initial

.gitignore

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+*.o
+firmware.*
+

Makefile

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+TOOLCHAIN_PREFIX=/opt/msp430-gcc
+CC=$(TOOLCHAIN_PREFIX)/bin/msp430-elf-gcc
+OBJDUMP=$(TOOLCHAIN_PREFIX)/bin/msp430-elf-objdump
+
+ARTIFACT=firmware
+MCU=msp430g2553
+CFLAGS=-Wall -mmcu=$(MCU) -std=gnu99 -I $(TOOLCHAIN_PREFIX)/include -O3 -g0
+
+# for debugging
+#CFLAGS=-Wall -mmcu=$(MCU) -std=gnu99 -I $(TOOLCHAIN_PREFIX)/include -g3 -ggdb -gdwarf-2
+
+LDFLAGS=-mmcu=$(MCU) -L $(TOOLCHAIN_PREFIX)/include
+
+$(ARTIFACT).elf:	main.o led.o time.o PontCoopScheduler.o spi.o
+	$(CC) -o $@ $(LDFLAGS) $^
+	$(OBJDUMP) -D $(ARTIFACT).elf > $(ARTIFACT).txt
+
+.c.o:	
+	$(CC) $(CFLAGS) -c $<
+
+
+.PHONY: all
+all:	$(ARTIFACT).elf
+
+.PHONY: clean
+clean:
+	-rm -f *.o *.elf
+
+.PHONY: upload
+upload: $(ARTIFACT).elf
+	mspdebug rf2500 "prog $(ARTIFACT).elf"

PontCoopScheduler.c

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+/*
+ * PontCoopScheduler.c
+ *
+ *  Created on: 29.08.2016
+ *      Author: wn
+ */
+
+
+#include <stdlib.h>
+
+
+#include "PontCoopScheduler.h"
+
+tTask tasks[MAX_NUM_OF_TASKS];
+
+
+void schInit() {
+  for (uint8_t i = 0; i < MAX_NUM_OF_TASKS; i++) {
+    tasks[i].delay = 0;
+    tasks[i].period = 0;
+    tasks[i].run = 0;
+    tasks[i].exec = NULL;
+    tasks[i].handle = NULL;
+  }
+}
+
+void schAdd(void (*exec)(void *), void *handle, uint32_t delay, uint32_t period) {
+  for (uint8_t i = 0; i < MAX_NUM_OF_TASKS; i++) {
+    if (tasks[i].exec == NULL) {
+      tasks[i].delay = delay;
+      tasks[i].period = period;
+      if (delay == 0 && period == 0) {
+        tasks[i].run = 1;
+      } else {
+        tasks[i].run = 0;
+      }
+      tasks[i].exec = exec;
+      tasks[i].handle = handle;
+      break;
+    }
+  }
+}
+
+void schDel(void (*exec)(void *), void *handle) {
+  for (uint8_t i = 0; i < MAX_NUM_OF_TASKS; i++) {
+    if ((tasks[i].exec == exec) && (tasks[i].handle == handle)) {
+      tasks[i].exec = NULL;
+      break;
+    }
+  }
+}
+
+void schExec() {
+  for (uint8_t i = 0; i < MAX_NUM_OF_TASKS; i++) {
+    if (tasks[i].exec != NULL && tasks[i].run > 0) {
+      tasks[i].run--;
+      tasks[i].exec(tasks[i].handle);
+      if (tasks[i].period == 0) {
+        tasks[i].exec = NULL;
+      }
+    }
+  }
+}
+
+
+
+void schUpdate() {
+  for (uint8_t i = 0; i < MAX_NUM_OF_TASKS; i++) {
+    if (tasks[i].exec != NULL) {
+      if (tasks[i].delay == 0) {
+        tasks[i].delay = tasks[i].period;
+        tasks[i].run++;
+      } else {
+        tasks[i].delay--;
+      }
+    }
+  }
+}
+
+uint8_t schTaskCnt() {
+  uint8_t cnt = 0;
+  for (uint8_t i = 0; i < MAX_NUM_OF_TASKS; i++) {
+    if (tasks[i].exec != NULL){
+      cnt++;
+    } 
+  }
+  return cnt;
+}

PontCoopScheduler.h

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+/*
+ * PontCoopScheduler.h
+ *
+ *  Created on: 29.08.2016
+ *      Author: wn
+ */
+
+#ifndef PONTCOOPSCHEDULER_H_
+#define PONTCOOPSCHEDULER_H_
+
+
+#include <stdint.h>
+
+
+
+#define MAX_NUM_OF_TASKS 32
+
+
+typedef struct {
+  uint32_t delay;
+  uint32_t period;
+  uint8_t run;
+  void (*exec)(void *handle);
+  void *handle;
+} tTask;
+
+
+void schInit();
+void schAdd(void (*exec)(void *), void *handle, uint32_t delay, uint32_t period);
+void schDel(void (*exec)(void *), void *handle);
+void schExec();
+void schUpdate();
+uint8_t schTaskCnt();
+
+
+#endif /* PONTCOOPSCHEDULER_H_ */

led.c

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+#include "led.h"
+#include <msp430g2553.h>
+#include "PontCoopScheduler.h"
+#include <stdlib.h>
+
+
+void ledGreenOn() {
+  P1OUT |= BIT0;
+}
+
+void ledGreenOff() {
+  P1OUT &= ~BIT0;
+}
+
+void ledBlueOn() {
+  P1OUT |= BIT1;
+}
+
+void ledBlueOff() {
+  P1OUT &= ~BIT1;
+}
+
+void ledExec() {
+  static int i = 0;
+
+  if (i == 0) {
+    ledGreenOff();
+    ledBlueOn();
+    i = 1;
+  } else {
+    ledGreenOn();
+    ledBlueOff();
+    i = 0;
+  }
+}
+
+void ledInit() {
+    // BIT0: green
+    // BIT1: blue
+    P1DIR |= BIT0|BIT1;
+    P1OUT |= BIT0|BIT1;
+
+    schAdd(ledExec, NULL, 0, 50);
+}
+
+

led.h

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+#ifndef LED_H_
+#define LED_H_
+
+
+void ledBlueOff();
+void ledBlueOn();
+void ledGreenOff();
+void ledGreenOn();
+
+void ledInit();
+void ledExec();
+
+#endif /* LED_H_ */

main.c

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+#include <msp430g2553.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+
+#include "time.h"
+#include "PontCoopScheduler.h"
+
+#include "led.h"
+#include "spi.h"
+
+
+int main() {
+    WDTCTL = WDTPW | WDTHOLD;
+
+    __disable_interrupt();
+
+    // highest possible system clock
+    DCOCTL = DCO0 | DCO1 | DCO2;
+    BCSCTL1 = XT2OFF | RSEL0 | RSEL1 | RSEL2 | RSEL3;
+    BCSCTL2 = 0;
+    BCSCTL3 = 0;
+
+
+    timeInit();
+    schInit();
+
+    ledInit();
+    spiInit();
+
+    __enable_interrupt();
+
+    while (1) {
+        schExec();
+    }
+}

spi.c

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+#include "spi.h"
+#include <msp430g2553.h>
+#include "PontCoopScheduler.h"
+#include <stdlib.h>
+#include <stdint.h>
+
+
+
+static void spiSendOctet(uint8_t v) {
+  while (!(UC0IFG & UCB0TXIFG));
+  UCB0TXBUF = v;
+}
+
+void spiExec() {
+  // enable spi
+  UCB0CTL1 &= ~UCSWRST;
+
+  spiSendOctet(0x00);
+  spiSendOctet(0x0d);
+
+  // disable spi
+  UCB0CTL1 |= UCSWRST;
+
+  // reschedule
+  schAdd(spiExec, NULL, 1000, 0);
+}
+
+void spiInit() {
+  UCB0CTL0 = UCMST | UCSYNC;
+  UCB0CTL1 = UCSSEL_3;
+  UCB0BR0 = 8;
+  UCB0BR1 = 0;
+
+  // UCB0CLK, UCB0SOMI, UCB0SIMO
+  P1SEL |= BIT5 | BIT6 | BIT7;
+  P1SEL2 |= BIT5 | BIT6 | BIT7;
+  P1OUT |= BIT5 | BIT7;
+
+  // P1.3 is signal line
+  P1DIR &= ~BIT3;
+
+  schAdd(spiExec, NULL, 1000, 0);
+}
+
+

spi.h

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+#ifndef _SPI_H_
+#define _SPI_H_
+
+void spiInit();
+void spiExec();
+
+
+
+#endif // _SPI_H_

time.c

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+#include <msp430g2553.h>
+#include <stdint.h>
+
+#include "time.h"
+#include "PontCoopScheduler.h"
+
+
+volatile uint32_t timestamp;
+
+void __attribute__ ((interrupt (TIMER0_A0_VECTOR))) ta0_isr() {
+  timestamp++;
+  schUpdate();
+}
+
+void timeInit() {
+  timestamp = 0;
+
+  TACCR0 = 32;
+  TACCTL0 = CCIE;
+  TACTL = MC_1 | ID_0 | TASSEL_1 | TACLR;
+}
+
+uint32_t getMillis() {
+  return timestamp;
+}
+
+void ms_active_delay(uint16_t delay) {
+  uint32_t start = timestamp;
+  while (start + delay > timestamp);
+}

time.h

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+#ifndef TIME_H_
+#define TIME_H_
+
+#include <stdint.h>
+
+void timeInit();
+uint32_t getMillis();
+void ms_active_delay(uint16_t delay);
+
+
+
+#endif /* TIME_H_ */