hi
i have used port pin to enable the motor and using through beam ir sensor i am stoping the motor
problem is in the below code first time its working properly second time the motor stops its not coming out of the while
the code is
#include "io430.h" // Header for msp430f447 evaluation board
#include <stdio.h> // Header for C function
static int counter1=0;
static int counter2=0;
void Delay (int j); //Delay function
void Delay1 (int k); //Delay function
void Delay2 (int k); //Delay function
void Reset_all(); //Reset all
void Timer_on(); //Timer on function
int filling_done = 0;
int indexing_done = 0;
int rest_time=0;
static int nrv_operating = 0;
void main( ) //Main function
{
WDTCTL = WDTPW + WDTHOLD; // Stop watchdog timer
Reset_all();
P1DIR |=0x7F ; // P1.0,P1.1 all output
P1OUT &=0x00 ; // Clear P1.0,P1.1
/*----------------Timer module---------------*/
CCR0 = 32768;
TACTL = TASSEL_1 + MC_2 +ID_0+TACLR; // ACLK, contmode,timerclear
P1OUT |= 0x08; //P1.3=1 NRV motor rotates
while(((P2IN & BIT0) == BIT0)||((P3IN & BIT7) != BIT7)); //wait P3.7==0;
P1OUT &= 0x00; // P1.0 = 0,P1.1=0,P1.2=0,P1.3=0
while(1)
{
if((P6IN & BIT6) != BIT6) //open/close button
{
while(1)
{
/* if(rest_time==1)
{ // rest initiated
Delay2(200);
}*/
// process starts
for( int operation_count=0;operation_count<200;++operation_count)
{
if(operation_count % 2 == 0 && operation_count != 0)
Delay2(100);
if(operation_count > 0)
Delay1(60);
// /*---------------------------------indexing--------------------------------*/
P1OUT |= 0x01; //P1.1=1 NRV motor rotates
Delay(7);
while((P2IN & BIT7) != BIT7);
P1OUT &= 0x00; // P1.0 = 0,P1.1=0,P1.2=0,P1.3=0
/*---------------------------nrv operation---------------------------------*/
nrv_operating = 1;
P1OUT = 0x08; //P1.3=1 NRV motor rotates
// while(((P2IN & BIT0) != BIT0)||((P3IN & BIT7) == BIT7)); //wait till P3.7==1;
Delay1(4);
while((P3IN & BIT7) == BIT7);
Delay(4);
P1OUT &= 0x00; // P1.0 = 0,P1.1=0,P1.2=0,P1.3=0
Timer_on();
while(filling_done == 0);
filling_done = 0;
TACTL = MC_0;
CCR0 = 32768;
TACTL = TASSEL_1 + MC_2 +ID_0+TACLR; // ACLK, contmode,timerclear */
} // set of cycles completed
/* filling_done = 0;
CCR0 = 32768;
TACTL = TASSEL_1 + MC_2 +ID_0+TACLR; // ACLK, contmode,timerclear*/
// reinitialize syztem
filling_done = 0;
indexing_done = 0;
P1DIR |=0x7F ; // P1.0,P1.1 all output
P1OUT &=0x00 ; // Clear P1.0,P1.1
CCR0 = 32768;
TACTL = TASSEL_1 + MC_2 +ID_0+TACLR; // ACLK, contmode,timerclear
// initiate resting variable and continue
rest_time=1;
}
}
}
}//End of Main
void Delay(int j)
{
int i;
for(j=0;j<1;j++)
for(i=0;i<0xFFFF;i++);
}
void Delay1(int j)
{
int i;
for(j=0;j<10;j++)
for(i=0;i<0xFFFF;i++);
}
// very long delay
void Delay2(int j)
{
int i,m;
for(m=0;m<j;m++)
for(i=0;i<0xFFFF;i++);
}
void Timer_on() //Timer on function
{
CCTL0 = CCIE;
__bis_SR_register(LPM0_bits + GIE); // Enter LPM0 w/ interrupt
}
#pragma vector=TIMERA0_VECTOR
__interrupt void Timer_A (void)
{
//one second counter variable
CCR0 += 32768;
if(++counter1>=10) //10 sec for nrv
{
if (nrv_operating == 1)
{
P1OUT |= 0x08; //P1.3=1 NRV motor rotates
while(((P2IN & BIT0) == BIT0)||((P3IN & BIT7) != BIT7)); //wait P3.7==0;
P1OUT &= 0x00; // P1.0 = 0,P1.1=0,P1.2=0,P1.3=0
counter1=0;
filling_done = 1;
nrv_operating = 0;
}
}
/*if(++counter2>=5) //5 sec for indexing
{
P1OUT &= 0x00; // P1.0 = 0,P1.1=0,P1.2=0,P1.3=0
counter2=0;
indexing_done = 1;
}*/
__bic_SR_register_on_exit(CPUOFF); // Clear CPUOFF bit from 0(SR)
}
/*--------------------------------------Reset--------------------------------------------------*/
void Reset_all()
{
P1OUT=0x00;
P2OUT=0x00;
P3OUT=0x00;
P4OUT=0x00;
P5OUT=0x00;
P6OUT=0x00;
}
second time its not working
