I2C_UCRXIFG0: // Vector 22: RXIFG0
rx_val = UCB1RXBUF;
if (RXByteCtr)
{
ReceiveBuffer[ReceiveIndex++] = rx_val;
RXByteCtr--;
}
if (RXByteCtr == 1)
{
UCB1CTLW0 |= UCTXSTP;
}
else if (RXByteCtr == 0)
{
UCB1IE &= ~UCRXIE;
MasterMode = IDLE_MODE;
__bic_SR_register_on_exit(CPUOFF); // Exit LPM0
}
break;
case USCI_I2C_UCTXIFG0: // Vector 24: TXIFG0
switch (MasterMode)
{
case TX_REG_ADDRESS_MODE:
UCB1TXBUF = TransmitRegAddr;
if (RXByteCtr)
MasterMode = SWITCH_TO_RX_MODE; // Need to start receiving now
else
MasterMode = TX_DATA_MODE; // Continue to transmision with the data in Transmit Buffer
break;
case SWITCH_TO_RX_MODE:
UCB1IE |= UCRXIE; // Enable RX interrupt
UCB1IE &= ~UCTXIE; // Disable TX interrupt
UCB1CTLW0 &= ~UCTR; // Switch to receiver
MasterMode = RX_DATA_MODE; // State state is to receive data
UCB1CTLW0 |= UCTXSTT; // Send repeated start
if (RXByteCtr == 1)
{
//Must send stop since this is the N-1 byte
while((UCB1CTLW0 & UCTXSTT));
UCB1CTLW0 |= UCTXSTP; // Send stop condition
}
break;
case TX_DATA_MODE:
if (TXByteCtr)
{
UCB1TXBUF = TransmitBuffer[TransmitIndex++];
TXByteCtr--;
}
else
{
//Done with transmission
UCB1CTLW0 |= UCTXSTP; // Send stop condition
MasterMode = IDLE_MODE;
UCB1IE &= ~UCTXIE; // disable TX interrupt
__bic_SR_register_on_exit(CPUOFF); // Exit LPM0
}
break;
default:
__no_operation();
break;
}
break;
default: break;
}
}
#pragma vector = TIMER0_A0_VECTOR
__interrupt void Timer_A0_ISR(void)
{
// Read accelerometer value
I2C_Master_ReadReg(SLAVE_ADDR, 0x16, 2);
accelValue = ReceiveBuffer[0] | (ReceiveBuffer[1] << 8);
printf("Interrupt value: %d\n", accelValue);
// Wake up the MSP430
__bic_SR_register_on_exit(LPM3_bits);
}
