Dear freinds
You may saw the piece of code that I am inserting below in other discussions, but I really need you help as I am stuck and not making any progress . I am doing using MSP430g3553 to communicate with the accelerometer of BNO055 (via UART), as such I am using the code below which works fine. However this piece will be part of a larger program that is used to run a sensor tag (build from MSP430 MCU and cc1150) to transmit the data. Thus you can see that I am using malloc function.
Now, when I run the sensor tag program its getting halted in the 1st line of the malloc (acceleration_location = malloc(6)) and thus the sensor tag does not transmit.
I think that the MCU is still in LPM3. So how to get it awake from that state? is it by using while or for? and where to place these as I tried by I may be mistaken in placing them. please advise.
PS1: the sensor tag uses the SPI over USCI B to communicate with the CC1150, and thus I am using thr USCI A to communicate over the UART.
PS2: please note that I have commented out this line in the RX ISR and the code is working fine
// __bic_SR_register_on_exit(LPM3_bits);
Your help is highly appreciated
/*
* Acceleration.c
*
* Created on: Oct 6, 2016
* Author: Murtadha
*/
#include "Acceleration.h"
// the saved value of the previous measurement
uint8_t cached_accelerationXMSB = 0, cached_accelerationXLSB = 0;
uint8_t cached_accelerationYMSB = 0, cached_accelerationYLSB = 0;
uint8_t cached_accelerationZMSB = 0, cached_accelerationZLSB = 0;
uint8_t* acceleration_location; // pointer to the location used in the transmit buffer for accelerometer data
typedef struct uart // UART
{ char *bufTXpnt; // UART TX buffer pointer
unsigned int TXbuflen; // the lenght of TX block
char *bufRXpnt; // UART RX buffer pointer
unsigned int RXbuflen; // the lenght of RX block
char TXbuffer[8];
char RXbuffer[8];
} uartstruct;
///// macro to get string and string len
#define TXSTRING(pnt) (TXdata((pnt), sizeof(pnt)-1))
uartstruct uart; // declare a struct from typedef uartstruct
void TXdata( char* pnt, unsigned int len){
uart.bufTXpnt = pnt;
uart.TXbuflen = len;
uart.bufRXpnt = uart.RXbuffer; // reset it to beginning of ram buffer
IE2 |= UCA0TXIE + UCA0RXIE; // enable USCI_A0 TX & RX interrupt
}
///Intilizing the UART////////////////////////////////////////////////////
void uart_init(void){
IE2 &= ~(UCA0TXIE | UCA0RXIE); // Disable all USCIx0 (A) TX & RX interrupts
UCA0CTL1 = UCSWRST; // Set UCSWRST (hold USCI in Reset state)
UCA0CTL1 |= UCSSEL_2; // CLK = SMCLK
// ------------ Configuring the UART(USCI_A0) ----------------//
// 115200 BAUD, CLK=12MHz
UCA0BR0 = 6;
UCA0BR1 = 0;
// //*ours: UCBRF = 8, UCBRS = 0, UCOS16 = 1
// // BITS| 7 6 5 4 | 3 2 1 | 0 |
// UCAxMCTL = | UCBRFx | UCBRSx | UCOS16 |
UCA0MCTL = 0x81; //this works fine
UCA0CTL1 &= ~UCSWRST; // Clear UCSWRST to enable USCI_A0-UART
UCA0CTL1 &= ~UCSYNC;
IFG2 |= UCA0TXIFG; // preset IFG flag always left on
IE2|=UCA0RXIE;
}
//**********************************************
//Configure clocks and clock sources
void set_UCS() {
/* DCO Frequency selected */
/* SCLK=SMCLK P1.5 */
/* Maximum SPI frequency for burst mode is 6.5 MHz */
//Set DCO to 12 MHz calibrated and use DCO/2 for SMCLK
//Note that this is technically a bit too high for operation at 2.2Volts (end of battery life). 8 MHz is maximum recommended.
//Does not seem to be a problem at room temperature.
DCOCTL = CALDCO_12MHZ; //0x7A 01111010
//DCOx 011
//MODx 11010
/* External Crystal OFF, LFEXT1 is low frequency, ACLK is Divided by 1, RSELx=1110 */
// Set range 0x8E 10001110
BCSCTL1 = CALBC1_12MHZ;
// DCO -> SMCLK (Default), SMCLK / 2; DCO -> MCLK, MCLK / 2; DCOR Internal Resistor select
BCSCTL2 = DIVS_1 + DIVM_1 + SELM_0; // 0x52 = 00010010
/* 0.4 to 1MHz crystal , Using VLO for ACLK, Cap selected 1pF */
BCSCTL3 = LFXT1S_2;
IE1 &= 0xFD; /* Disable UCS interrupt */
return;
}
//********************************************************************
//------------------- Configure the UART Clock source -------------------//
void set_UARTUCS() {
WDTCTL = WDTPW + WDTHOLD; // Stop the Watch dog
DCOCTL = 0; // Select lowest DCOx and MODx settings
BCSCTL1 = CALBC1_12MHZ; // Set range
DCOCTL = CALDCO_12MHZ; // Set DCO step + modulation
// DCO -> SMCLK (Default)
IE1 &= 0xFD; /* Disable UCS interrupt */
return;
}
//--------- Setting the UART function for P1.1 & P1.2 --------//
void setUARTPins() {
// P2DIR = 0xFF; // All P2.x outputs<
//P2OUT &= 0x00; // All P2.x reset
P1SEL |= RXD + TXD ; // P1.1 = RXD, P1.2=TXD
P1SEL2 |= RXD + TXD ; // P1.1 = RXD, P1.2=TXD
// P1OUT &= 0x00;
return;
}
//¦----------------------------- Delay Function ---------------------------------------¦
// This function will give us 1ms wait time, so for getting 10 ms,
// then delay_ms(10) will give 10ms and delay_ms(100) will give 100ms
void delay_ms(unsigned int ms)
{
unsigned int i;
for (i = 0; i<= ms; i++)
__delay_cycles(6000); // 6000 will give us 1ms
}
//¦----------------------------- US0TX ISR ---------------------------------------¦
#pragma vector=USCIAB0TX_VECTOR
__interrupt void USCIAB0TX(void) // Shared A0/B0 TX IRQ vector
{
if (IFG2 & UCA0TXIFG){ // check for UART TX
if (uart.TXbuflen){ // if not zero
UCA0TXBUF = *uart.bufTXpnt++;
--uart.TXbuflen;
}
else IE2 &= ~UCA0TXIE; // suspend IE if zero
}
else IFG2 &= ~UCA0TXIFG; // clear a false UCB0 trigger
}
//¦----------------------------- US0RX ISR ---------------------------------------¦
#pragma vector=USCIAB0RX_VECTOR
__interrupt void USCIAB0RX(void) // A0/B0 RX IRQ vector
{
if (IFG2 & UCA0RXIFG){ // check for UART RX
*uart.bufRXpnt++ = UCA0RXBUF; // copy data byte
// if (uart.bufRXpnt == uart.RXbuffer+8 && uart.RXbuffer[0]==0xBB) // got 8 bytes in yet? <<<<
// uart.RXbuflen=uart.RXbuffer[1];
// __bic_SR_register_on_exit(LPM3_bits);
// if (!--uart.RXbuflen){
//commneted 10/14/2016
// if (uart.bufRXpnt == uart.RXbuffer+uart.RXbuffer[1]) //uart.RXbuffer[1] includes the length of the received string from the BNO055
// {
// __bic_SR_register_on_exit(LPM3_bits);
// }
}
else IFG2 = ~UCA0RXIFG;
}
///////////////getAcceleration will make the MSP430 talks to the BNO055
void getAcceleration() {
// Enable intterupts
//////commented on 10/12/2016 //intterupts enabled in the main function below
// IE2 |= UCA0TXIE; // Enable the Transmit interrupt
// IE2 |= UCA0RXIE; // Enable the Receive interrupt
// _BIS_SR(GIE); // Enable the global interrupt
//Put BNO055 in CONFIG mode********required (do not change)
TXSTRING("\xAA\x00\x3D\x01\x00"); // Send this to the BNO055 to set up the CONFIG mode
delay_ms(10); // do not change (80)
while (IE2 & UCA0TXIE);
//Put BNO055 in NORMAL power mode********required (do not change)
TXSTRING("\xAA\x00\x3E\x01\x00"); // NORMAL power mode
delay_ms(20); // do not change (20) delay_ms(2000)
while (IE2 & UCA0TXIE);
//Put BNO055 in AMG mode********selecting operating mode is required (do not change)
TXSTRING("\xAA\x00\x3D\x01\x07"); // Send this to the BNO055 to set up the ACC ONLY mode
delay_ms(80); // do not change (80) delay_ms(2000)
while (IE2 & UCA0TXIE);
TXSTRING("\xAA\x01\x08\x06");
delay_ms(10); //this delay is required..do not change (10) // delay_ms(10000)
while (IE2 & UCA0TXIE);
/*
* ACC_DATA_X_LSB 0x08=RXbuffer[2];
* ACC_DATA_X_MSB 0x09=RXbuffer[3];
* ACC_DATA_Y_LSB 0x0A=RXbuffer[4];
* ACC_DATA_Y_MSB 0x0B=RXbuffer[5];
* ACC_DATA_Z_LSB 0x0C=RXbuffer[6];
* ACC_DATA_Z_MSB 0x0D=RXbuffer[7];
*/
cached_accelerationXLSB = uart.RXbuffer[2];
cached_accelerationXMSB = uart.RXbuffer[3];
cached_accelerationYLSB = uart.RXbuffer[4];
cached_accelerationYMSB = uart.RXbuffer[5];
cached_accelerationZLSB = uart.RXbuffer[6];
cached_accelerationZMSB = uart.RXbuffer[7];
// Send this to the BNO055 to set up the CONFIG mode....DO NOT CHANGE or DELETE
// TXSTRING("\xAA\x00\x3D\x01\x00"); // Send this to the BNO055 to set up the CONFIG mode
// delay_ms(10); // do not change (80) delay_ms(2000)
// while (IE2 & UCA0TXIE);
//
// // Send this to the BNO055 to set up the SUSPEND mode....
// TXSTRING("\xAA\x00\x3E\x01\x02"); // SUSPEND power mode
// delay_ms(20); // do not change (20) delay_ms(2000)
// while (IE2 & UCA0TXIE);
///////commented on 10/12/2016 //LP
// __bis_SR_register(LPM3_bits + GIE); // Enter LPM3 w/ int until Byte RXed
return;
}
//¦----------------------------- Main Function-------------------------------------------¦
void doAccelerationSense() {
// void doAccelerationSense(bool update) {
// If called with update=true, perform a measurement
//if (update) {
cached_accelerationXMSB = 0; // Considered an "invalid" value
cached_accelerationXLSB = 0; // means the sensor did not work
cached_accelerationYMSB = 0;
cached_accelerationYLSB = 0;
cached_accelerationZMSB = 0;
cached_accelerationZLSB = 0;
// *** Save state of all registers modified by the acceleration sensing code ***
uint16_t original_P1DIR = P1DIR;
uint16_t original_P1IE = P1IE;
uint16_t original_P1OUT = P1OUT;
uint16_t original_P1REN = P1REN;
uint16_t original_P1SEL = P1SEL;
uint16_t original_P1SEL2 = P1SEL2;
setUARTPins();
uart_init();
set_UARTUCS();
// Enable intterupts
IE2 |= UCA0TXIE; // Enable the Transmit interrupt
IE2 |= UCA0RXIE; // Enable the Receive interrupt
_BIS_SR(GIE); // Enable the global interrupt
///////////////getAcceleration will make the MSP430 talks to the BNO055
getAcceleration();
// *** Restore all registers modified by the acceleration sensing code back to their previously saved state ***
P1IE = original_P1IE;
P1DIR = original_P1DIR;
P1REN = original_P1REN;
P1SEL = original_P1SEL;
P1SEL2 = original_P1SEL2;
P1OUT = original_P1OUT;
set_UCS();
__bis_SR_register(LPM3_bits + GIE); // Enter LPM3 w/ int until Byte RXed
}
//Acceleration.c (main function ends here)
/////////////////////////////////////////////////////////////////////////////
// Save value to transmit buffer
// acceleration_location = malloc(6);
// acceleration_location[0] = ((uint8_t*) &cached_accelerationXMSB)[0]; //check this (the order)
// acceleration_location[1] = ((uint8_t*) &cached_accelerationXLSB)[0]; // see line 196~
// acceleration_location[2] = ((uint8_t*) &cached_accelerationYMSB)[0];
// acceleration_location[3] = ((uint8_t*) &cached_accelerationYLSB)[0];
// acceleration_location[4] = ((uint8_t*) &cached_accelerationZMSB)[0];
// acceleration_location[5] = ((uint8_t*) &cached_accelerationZLSB)[0];
//}