MSP430 MSP430F413

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Ultrasonic transmitter receiver - Ultrasonic transmitter receiver
ultrasonic transmitter - ultrasonic transmitter
ultrasonic transducers - ultrasonic transducers
ultrasonic transducer circuit - ultrasonic transducer circuit
Ultrasonic Transducer application notes - Ultrasonic Transducer application notes
ultrasonic transducer 40khz - ultrasonic transducer 40khz
ultrasonic transducer - ultrasonic transducer
ultrasonic receiver - ultrasonic receiver
Ultrasonic Distance lcd - Ultrasonic Distance lcd
ultrasonic distance circuit design - ultrasonic distance circuit design
ultrasonic 40 khz transducer - ultrasonic 40 khz transducer
msp430 lcd - msp430 lcd
MHZ ULTRASONIC transducers - MHZ ULTRASONIC transducers
distance measure ultrasonic - distance measure ultrasonic
CD4049 PIN DIAGRAM - CD4049 PIN DIAGRAM
CD4049 pin configuration - CD4049 pin configuration
CD4049 equivalent - CD4049 equivalent
CD4049 - CD4049
block diagram of ultrasonic transmitter and recei - block diagram of ultrasonic transmitter and recei
40khz ultrasonic transmitter - 40khz ultrasonic transmitter
40KHZ ULTRASONIC transducers - 40KHZ ULTRASONIC transducers
40KHz Ultrasonic Transducer - 40KHz Ultrasonic Transducer
40KHz ultrasonic interface - 40KHz ultrasonic interface
40KHZ ULTRASONIC - 40KHZ ULTRASONIC
40 khz ultrasonic transducer - 40 khz ultrasonic transducer
16 pin CD4049 pin configuration - 16 pin CD4049 pin configuration
MSP430 - MSP430
MSP430F413 - MSP430F413

Ultrasonic Distance Measurement With MSP430
Murugavel Raju ABSTRACT This application report describes distance-measuring system based ultrasonic sound utilizing MSP430F413 ultralow-power microcontroller. system transmits burst ultrasonic sound waves towards subject then receives corresponding echo. MSP430 integrated analog comparator Comparator_A used detect arrival echo system. time taken ultrasonic burst travel distance from system subject back system accurately measured MSP430. Assuming speed sound room temperature 1100 ft/s, MSP430 computes distance between system subject displays using two-digit static driven integrated driver. distance displayed inches with accuracy inch. minimum distance that this system measure eight inches limited transmitter's transducer settling-time. maximum distance that measured ninety-nine inches. amplitude echo depends reflecting material, shape, size. Sound-absorbing targets such carpets reflecting surfaces less than square feet area reflect poorly. maximum measurable range lower such subjects. amplitude echo received system that detectable Comparator_A, system goes range. This indicated displaying error message Mixed Signal Processors
Contents Theory Operation Circuit Description Software Ultrasonic.s43 Init_Device Mainloop Math_calc BT_ISR Display Delay
Conclusion References Programming Code List Figures
Circuit Schematic Oscilloscope Trace Transmitter's 40-kHz Burst Oscilloscope Trace Measurement Cycle
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Theory Operation
This application based upon reflection sound waves. Sound waves defined longitudinal pressure waves medium which they travelling. Subjects whose dimensions larger than wavelength impinging sound waves reflect them; reflected waves called echo. speed sound medium known time taken sound waves travel distance from source subject back source measured, distance from source subject computed accurately. This measurement principle this application. Here medium sound waves air, sound waves used ultrasonic, since inaudible humans. Assuming that speed sound 1100 feet/second room temperature that measured time taken sound waves travel distance from source subject back source seconds, distance computed formula d=1100 inches. Since sound waves travel twice distance between source subject, actual distance between source subject will d/2.
Circuit Description
devices used transmit receive ultrasonic sound waves this application 40-kHz ceramic ultrasonic transducers. MSP430 drives transmitter transducer with 12-cycle burst 40-kHz square-wave signal derived from crystal oscillator, receiver transducer receives echo. Timer_A MSP430 configured count 40-kHz crystal frequency such that time measurement resolution which more than adequate this application. measurement time base very stable derived from quartz-crystal oscillator. echo received receiver transducer amplified operational amplifier amplified output Comparator_A input. Comparator_A senses presence echo signal input triggers capture Timer_A count value capture compare register CCR1. capture done exactly instant echo arrives system. captured count measure time taken ultrasonic burst travel distance from system subject back system. distance inches from system subject computed MSP430 using this measured time displayed two-digit static LCD. Immediately after updating display, MSP430 goes LPM3 sleep mode save power. Basic Timer1 programmed interrupt MSP430 every milliseconds. interrupt signal from Basic Timer1 wakes MSP430 repeat measurement cycle update display. Figure shows circuit schematic diagram this application. MSP430F413 (U1) core this system. Reference data sheet this device. LCD1 two-digit low-voltage static driven integrated driver. connected VSS, left open static-LCD-drive mode operation peripheral. 40-kHz crystal conveniently chosen low-frequency crystal oscillator match resonant frequency ultrasonic transducers used this application. serves pullup resistor reset line, integrated brownout-protection circuit takes care brownout conditions. provides power-supply decoupling MSP430 located close power supply lines device. 14-pin header (J1) allows JTAG interface MSP430 provide in-circuit debugging programming using MSP430 flash emulation tool. LED1 provided indicate measurement cycles. Port P1.5 configured output buffered 40-kHz square-wave ACLK required ultrasonic transmitter.
Ultrasonic Distance Measurement With MSP430
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output drive circuit transducer powered directly from battery provides drive ultrasonic transmitter. achieved bridge configuration with inverter gates U4-CD4049. Reference data sheet this device. inverter gate used provide 180-degrees phase-shifted signal driver. other driven in-phase signal. This configuration doubles voltage swing output provides required transmitter transducer. gates connected parallel that each provide adequate current drive transducer. Capacitors block transducer. Since CD4049 operates MSP430 operates there logic level mismatch between MSP430 output driver circuit. Bipolar transistor acts logic-level shifter between these logic levels. Operational amplifier five-pin high-slew-rate operational amplifier TLV2771. Reference data sheet this device. This amplifier high-gain bandwidth provides sufficiently high gain kHz. operational amplifier connected inverting amplifier configuration. gain provides high-frequency rolloff. bias noninverting input virtual midrail single-supply operation operational amplifier. amplified ultrasonic signal swings above below this virtual midrail. high transducer provides selectivity rejection unwanted frequencies other than kHz. output operational amplifier connected Comparator_A input MSP430 port P1.6. Comparator_A reference internally selected 0.5VCC. When ultrasonic echo received, voltage level slightly lower than reference CA1. When echo received, voltage level increases above reference toggles Comparator_A output CAOUT. fine-tuned required sensitivity measurable range optimized. MSP430 ultrasonic signal amplifier circuit powered regulated 3.6-V supply derived from battery TPS77001. Reference data sheet this device. Resistors program regulator output voltage recommended supply capacitors correct functioning regulator. transmitter driver powered directly from battery. Switch functions power switch this application. Figure shows oscilloscope trace 12-cycle, 40-kHz burst. Notice 19.2-V peak peak voltage swing. ringing sine wave seen square waves resonance transducer. Figure shows oscilloscope traces complete measurement cycle. Trace shows 12-cycle, 40-kHz burst output transmitter transducer. Trace shows amplified receiver transducer output operational amplifier. first burst-signal trace represents signal directly received from transmitter ignored MSP430. next burst trace represents echo reflected subject signal used MSP430 measurement. Trace shows width time interval measured MSP430. This width represents time takes burst travel distance from measuring system subject back, depends distance measured.
Ultrasonic Distance Measurement With MSP430
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LCD1
100K RESET 40KHz XOUT TDO/TDI 6263 P1.6 P1.5 ACLK 77001 100K 3.6V 200K 0.2µF MMBT3904 CD4049 40KHz Transducer 0.2µF 22pF
COM0 0.1µF
MSP430F413 P1.0 LED1
JTAG
0.1µF
4.7µF
Battery
100K 100K
0.1µF
100K TLV2771 100K
1.8K
0.1µF
40KHz Transducer
Figure Circuit Schematic
Ultrasonic Distance Measurement With MSP430
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Figure Oscilloscope Trace Transmitter's 40-kHz Burst
Figure Oscilloscope Trace Measurement Cycle
Ultrasonic Distance Measurement With MSP430
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Software Ultrasonic.s43
Init_Device
This subroutine initializes configures peripherals used. Watchdog Timer disabled first. software delay provided allow low-frequency oscillator stabilize. FLL+ multiplier produce MCLK frequency 2.56 MHz. P1.0 configured output LED. unused port pins configured outputs port P1.5 configured output 40-kHz buffered ACLK frequency. Basic Timer1 enabled configured provide 150-Hz frequency interrupt every milliseconds initiate measurement cycle. Comparator_A configured with 0.5VCC internal reference CAPD bits disable input buffers comparator-input pins. module turned configured static-mode operation drive two-digit static application. memory locations cleared that initial display Basic Timer1 interrupt global interrupt enable then enabled allow Basic Timer1 periodically interrupt CPU.
Mainloop
Mainloop updates with value stored DIGITS buffer then puts MSP430 LPM3 sleep mode. MSP430 remains sleep mode until Basic Timer1 interrupt occurs BT_ISR returns active mode. measurement cycle initiated. Timer_A configured 16-bit mode ACLK selected clock source Timer_A. CCR1 compare mode with value output burst cycles P1.5. 36-ACLK cycles delay follows allow output transducer settle. This realized setting CCR1 compare mode with value MSP430 stays LPM0 during these CCR1-compare wait states. system receive echo receiver transducer. Comparator_A configured wait echo provides capture interrupt instant echo arrives. Timer_A count captured capture-compare register CCR1. This value measure time took ultrasonic burst travel distance from transmitter transducer subject back receiver transducer. count value adjusted adding compensate time lost 12-cycle burst 36-cycle transducer settling time delay. adjusted value CCR1 represents exact time interval from instant start burst instant start echo system. Next, math subroutine called compute actual distance inches return result. system range, echo signal received Comparator_A does provide capture interrupt. MSP430 stays LPM0 until next Basic Timer1 interrupt wakes CAIFG CCTL1 control register then tested make sure that echo never received. indicate this condition, value 0xBE stored DIGITS display LCD. program finally loops back Mainloop update back LPM3 sleep mode. next Basic Timer1 interrupt returns MSP430 active mode repeat program execution sequence.
Ultrasonic Distance Measurement With MSP430
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Math_calc
Math_calc subroutine takes care mathematical calculations required this application. adjusted 16-bit value from CCR1 stored variable Result. This value representation time takes ultrasonic burst travel distance from system subject back system. Since Timer_A counts 25-µs steps, equivalent value time will Result Assuming speed sound 1100 ft/s room temperature, Result from Timer_A count works counts inch distance. Therefore, dividing Result produces required value distance inches. achieve required precision with available integer math MSP430, 16-bit Result first multiplied before dividing This 16X16-bit multiplication done subroutine Mul100. 32-bit result stored variables htX100_msw htX100_lsw. This 32-bit result then divided result stored variable DIGITS. value DIGITS hexadecimal format. hex2bcd subroutine converts this hexadecimal value binary coded decimal (BCD) value, last digits number discarded compensate multiplication done earlier. resulting two-digit value returned variable DIGITS.
BT_ISR
Basic Timer1 interrupt subroutine BT_ISR manipulates bits status register residing stack such that MSP430 returns active mode return from this ISR. This allows MSP430 continue execute code following LPM3 instruction Mainloop.
Display
This subroutine updates two-digit static with value variable DIGITS. segment data static display stored look-up table LCD_Tab. memory loaded with required segment data correlating numbers DIGITS indexing required location LCD_Tab look-up table.
Delay
This subroutine adds 16-bit software delay. registers affected variable counted down software assigned stack (TOS). After delay timed out, stack pointer (SP) incremented back original value before returning from this subroutine.
Conclusion
integrated analog Comparator_A, 16-bit Timer_A with hardware capture/compare registers, Basic Timer1, driver peripherals simplify this ultrasonic distance measurement application design provides system-in-a-chip solution. average current consumed application during 15-inch distance measurement. This includes quiescent current operational amplifier CMOS inverter operational amplifier alone quiescent current remainder circuit current consumption draws while MSP430 draws average current with continuously active. This made possible taking advantage ultralow-current features MSP430. MSP430 sleeps LPM3 most time resources used this application only 5.6%.
Ultrasonic Distance Measurement With MSP430
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Since speed sound temperature dependent, measured reading will less accurate temperatures other than room temperature. simple thermistor-based temperature measurement distance compensation could employed this application allow system measure accurately over wide range temperatures. measured distance temperature data could also stored flash memory required. Adding additional receiver gain stages using multiplexed read many digits required could increase range.
References
MSP430x41x Mixed Signal Microcontroller data sheet SLAS340 MSP430x4xx Family User's Guide, SLAU056 MSP430 Family Mixed-Signal Microcontrollers, application report SLAA024 TPS770xx Ultra Low-Power Linear Regulators, data sheet SLVS210 TLV277x Family High-Slew-Rate Operational Amplifiers, data sheet SLOS209 CD4049UB, CMOS Inverting Buffer/Converter, data sheet SCHS046A
Ultrasonic Distance Measurement With MSP430
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Appendix
Programming Code
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Ultrasonic Distance Measurement With MSP430
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rights Program, agree decompile, reverse engineer, disassemble otherwise translate object code versions Program human-readable form. agree that event will alter, remove destroy copyright notice included Program. reserves rights specifically granted under this license. Except specifically provided herein, nothing this agreement shall construed conferring implication, estoppel, otherwise, upon you, license other right under patents, copyrights trade secrets. Program non-TI devices. NAME ;AUTHOR #include ;Register definitions #define #define #define #define #define #define #define #define DIGITS Result IRBT IROP1 IROP2L IROP2M IRACL IRACM MSP430F413 Ultrasonic Distance Measurement Demonstration Program ULTRASONIC_DISTANCE_MEASUREMENT Murugavel Raju MSP430 Applications Texas Instruments Inc. 2001 "msp430x41x.h" Standard Equations
;Variables definition RSEG UDATA0 htX100_msw: word variable stored 200h 201h
Ultrasonic Distance Measurement With MSP430
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htX100_lsw:
202h 203h
RSEG RSEG RESET mov.w call mov.w Mainloop bic.b call bis.w #CAON,&CACTL1 #Display #LPM3,SR Comparator_A Display Data Wait LPM3 CSTACK CODE #SFE(CSTACK),SP #Init_Device #0,DIGITS Directive begin code segment Define stack pointer Initialize device Initialize DIGITS Directive begin stack segment
;***************Start Ultrasonic Bursts take measurements *****************
clr.w clr.w bis.b SetupTimerA mov.w bis.b mov.w mov.w bis.w bic.b TimerCLR bis.w mov.w mov.w bis.w bis.b bic.b mov.w push bis.w clr.w bic.b bit.b
&CCTL1 &TACTL #BIT0,&P1OUT
Disable CCTL1 Disable timer_A TACLK ACLK, mode
#TASSEL0+TACLR+MC1,&TACTL #BIT5,&P1SEL #12,&CCR1 #CCIE,&CCTL1 #LPM0,SR #BIT5,&P1SEL #TACLR,&TACTL #36,&CCR1 #CCIE,&CCTL1 #LPM0,SR #CAON,&CACTL1 #CAIFG,&CACTL1 Delay transducer settle Compare mode,interrupt Wait CCR1 interrupt Comparator_A Enable Comparator_A interrupt flag edge, CCIB,Cap,interrupt &TAR #LPM0,SR &CCTL1 #BIT0,&P1OUT #CAIFG,&CACTL1 Start measurement Wait CCR1 interrupt (Echo) Disable CCTL1 Check Echo received ACLK P1.5 cycle 40KHz burst Compare mode,interrupt Wait CCR1 interrupt ACLK P1.5
#CM0+CCIS0+SCS+CAP+CCIE,&CCTL1
Ultrasonic Distance Measurement With MSP430
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mov.w sub.w add.w
Next &CCR1,Result @SP+,Result #48,Result
'out range' condition Result (CCR1) Result time taken compensate 12Clks burst transmission time 36Clks delay
;****************** Measurement Done call swpb Next mov.w #Math_calc DIGITS Mainloop #0beh,DIGITS Mainloop Call Math subroutine Shift left digits /100 next measurement cycle echo received display error
Init_Device mov.w bis.b #WDTPW+WDTHOLD,&WDTCTL #030h,&FLL_CTL0 Initialize MSP430x41x Stop Turn internal load capacitors XTAL start oscillation call mov.b call SetupP1 mov.b bis.b bis.b SetupP2 mov.b bis.b SetupP6 SetupBT mov.b bis.b mov.b #Delay #03fh,&SCFQCTL #Delay #000h,&P1OUT #0bfh,&P1DIR #040h,&P1SEL #000h,&P2OUT #0ffh,&P2DIR #000h,&P6OUT #0ffh,&P6DIR Delay oscillator stabilize MCLK 40KhzX64 2.56Mhz Delay stabilize Clear output register Unused pins o/p's Comp_A function Clear output register Unused pins o/p's Clear output register Unused pins o/p's Enable with 150Hz freq. millisecond interrupt SetupCA mov.b mov.b mov.b #CAPD6,&CAPD #P2CA0,&CACTL2 buffer disable comp P1.6 Comp input
#CARSEL+CAREF1+CAON,&CACTL1
Ultrasonic Distance Measurement With MSP430
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Comp_A 0.5Vcc int. reference SetupLCD ClearLCD Clear1 bis.b mov.b mov.b inc.b bis.b eint BT_ISR Basic Timer ISR, returns active mode RETI reti #LPM3,0(SP) Clear LPM3 bits return from interrupt #LCDON+LCDSON+LCDSG0_7,LCDCTL module static mode #15,R15 #LCDMEM,R14 #0,0(R14) Clear1 #BTIE,&IE2 clear? More clear Enable Basic Timer interrupt Enable interrupts Write zeros locations locations clear
TAX_ISR; Common CCR1-4 overflow add.w reti reti reti reti TA_over CCR1_ISR reti bic.w bic.w reti #CCIFG,&CCTL1 #LPM0,0(SP) Exit LPM0 reti CCR1_ISR &TAIV,PC interrupt offset CCR0 source CCR1 CCR2 CCR3 CCR4 Timer_A overflow
Display ;Subroutine Display values DIGIT1 DIGIT2 ;CPU Registers used R15, R14, R12, mov.w #LCDM1,R15 saved
points first location
Ultrasonic Distance Measurement With MSP430
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mov.b OutLCD mov.b rra.b rra.b rra.b rra.b and.b and.b mov.b mov.b rra.w inc.b mov.b rra.w inc.b mov.b rra.w inc.b mov.b rra.w inc.b mov.b mov.b rra.w inc.b mov.b rra.w inc.b mov.b rra.w inc.b mov.b rra.w
DIGITS,R14 R14,R13 #0Fh,R14 #0Fh,R13 LCD_Tab(R14),R12 R12,0(R15) R12,0(R15) R12,0(R15) R12,0(R15) LCD_Tab(R13),R12 R12,0(R15) R12,0(R15) R12,0(R15) R12,0(R15)
value moved Copy value Right Shift four times swap nibbles nibble high nibble nibble digit nibble segments
nibble segments
nibble segments
nibble segments
High nibble digit High nibble segments
High nibble segments
High nibble segments
High nibble segments
Type Definition ;Segments definition 001h 010h
Ultrasonic Distance Measurement With MSP430
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Blank LCD_Tab
002h 020h 004h 040h 008h 080h 000h a+b+c+d+e+f a+b+d+e+g a+b+c+d+g b+c+f+g a+c+d+f+g a+c+d+e+f+g a+b+c a+b+c+d+e+f+g a+b+c+d+f+g a+b+c+e+f+g Blank a+d+e+f b+c+d+e+g a+d+e+f+g a+e+f+g Displays Displays Displays Displays Displays Displays Displays Displays Displays Displays Displays Displays Blank Displays Displays Displays Displays
Delay; Software delay push dec.w incd #0FFFFh 0(SP) Delay Decrement Delay over? Clean Return from subroutine
Math_calc; calculation subroutine mov.w cmp.w call #0h, DIGITS #0h, Result calc_over #Mul100 Initialize DIGIT Check Result count=0 Exit Multiply Result count
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call call
#Divide #Hex2bcd
Divide result with #06d Convert 16bit binary number Result xx.xx
calc_over
Return from subroutine
Mul100 ;subroutine multiplying Result with 100d ;inputs Result 16bit constant (100d) 16bit ;output 32bit htX100_msw htX100_lsw mov.w mpyu clr.w clr.w macu L$002 clr.w bit.w add.w addc.w L$01 rla.w rlc.w rrc.w Divide 16bit clr.w mov.w div1 word cmp.w sub.w div2 rlc.w dec.w DIGITS #17,IRBT #06,htX100_msw div2 #06,htX100_msw DIGITS div4 IRBT Clear buffer hold Result Initialize loop counter Compare divisor with dividend high less jump div2 Subtract from high word Rotate result left through carry carry set: finished Decrement counter ;Subroutine 32/16 bits division ;inputs 32bit htX100_msw htX100_lsw 16bit, output DIGIT #100,IROP1 htX100_lsw htX100_msw IROP2M #1,IROP1 L$01 Result,htX100_lsw IROP2M,htX100_msw Result IROP2M IROP1 L$002 Load IROP1 with (multiplier) Clear buffer least Significant word Clear buffer most Significant word Clear multiplier high word Test actual nothing multiplier Result Multiplier Next test carry finished
Ultrasonic Distance Measurement With MSP430
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rla.w rlc.w sub.w setc div2 div3 div4 clrc
div3 htX100_lsw htX100_msw div1 #06,htX100_msw
counter finished Dividend carry jump step div1 Subtract from high word carry Jump repeat Clear carry Return from subroutine
Hex2bcd ;Subroutine converting 16bit hexadecimal value value ;input DIGITS 16bit hexadecimal, output DIGITS 16bit #16,r9 DIGITS dadd r7,r7 dadd r8,r8 r7,DIGITS bits Clear Clear Rotate left arithmetic DIGITS source carry decimally destination Decrement counter bits over Result DIGITS Return from subroutine
COMMON INTVEC MSP430x41x Interrupt vectors
BT_VEC TIMA_VEC RESET_VEC BASICTIMER_VECTOR BT_ISR TIMERA1_VECTOR TAX_ISR RESET_VECTOR RESET POR, ext. Reset, Watchdog Basic Timer Vector Timer_AX Vector
Title
Ultrasonic Distance Measurement With MSP430
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MSP430 MSP430F413

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