please help me!! error when i code for msp430g2553 with mpu6050

thanks your ans, i used CCS v6, and had error with funtion sprintf(), it here:

please help me, thanks so much @@

so, how can i do that? Because i want transfer data by UART to computer, but funtion sprintf() not work??

thanks so much @@

Sprintf does not use UART.  Sprintf results in a breakpoint being set, the processor halted and then run again.   The team in the MSP forum can likely provide some examples for transferring data via UART.

thanks very much @@

JohnS said:

Sprintf results in a breakpoint being set, the processor halted and then run again.

That's accurate for most of the printf family, but sprintf prints to a char buffer, so it does not need to halt the processor.

i know sprintf can be use with UART_Write_String(), code run not error but not transfer data to computer, please explain to me!! here my code (my project get data from mpu6050 then send to computer by UART , my ccs v6)

#define USE_CLOCK
#define USE_I2C_USCI
#define USE_MPU6050
#define USE_UART

////////////////////////////////////////////////////////////////////////////////
////

#define MPU6050_ADDRESS 0x68

#define MPU6050_RA_XG_OFFS_TC 0x00
#define MPU6050_RA_YG_OFFS_TC 0x01
#define MPU6050_RA_ZG_OFFS_TC 0x02
#define MPU6050_RA_X_FINE_GAIN 0x03
#define MPU6050_RA_Y_FINE_GAIN 0x04
#define MPU6050_RA_Z_FINE_GAIN 0x05
#define MPU6050_RA_XA_OFFS_H 0x06
#define MPU6050_RA_XA_OFFS_L_TC 0x07
#define MPU6050_RA_YA_OFFS_H 0x08
#define MPU6050_RA_YA_OFFS_L_TC 0x09
#define MPU6050_RA_ZA_OFFS_H 0x0A
#define MPU6050_RA_ZA_OFFS_L_TC 0x0B
#define MPU6050_RA_XG_OFFS_USRH 0x13
#define MPU6050_RA_XG_OFFS_USRL 0x14
#define MPU6050_RA_YG_OFFS_USRH 0x15
#define MPU6050_RA_YG_OFFS_USRL 0x16
#define MPU6050_RA_ZG_OFFS_USRH 0x17
#define MPU6050_RA_ZG_OFFS_USRL 0x18
#define MPU6050_RA_SMPLRT_DIV 0x19
#define MPU6050_RA_CONFIG 0x1A
#define MPU6050_RA_GYRO_CONFIG 0x1B
#define MPU6050_RA_ACCEL_CONFIG 0x1C
#define MPU6050_RA_FF_THR 0x1D
#define MPU6050_RA_FF_DUR 0x1E
#define MPU6050_RA_MOT_THR 0x1F
#define MPU6050_RA_MOT_DUR 0x20
#define MPU6050_RA_ZRMOT_THR 0x21
#define MPU6050_RA_ZRMOT_DUR 0x22
#define MPU6050_RA_FIFO_EN 0x23
#define MPU6050_RA_I2C_MST_CTRL 0x24
#define MPU6050_RA_I2C_SLV0_ADDR 0x25
#define MPU6050_RA_I2C_SLV0_REG 0x26
#define MPU6050_RA_I2C_SLV0_CTRL 0x27
#define MPU6050_RA_I2C_SLV1_ADDR 0x28
#define MPU6050_RA_I2C_SLV1_REG 0x29
#define MPU6050_RA_I2C_SLV1_CTRL 0x2A
#define MPU6050_RA_I2C_SLV2_ADDR 0x2B
#define MPU6050_RA_I2C_SLV2_REG 0x2C
#define MPU6050_RA_I2C_SLV2_CTRL 0x2D
#define MPU6050_RA_I2C_SLV3_ADDR 0x2E
#define MPU6050_RA_I2C_SLV3_REG 0x2F
#define MPU6050_RA_I2C_SLV3_CTRL 0x30
#define MPU6050_RA_I2C_SLV4_ADDR 0x31
#define MPU6050_RA_I2C_SLV4_REG 0x32
#define MPU6050_RA_I2C_SLV4_DO 0x33
#define MPU6050_RA_I2C_SLV4_CTRL 0x34
#define MPU6050_RA_I2C_SLV4_DI 0x35
#define MPU6050_RA_I2C_MST_STATUS 0x36
#define MPU6050_RA_INT_PIN_CFG 0x37
#define MPU6050_RA_INT_ENABLE 0x38
#define MPU6050_RA_DMP_INT_STATUS 0x39
#define MPU6050_RA_INT_STATUS 0x3A
#define MPU6050_RA_ACCEL_XOUT_H 0x3B
#define MPU6050_RA_ACCEL_XOUT_L 0x3C
#define MPU6050_RA_ACCEL_YOUT_H 0x3D
#define MPU6050_RA_ACCEL_YOUT_L 0x3E
#define MPU6050_RA_ACCEL_ZOUT_H 0x3F
#define MPU6050_RA_ACCEL_ZOUT_L 0x40
#define MPU6050_RA_TEMP_OUT_H 0x41
#define MPU6050_RA_TEMP_OUT_L 0x42
#define MPU6050_RA_GYRO_XOUT_H 0x43
#define MPU6050_RA_GYRO_XOUT_L 0x44
#define MPU6050_RA_GYRO_YOUT_H 0x45
#define MPU6050_RA_GYRO_YOUT_L 0x46
#define MPU6050_RA_GYRO_ZOUT_H 0x47
#define MPU6050_RA_GYRO_ZOUT_L 0x48
#define MPU6050_RA_EXT_SENS_DATA_00 0x49
#define MPU6050_RA_EXT_SENS_DATA_01 0x4A
#define MPU6050_RA_EXT_SENS_DATA_02 0x4B
#define MPU6050_RA_EXT_SENS_DATA_03 0x4C
#define MPU6050_RA_EXT_SENS_DATA_04 0x4D
#define MPU6050_RA_EXT_SENS_DATA_05 0x4E
#define MPU6050_RA_EXT_SENS_DATA_06 0x4F
#define MPU6050_RA_EXT_SENS_DATA_07 0x50
#define MPU6050_RA_EXT_SENS_DATA_08 0x51
#define MPU6050_RA_EXT_SENS_DATA_09 0x52
#define MPU6050_RA_EXT_SENS_DATA_10 0x53
#define MPU6050_RA_EXT_SENS_DATA_11 0x54
#define MPU6050_RA_EXT_SENS_DATA_12 0x55
#define MPU6050_RA_EXT_SENS_DATA_13 0x56
#define MPU6050_RA_EXT_SENS_DATA_14 0x57
#define MPU6050_RA_EXT_SENS_DATA_15 0x58
#define MPU6050_RA_EXT_SENS_DATA_16 0x59
#define MPU6050_RA_EXT_SENS_DATA_17 0x5A
#define MPU6050_RA_EXT_SENS_DATA_18 0x5B
#define MPU6050_RA_EXT_SENS_DATA_19 0x5C
#define MPU6050_RA_EXT_SENS_DATA_20 0x5D
#define MPU6050_RA_EXT_SENS_DATA_21 0x5E
#define MPU6050_RA_EXT_SENS_DATA_22 0x5F
#define MPU6050_RA_EXT_SENS_DATA_23 0x60
#define MPU6050_RA_MOT_DETECT_STATUS 0x61
#define MPU6050_RA_I2C_SLV0_DO 0x63
#define MPU6050_RA_I2C_SLV1_DO 0x64
#define MPU6050_RA_I2C_SLV2_DO 0x65
#define MPU6050_RA_I2C_SLV3_DO 0x66
#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67
#define MPU6050_RA_SIGNAL_PATH_RESET 0x68
#define MPU6050_RA_MOT_DETECT_CTRL 0x69
#define MPU6050_RA_USER_CTRL 0x6A
#define MPU6050_RA_PWR_MGMT_1 0x6B
#define MPU6050_RA_PWR_MGMT_2 0x6C
#define MPU6050_RA_BANK_SEL 0x6D
#define MPU6050_RA_MEM_START_ADDR 0x6E
#define MPU6050_RA_MEM_R_W 0x6F
#define MPU6050_RA_DMP_CFG_1 0x70
#define MPU6050_RA_DMP_CFG_2 0x71
#define MPU6050_RA_FIFO_COUNTH 0x72
#define MPU6050_RA_FIFO_COUNTL 0x73
#define MPU6050_RA_FIFO_R_W 0x74
#define MPU6050_RA_WHO_AM_I 0x75

////

#include <wchar.h>
#include "stdio.h"
//#include "string.h"
//#include "mymath.h"
#include <math.h>
#include "msp430g2553.h"
#include "UART.h"
#include "Global.h"
#include "Clock.h"
#include "I2C_USCI.h"
//#include "MPU6050.h"
//#include "MSP430_UART.h"

int temp=0,i=0;
int abc=0;
char buff[50];

//Chu y Gyro bi sai so tinh khong dong nhat khi goc quay thay doi
// Khong tinh duoc vi phan cua gyro
//
unsigned char GYRO_XFilter[4],GYRO_YFilter[4],GYRO_ZFilter[4];
unsigned char ACCEL_XFilter[4],ACCEL_YFilter[4],ACCEL_ZFilter[4];
unsigned char G_Filter[4];
//Gia tri sai so tinh cua cam bien
unsigned int TEMP_OUT = 0;
//int
unsigned char GYRO_XOUT = 0,
GYRO_YOUT = 0,
GYRO_ZOUT = 0,
GYRO_XOUT_OFFSET = 250,//-237,//104,
GYRO_YOUT_OFFSET = -170,//-9,
GYRO_ZOUT_OFFSET = 8,//-197,
GYRO_XRATE = 0,
GYRO_YRATE = 0,
GYRO_ZRATE = 0,
GYRO_XANGLE = 0,
GYRO_YANGLE = 0,
GYRO_ZANGLE = 0,
gyro_ratio = 4;

char dt=1;
int ACCEL_XOUT = 0,
ACCEL_YOUT = 0,
ACCEL_ZOUT = 0,
ACCEL_XOUT_PAST=0, //
ACCEL_YOUT_PAST=0,
ACCEL_ZOUT_PAST=0,
ACCEL_XA =0,
ACCEL_YA =0,
ACCEL_ZA =0,
ACCEL_XV = 0,
ACCEL_YV = 0,
ACCEL_ZV = 0,
ACCEL_XDECAC=0,
ACCEL_YDECAC=0,
ACCEL_ZDECAC=0;

float ACCEL_XANGLE =0,
ACCEL_YANGLE =0,
ACCEL_ZANGLE =0;
//
#ifndef cbi
#define cbi(port, bit) (port) &= ~(1 << (bit))
#endif
#ifndef sbi
#define sbi(port, bit) (port) |= (1 << (bit))
#endif

//
void UART_Write_Int(unsigned long n)
{
unsigned char buffer[16];
unsigned char i,j;

if(n == 0) {
UART_Write_Char('0');
return;
}

for (i = 15; i > 0 && n > 0; i--) {
buffer[i] = (n%10)+'0';
n /= 10;
}

for(j = i+1; j <= 15; j++) {
UART_Write_Char(buffer[j]);
}
}
//
void Filters_Gyro()
{
GYRO_XFilter[3] = GYRO_XFilter[2];
GYRO_XFilter[2] = GYRO_XFilter[1];
GYRO_XFilter[1] = GYRO_XFilter[0];
GYRO_XFilter[0] = GYRO_XOUT;

GYRO_XOUT = ((long)GYRO_XFilter[3]
+GYRO_XFilter[2]
+GYRO_XFilter[1]
+GYRO_XFilter[0])>>2;

GYRO_YFilter[3] = GYRO_YFilter[2];
GYRO_YFilter[2] = GYRO_YFilter[1];
GYRO_YFilter[1] = GYRO_YFilter[0];
GYRO_YFilter[0] = GYRO_YOUT;

GYRO_YOUT = ((long)GYRO_YFilter[3]
+GYRO_YFilter[2]
+GYRO_YFilter[1]
+GYRO_YFilter[0])>>2;

GYRO_ZFilter[3] = GYRO_ZFilter[2];
GYRO_ZFilter[2] = GYRO_ZFilter[1];
GYRO_ZFilter[1] = GYRO_ZFilter[0];
GYRO_ZFilter[0] = GYRO_ZOUT;

GYRO_ZOUT = ((long)GYRO_ZFilter[3]
+GYRO_ZFilter[2]
+GYRO_ZFilter[1]
+GYRO_ZFilter[0])>>2;
}
void Filters_Accel()
{
ACCEL_XFilter[3] = ACCEL_XFilter[2];
ACCEL_XFilter[2] = ACCEL_XFilter[1];
ACCEL_XFilter[1] = ACCEL_XFilter[0];
ACCEL_XFilter[0] = ACCEL_XOUT;
ACCEL_XOUT = (ACCEL_XFilter[3]
+ACCEL_XFilter[2]
+ACCEL_XFilter[1]
+ACCEL_XFilter[0])/4;

ACCEL_YFilter[3] = ACCEL_YFilter[2];
ACCEL_YFilter[2] = ACCEL_YFilter[1];
ACCEL_YFilter[1] = ACCEL_YFilter[0];
ACCEL_YFilter[0] = ACCEL_YOUT;
ACCEL_YOUT = (ACCEL_YFilter[3]+ACCEL_YFilter[2]+ACCEL_YFilter[1]+ACCEL_YFilter[0])/4;

ACCEL_ZFilter[3] = ACCEL_ZFilter[2];
ACCEL_ZFilter[2] = ACCEL_ZFilter[1];
ACCEL_ZFilter[1] = ACCEL_ZFilter[0];
ACCEL_ZFilter[0] = ACCEL_ZOUT;
ACCEL_ZOUT = (ACCEL_ZFilter[3]+ACCEL_ZFilter[2]+ACCEL_ZFilter[1]+ACCEL_ZFilter[0])/4;
}

//
//
void Setup_MPU6050()
{
while(ByteWrite_I2C_USCI(MPU6050_RA_SIGNAL_PATH_RESET,0x07));

_delay_ms(1000);
//Sets sample rate to 1000/1+1 = 500Hz
while(ByteWrite_I2C_USCI(MPU6050_RA_SMPLRT_DIV,9));
//Disable FSync, 48Hz DLPF
while(ByteWrite_I2C_USCI(MPU6050_RA_CONFIG, 0x03));
//Disable gyro self tests, scale of 500 degrees/s
while(ByteWrite_I2C_USCI(MPU6050_RA_GYRO_CONFIG, 0x18));
//Disable accel self tests, scale of +-4g, no DHPF
while(ByteWrite_I2C_USCI(MPU6050_RA_ACCEL_CONFIG, 0x18));

while(ByteWrite_I2C_USCI(MPU6050_RA_TEMP_OUT_H,0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_TEMP_OUT_L,0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_GYRO_XOUT_H,0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_GYRO_XOUT_L,0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_GYRO_YOUT_H,0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_GYRO_YOUT_L,0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_GYRO_ZOUT_H,0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_GYRO_ZOUT_L,0x00));

while(ByteWrite_I2C_USCI(MPU6050_RA_ACCEL_XOUT_H,0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_ACCEL_XOUT_L,0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_ACCEL_YOUT_H,0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_ACCEL_YOUT_L,0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_ACCEL_ZOUT_H,0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_ACCEL_ZOUT_L,0x00));
//Freefall threshold of <|0mg|
while(ByteWrite_I2C_USCI( MPU6050_RA_FF_THR, 0x00));
//Freefall duration limit of 0
while(ByteWrite_I2C_USCI( MPU6050_RA_FF_DUR, 0x00));
//Motion threshold of >0mg
while(ByteWrite_I2C_USCI( MPU6050_RA_MOT_THR, 0x00));
//Motion duration of >0s
while(ByteWrite_I2C_USCI( MPU6050_RA_MOT_DUR, 0x00));
//Zero motion threshold
while(ByteWrite_I2C_USCI(MPU6050_RA_ZRMOT_THR, 0x00));
//Zero motion duration threshold
while(ByteWrite_I2C_USCI( MPU6050_RA_ZRMOT_DUR, 0x00));
//Disable sensor output to FIFO buffer
while(ByteWrite_I2C_USCI( MPU6050_RA_FIFO_EN, 0x00));

//AUX I2C setup
//Sets AUX I2C to single master control, plus other config
while(ByteWrite_I2C_USCI( MPU6050_RA_I2C_MST_CTRL, 0x00));
//Setup AUX I2C slaves
while(ByteWrite_I2C_USCI( MPU6050_RA_I2C_SLV0_ADDR, 0x00));
while(ByteWrite_I2C_USCI( MPU6050_RA_I2C_SLV0_REG, 0x00));
while(ByteWrite_I2C_USCI( MPU6050_RA_I2C_SLV0_CTRL, 0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_I2C_SLV1_ADDR, 0x00));
while(ByteWrite_I2C_USCI( MPU6050_RA_I2C_SLV1_REG, 0x00));
while(ByteWrite_I2C_USCI( MPU6050_RA_I2C_SLV1_CTRL, 0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_I2C_SLV2_ADDR, 0x00));
while(ByteWrite_I2C_USCI( MPU6050_RA_I2C_SLV2_REG, 0x00));
while(ByteWrite_I2C_USCI( MPU6050_RA_I2C_SLV2_CTRL, 0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_I2C_SLV3_ADDR, 0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_I2C_SLV3_REG, 0x00));
while(ByteWrite_I2C_USCI( MPU6050_RA_I2C_SLV3_CTRL, 0x00));
while(ByteWrite_I2C_USCI( MPU6050_RA_I2C_SLV4_ADDR, 0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_I2C_SLV4_REG, 0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_I2C_SLV4_DO, 0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_I2C_SLV4_CTRL, 0x00));
while(ByteWrite_I2C_USCI( MPU6050_RA_I2C_SLV4_DI, 0x00));

//MPU6050_RA_I2C_MST_STATUS //Read-only
//Setup INT pin and AUX I2C pass through
while(ByteWrite_I2C_USCI( MPU6050_RA_INT_PIN_CFG, 0x00));
//Enable data ready interrupt
while(ByteWrite_I2C_USCI(MPU6050_RA_INT_ENABLE, 0x01));

//Slave out, dont care
while(ByteWrite_I2C_USCI( MPU6050_RA_I2C_SLV0_DO, 0x00));
while(ByteWrite_I2C_USCI( MPU6050_RA_I2C_SLV1_DO, 0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_I2C_SLV2_DO, 0x00));
while(ByteWrite_I2C_USCI(MPU6050_RA_I2C_SLV3_DO, 0x00));
//More slave config
while(ByteWrite_I2C_USCI( MPU6050_RA_I2C_MST_DELAY_CTRL, 0x00));
//Reset sensor signal paths
while(ByteWrite_I2C_USCI(MPU6050_RA_SIGNAL_PATH_RESET, 0x00));
//Motion detection control
while(ByteWrite_I2C_USCI(MPU6050_RA_MOT_DETECT_CTRL, 0x00));
//Disables FIFO, AUX I2C, FIFO and I2C reset bits to 0
while(ByteWrite_I2C_USCI(MPU6050_RA_USER_CTRL, 0x00));
//Sets clock source to gyro reference w/ PLL
while(ByteWrite_I2C_USCI(MPU6050_RA_PWR_MGMT_1, 0x00));
//Controls frequency of wakeups in accel low power mode plus the sensor standby modes
while(ByteWrite_I2C_USCI(MPU6050_RA_PWR_MGMT_2, 0x00));

_delay_ms(1000);
}
//

void Get_Accel_Values()
{
unsigned char rData[6];
WordRead_I2C_USCI(MPU6050_RA_ACCEL_XOUT_H, rData, 6);
ACCEL_XOUT = ((rData[1]<<8)|rData[0]);
ACCEL_YOUT = ((rData[3]<<8)|rData[2]);
ACCEL_ZOUT = ((rData[5]<<8)|rData[4]);
//Filters_Accel();
}
//
//
void Get_Gyro_Values()
{
unsigned char rData[6];

WordRead_I2C_USCI(MPU6050_RA_GYRO_XOUT_H, rData, 6);
GYRO_XOUT = ((rData[1]<<8)|rData[0]) + GYRO_XOUT_OFFSET;
GYRO_YOUT = ((rData[3]<<8)|rData[2]) + GYRO_YOUT_OFFSET;
GYRO_ZOUT = ((rData[5]<<8)|rData[4]) + GYRO_ZOUT_OFFSET;
Filters_Gyro();
}
//

void _itoa(int n, char str[], int he)
{
int i=0,j=0;
unsigned char dau=0;
char ch[]="0123456789ABCDEF";
if(n==0)str[0]=ch[0];
if(n<0)
{
dau=1;
n*=-1;
}

while(n)
{
str[i]=ch[n%he];
n /= he;
i++;
}
if(dau==1){str[i]='-';i++;}
for(j=0;j<i/2;j++)
str[j] ^= str[i-j-1] ^= str[j] ^= str[i-j-1];
str[i]=0;
}

void _itoa_unsigned(unsigned int n, char str[], int he)
{
unsigned int i=0,j=0;
char ch[]="0123456789ABCDEF";
if(n==0)str[0]=ch[0];

while(n)
{
str[i]=ch[n%he];
n /= he;
i++;
}
for(j=0;j<i/2;j++)
str[j] ^= str[i-j-1] ^= str[j] ^= str[i-j-1];
str[i]=0;
}

double myabs(double x)
{
return ((x>=0)?x:(-x));
}

// cach tinh can 2 của a : x_(n+1) = (x_n + a / x_n) / 2
float mysqrt(float a)
{
float xo, xn=1, e= 0.000001;
do
{
xo=xn;
xn=(a/xo+xo)/2.0;
}
while (myabs(xn-xo)>e);
return xn;
}
float mypow(float x,int y) //x mu y
{
float ans=1;
int i=0;
for(i=0;i<y;i++)
ans*=x;
return ans;
}
long myfact(int n)
{
long ans=1;
for(n;n>0;n--)ans*=n;
return ans;
}

float mysin(float a)
{
float y=0;
int dau,n=0;
while(n<10)
{
if(n%2!=0)dau=-1;
else dau=1;
y=(float)dau*mypow(a,2*n+1)/myfact(2*n+1);
n++;
}
return y;
}

//
void main()
{
WDTCTL = WDTPW | WDTHOLD;
Select_Clock(DCO_16MHZ);
BCSCTL1 = CALBC1_16MHZ;
DCOCTL = CALDCO_16MHZ;
BCSCTL1 |= XT2OFF;
//Setup MCLK
BCSCTL2 = SELM_0;
_delay_cycles(100000);

P1DIR|=BIT0;
UART_Init();
UART_Write_Char(10); //Ky tu xuong dong
UART_Write_String("connect success 10");

UART_Write_Char(10); //Ky tu xuong dong
_delay_cycles(100000);
Init_I2C_USCI(MPU6050_ADDRESS);

_delay_cycles(320000);
Get_Accel_Values();

Get_Gyro_Values();

ACCEL_XOUT = 0;
ACCEL_YOUT = 0;
ACCEL_ZOUT = 0;
ACCEL_XOUT_PAST=0; //
ACCEL_YOUT_PAST=0;
ACCEL_ZOUT_PAST=0;
ACCEL_XA =0;
ACCEL_YA =0;
ACCEL_ZA =0;
ACCEL_XV = 0;
ACCEL_YV = 0;
ACCEL_ZV = 0;
ACCEL_XDECAC=0;
ACCEL_YDECAC=0;
ACCEL_ZDECAC=0;
_delay_cycles(1000000);
//__bis_SR_register(GIE); //Cho phep ngat hoat dong

while(1)
{
//Get_Gyro_Values();
P1OUT^=BIT0;

UART_Write_Char('1');
sprintf(buff,"%d",ACCEL_XOUT);
UART_Write_String(buff);
UART_Write_Char(' ');
//_delay_cycles(10000);
UART_Write_Char('2');
sprintf(buff,"%d",ACCEL_YOUT);
UART_Write_String(buff);
UART_Write_Char(' ');
//_delay_cycles(10000);
UART_Write_Char('3');
sprintf(buff,"%d",ACCEL_ZOUT);
UART_Write_String(buff);
UART_Write_Char(' ');
_delay_cycles(10000);
Get_Accel_Values();
}
}

// Timer A0 interrupt service routine
#pragma vector=TIMER0_A0_VECTOR
__interrupt void Timer_A0 (void)
{
//__bic_SR_register_on_exit(LPM3_bits); // Clear LPM3 bits from 0(SR)
}

please help me!!

1. Are you able to print any characters at all? 
2. What output do you get before the error occurs?
3. Does the program terminate with an error?
4. Try writing a newline character '\n' to the UART device

Additionally, there's a problem with function mysin.  The posted program does not call it, but you might run into this problem later.  Function mysin calls myfact(x) with values of x up to 19, but the value of 19! exceeds the size of type "long."  You'll need to either limit the loop to (n<5) to keep x under 13, or change the return type of myfact to "long long".

float mysin(float a)
{
    float y=0;
    int dau,n=0;
    while(n<10)
    {
        if(n%2!=0)dau=-1;
        else dau=1;
        y=(float)dau*mypow(a,2*n+1)/myfact(2*n+1);
        n++;
    }
    return y;
}

You should seriously consider just calling the library function sin, which avoids floating-point division.