/* ABORT - ABNORMAL PROGRAM TERMINATION. CURRENTLY JUST HALTS EXECUTION. */

Hello

I am talking to an IMU (BNO05) via MSP430 launchpad. they are connected via the UART. Below is the code that I use to read the acceleration data. However, when I press the pause
buttom then I get ABNORMAL PROGRAM TERMINATION, given that I am getting the data. Why is that? is it because I am using the __bic_SR_register_on_exit(LPM0_bits); in the
RX ISR and __bic_SR_register_on_exit(LPM3_bits+GIE); in the main?

Another question:

If I used while(1) in the main as below, i.e., no __bis_SR_register(LPM0_bits); in the RX ISR, then how will the program leave the ISR (based on what condition)?

Thank you

#include "msp430g2553.h"
char xLSB;
char xMSB;
char yLSB;
char yMSB;
char zLSB;
char zMSB;
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[20];
    char RXbuffer[20];
} uartstruct;

   void setMSP430Pins() {
	   	   //--------- Setting the UART function for P1.1 & P1.2 --------//

	         P1SEL  |=  BIT1 + BIT2;  // P1.1 UCA0RXD input
	         P1SEL2 |=  BIT1 + BIT2;  // P1.2 UCA0TXD output
	         return;
   }

   void set_UCS() {
	   //------------------- Configure the Clocks -------------------//

	  //   DCOCTL  = 0;             // Select lowest DCOx and MODx settings
	     BCSCTL1 = CALBC1_12MHZ;   // Set range
	     DCOCTL  = CALDCO_12MHZ;   // Set DCO step + modulation

   }

void uart_init(void){
  IE2 &= ~(UCA0TXIE | UCA0RXIE | UCB0TXIE | UCB0RXIE); // Disable all USCIx0 TX & RX interrupts
  UCA0CTL1|=UCSWRST;   
  UCA0CTL1|= UCSSEL_2; 
   //------------ Configuring the UART(USCI_A0) ----------------//
    // 115200 BAUD, CLK=12MHz
    		  UCA0BR0 = 6; //this is working
    		  UCA0BR1 = 0; //this is working
    		//*ours: UCBRF = 8, UCBRS = 0, UCOS16 = 1
    		  // UCBRF = 11, 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

  IFG2 |= UCA0TXIFG;            // preset IFG flag always left on

  IE2|=UCA0RXIE; 
}

#define   TXSTRING(pnt) (TXdata((pnt), sizeof(pnt)-1)) // cool macro to get string and string len
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

}

//¦----------------------------- 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(LPM0_bits);   // wakeup main              <<<<
     
  }
 else IFG2 &= ~UCA0RXIFG;
}

//¦----------------------------- Main  -------------------------------------------¦
void main(void) {
	WDTCTL = WDTPW + WDTHOLD; // Stop the Watch dog
	setMSP430Pins();
	set_UCS();
	uart_init();

//    The following is OK to get the sensors activated and getting the data

	TXSTRING("\xAA\x00\x3E\x01\x00");      // Normal Power mode
	
	TXSTRING("\xAA\x00\x3D\x01\x07");    // Send this to the BNO055 to set up the AMG mode
	TXSTRING("\xAA\x01\x08\x06");
    	__bis_SR_register(LPM3_bits + GIE);

}



#include "msp430g2553.h"
char xLSB;
char xMSB;
char yLSB;
char yMSB;
char zLSB;
char zMSB;
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[20];
    char RXbuffer[20];
} uartstruct;

   void setMSP430Pins() {
	   	   //--------- Setting the UART function for P1.1 & P1.2 --------//

	         P1SEL  |=  BIT1 + BIT2;  // P1.1 UCA0RXD input
	         P1SEL2 |=  BIT1 + BIT2;  // P1.2 UCA0TXD output
	         return;
   }

   void set_UCS() {
	   //------------------- Configure the Clocks -------------------//

	  //   DCOCTL  = 0;             // Select lowest DCOx and MODx settings
	     BCSCTL1 = CALBC1_12MHZ;   // Set range
	     DCOCTL  = CALDCO_12MHZ;   // Set DCO step + modulation

   }

void uart_init(void){
  IE2 &= ~(UCA0TXIE | UCA0RXIE | UCB0TXIE | UCB0RXIE); // Disable all USCIx0 TX & RX interrupts
  UCA0CTL1|=UCSWRST;   
  UCA0CTL1|= UCSSEL_2;  
   //------------ Configuring the UART(USCI_A0) ----------------//
    // 115200 BAUD, CLK=12MHz
    		  UCA0BR0 = 6; //this is working
    		  UCA0BR1 = 0; //this is working
    		//*ours: UCBRF = 8, UCBRS = 0, UCOS16 = 1
    		  // UCBRF = 11, 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

  IFG2 |= UCA0TXIFG;            // preset IFG flag always left on

  IE2|=UCA0RXIE;  ///today added
}

#define   TXSTRING(pnt) (TXdata((pnt), sizeof(pnt)-1)) // cool macro to get string and string len
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

}

//¦----------------------------- 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];

  }
 else IFG2 &= ~UCA0RXIFG;
}

//¦----------------------------- Main  -------------------------------------------¦
void main(void) {
	WDTCTL = WDTPW + WDTHOLD; // Stop the Watch dog
	//uart.RXbuflen=8;
	setMSP430Pins();
	set_UCS();
	uart_init();

while(1){

//    The following is OK to get the sensors activated and getting the data


	TXSTRING("\xAA\x00\x3E\x01\x00");      // Normal Power mode
	
	TXSTRING("\xAA\x00\x3D\x01\x07");    // Send this to the BNO055 to set up the AMG mode

	TXSTRING("\xAA\x01\x08\x06");

    	__bis_SR_register(LPM3_bits + GIE);

	}
}