Problem msp430: control 3 motors

Hi RIV,

have a look at the example code i've posted under 'My files' (http://e2e.ti.com/members/1371069/files/default.aspx). I'm using DTC for dealing with my ADC samples. The results were stored in a seperated segment in RAM (look at the .cmd file(!) how to do this).

Rgds
aBUGSworstnightmare

Hi aBUGSworstnightmare:

Thank you allot for your reply, but I must admit that I really do not understand your code, with all diferent functions and heather files. Could you maybe point me out some part of the code? I developed a code, that I saw from someone else on the web and modified it a little bit, it looks like the defined array is completly worthless, but if I take that away, I'll get my PWM outputs "moved". So what I should get fromo pin2.3, I'll get it from P2.4, etc...

So actually this code is not very effective, so I'll still apreciate some DTC's or some more eficient way to do it (maybe you aBUGS?). But I want to publish it just because it works and maybe I can help someone for some really quick solution:

"

//PIN CONFIGURATION.
//==================
//In this program we are going to record 3 adc manually each time and we are going to give the respective PWM
//each of the 3 ADC10 inputs.
 
//PIN CONFIGURATION.
//==================
//PIN6 PIN7 and PIN9 (P2.3, P2.4 and P4.4) will do the PWM output. P2.3 TA1, P2.4 TA2 and P4.4 TB1.
//PIN3 PIN4 and PIN5 (P2.0, P2.1 and P2.2) will do the ADC10 conversion input.

#include "msp430x22x4.h"

volatile unsigned int duty;
int flag;
int adcdata[3];


void main(void)
{
   WDTCTL = WDTPW + WDTHOLD;                 // Stop WDT
  
   P2DIR |= 0x18;        //Setting P2.3 and P2.4 as outputs
   P2SEL |= 0x18;        //Selecting the special function of P2.3 and P2.4 for the PWM
  
   P4DIR |= 0x10;        //Setting P4.4 as output
   P4SEL |= 0x10;        //Selecting the special function of P4.4 for the PWM
  
   TACCR0 |= 1023;        //setting duty period of TimerA
   TBCCR0 |= 1023;        //setting duty period of TimerB
   TACCTL1 = OUTMOD_7;
   TACCTL2 = OUTMOD_7;    //OUTMOD_7: set until reaching TACCRx and reset after TACCRx until TACCR0
   TBCCTL1 = OUTMOD_7;
  
   ADC10CTL0 = ADC10SHT_2 + ADC10ON + ADC10IE; // ADC10ON (stores it to ADC10MEM), interrupt enabled (ADC10IE), sample and hold time x16 (ADC10SHT)
  
   TACTL = TASSEL_2 + MC_1; 
   TBCTL = TBSSEL_2 + MC_1;
  
   flag = 0;
   for(;;){
    if(flag == 0){
        adcdata[0] = 0;
        ADC10CTL0 = ADC10SHT_2 + ADC10ON + ADC10IE;
        ADC10CTL1 = INCH_0;                        
        ADC10CTL0 |= ENC + ADC10SC;
        adcdata[0] = ADC10MEM;
        TACCR1 = ADC10MEM;       
        ADC10CTL0 &= ~ENC;
        flag = 1;
    }
    if(flag == 1){
        adcdata[1] = 0;
        ADC10CTL0 = ADC10SHT_2 + ADC10ON + ADC10IE;
        ADC10CTL1 = INCH_1;
        ADC10CTL0 |= ENC + ADC10SC;
        adcdata[1] = ADC10MEM;
        TACCR2 = ADC10MEM;
        ADC10CTL0 &= ~ENC;
        flag = 2;
    }
    if(flag == 2){
        adcdata[2] = 0;
        ADC10CTL0 = ADC10SHT_2 + ADC10ON + ADC10IE;
        ADC10CTL1 = INCH_2;
        ADC10CTL0 |= ENC + ADC10SC;
        adcdata[2] = ADC10MEM;
        TBCCR1 = ADC10MEM;
        ADC10CTL0 &= ~ENC;
        flag = 0;
    }

   }
  
}
   
//I have tried to simplified it in many ways but always the PIN's got moved :S

"

PD: I know, that some variables I am not using them.

Hi,

here is a short explainatiuon of what you need for DTC:

1.) edit your linker control file or use lnk_msp430f2274_mod.cmd from my example
You need to have a seperate segment in RAM which holds your ADC sample (the results were placed there by the DTC).
Here's a brief into; have a look at the CCS manuals for details.
1.1) define a custom segment in RAM, the name is ADCSAMPLE, it starts at 0x0200 (beginning of RAM) an it is 0x14 = 20bytes large

MEMORY
{
    SFR                     : origin = 0x0000, length = 0x0010
    PERIPHERALS_8BIT        : origin = 0x0010, length = 0x00F0
    PERIPHERALS_16BIT       : origin = 0x0100, length = 0x0100
    ADCSAMPLE    : origin = 0x0200, length = 0x0014
    RAM                     : origin = 0x0214, length = 0x03E8
..
}

1.2) define the new section

SECTIONS
{
    .bss       : {} > RAM                /* GLOBAL & STATIC VARS              */
    .sysmem    : {} > RAM                /* DYNAMIC MEMORY ALLOCATION AREA    */
    .stack     : {} > RAM (HIGH)         /* SOFTWARE SYSTEM STACK             */
    .adcsample : {} > ADCSAMPLE    /* RESERVED FOR SPECIAL VARIABLES    */
..
}

2.) add the code below to your example

/*-----------------------------------------------------------------------------
//   global variables stored in a seperate segment in RAM (ADCSAMPLE)
//   contains the results of the ADC conversion  (ADRESULTS) and some special
//   data (SPECIALS --> spare)
//---------------------------------------------------------------------------*/
#pragma DATA_SECTION (ADRESULTS, ".adcsample");
#pragma DATA_ALIGN (ADRESULTS, 2);
unsigned int ADRESULTS[8] = {0, 0, 0, 0, 0, 0, 0, 0};

#pragma DATA_SECTION (SPECIAL, ".adcsample");
#pragma DATA_ALIGN (SPECIAL, 2);
unsigned int SPECIAL[2] = {0, 0};

// flag variable for ADC control
unsigned char bADC10FLAG = 0;

/* ============================================================================
//  Module name: void vadc10_isr(void)
//
//  Description:
//               This module is the Interrupt service routine for the
//               ADC10
//                ADC10 - interrupt handler
//                ADC10_VECTOR
//
//  Operation:
//               samples R1 and R2 four times each and calculates the
//               average value of the four samples
// ==========================================================================*/
#pragma vector=ADC10_VECTOR
__interrupt void vadc10_isr(void)
{
  ADC10CTL0 &= ~ADC10IFG;                 // clear interrupt flag, 0
  bADC10FLAG = 0x01;                      // set sample finished flag
}

/* ============================================================================
//  Module name: void start_adconversion (void)
//
//  Description:
//               This module starts an AD conversion
//     sampled data is stored in a data buffer which starts at address
//     0x0200
//
//  Operation: starts AD-conversion             
// ==========================================================================*/
void start_adconversion (void)
{ 
  ADC10CTL0 &= ~ENC;
  while (ADC10CTL0 & BUSY);
  ADC10SA = 0x0200;        // define data buffer start
  // start ADC10 conversion
  ADC10CTL0 |= ENC + ADC10SC;               // sampling and conversion start
}

/* ============================================================================
//  Module name: vr2uppersamples (void)
//
//  Description:
//              
//  Operation:
//               calculates the sum of 4 ADC-samples of R2 (connected to P2.1;
//               ADRESULTS[1],ADRESULTS[3],ADRESULTS[5],ADRESULTS[7]) and
//               divides the result by four (using shift instruction)
//   averaged result is place in SPECIAL[0]
// ==========================================================================*/
void vr2uppersamples (void)
{
 SPECIAL[0] = ADRESULTS[1] + ADRESULTS[3] + ADRESULTS[5] + ADRESULTS[7];
 SPECIAL[0] >>= 2;       // divide by four
}

/* ============================================================================
//  Module name: vr1lowersamples (void)
//
//  Description:
//              
//  Operation:
//               calculates the sum of 4 ADC-samples of R1 (connected to P2.0;
//               ADRESULTS[0],ADRESULTS[2],ADRESULTS[4],ADRESULTS[6]) and
//               divides the result by four (using shift instruction)
//   averaged result is place in SPECIAL[1]
// ==========================================================================*/
void vr1lowersamples (void)
{
 SPECIAL[1] = ADRESULTS[0] + ADRESULTS[2] + ADRESULTS[4] + ADRESULTS[6];
 SPECIAL[1] >>= 2;       // divide by four
}

// initialize ADC
// P2.0 and P2.1 are used as analog inputs
// P2.0 --> A0 --> samples R1
// P2.1 --> A1 --> samples R2
ADC10CTL1 = INCH_1 + CONSEQ_3;          // A1/A0, repeat multi channel
ADC10CTL0 = ADC10SHT_1 + MSC + ADC10ON + ADC10IE;
ADC10AE0 = 0x03;                        // P2.0, P2.1 ADC option selected
ADC10DTC1 = 8;  // do 8 conversions in total

// start the ADC by calling this function. It will sample each channel (A0 and A1) 4 times;
start_adconversion();     // start ADC10

// I'm now waiting for the AD conversion to be finished (polling my status flag)
// you can do this in various ways (i.e. placing your code in the interrupt service routine ..) 
while (!bADC10FLAG)
 __no_operation();      // wait for ad conversion to be finished
 bADC10FLAG = 0x00;      // reset flag variable for next turn

// do the averaging
//DTC will place the results in ADRESULTS like: AD0 1. sample, AD1 1. sample, AD0 2. sample, AD1 2. sample, ...
// you can use the functions vr1lowersamples and vr2uppersamples for averaging the results (also gives you
// more info on how DTC stores the results)
vr2uppersamples();
vr1lowersamples();

Now take the averaged results in SPECIAL[] for your new duty cycles (CCRx values) like:
TACCR1 = SPECUAL[0];
TACCR2 = SPECIAL[1];

Since you need a third channel you will have to enlager the segment ADCSAMPLE (don't forget to shrink RAM accordingly) and the variable ADRESULTS and SPECIALS.

Hope this helps,
rgds
aBUGSworstnightmare