Transcript Introductions to Sensor Network Hardware

2010/10/1
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Outline
 Platforms and microcontrollers
 Software
 Electronics, schematics and datasheets
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WSN Platform
 A hardware device that enable wireless sensor
network research
 Typical components
 Microcontroller
 Radio
 Power supply
 Sensors and/or actuators
 Peripherals


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USB interface
Storage
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What Do We Have
 TelosB (Taroko/TmoteSky/TIP700CM)
 Original design: UC Berkeley
CHNDS Taroko
Crossbow TelosB
Moteiv Tmote Sky
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Maxfor TIP700CM
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Crossbow
 Original design: UC Berkeley
 Commercial product: Crossbow
Mica2
 Other products from Crossbow



Cricket
Imote2
IRIS
Cricket
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MicaZ
Imote
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IRIS
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Others (Research)
 BTnode (ETH Zurich)
 Commercialized
 XYZ (Yale University)
 MSB (Freie Universitat Berlin)
 Modular Sensor Board (MSB)
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Others (Commercial)
 Dustnetworks (spun out of UC Berkeley)
 iDwaRF – NodeBoard
 Worldsens – WSN430
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Others (Industrial Control)
 Accsense
 MicroStrain
 Sensicast
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Taroko
 Original design version  TelosB
 by UC Berkeley
 Modified version
 Taroko (CHNDS, Taiwan)
 TelosB (Crossbow, USA)
 Tmote Sky (Moteiv, USA)
 TIP700CM (Maxfor, Korea)
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On Taroko
 Microcontroller
 TI (Texas Instruments) MSP430F1611
 Radio
 TI Chipcon CC2420
 250kbps, 2.4GHz
 USB interface
 8M-bit flash memory
 Extension connectors
 Optional sensors
 Light, Humidity and Temperature
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Microcontroller (MCU)
 The heart of the WSN platform
 Control everything
 It is all about programming this chip
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What Is A Microcontroller
 No general definition
 Common features
 low speed

Microcontroller -> ARM/DSP -> Pentium/AMD
 no hierarchical Memory
 Bits – usually 8-bit, or 16-bit
 Power – consume less power
 Cost – usually it is much cheaper
 Input/Output (I/O) peripherals

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many on chip peripherals available
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List of MCU
 Texas Instruments (TI): MSP430
 Silabs: C8051Fxxx
 There are many other companies making 8051 architecture
microcontrollers
 including Intel, Atmel, Dallas Semiconductor, and etc.
 Microchip Technology: PIC
 Atmel: ATmega128
 Freescale Semiconductor (Motorola): 68HCxx
 Many others
 AMCC (IBM), Altera, Cypress MicroSystems, Infineon, Holtek, National
Semiconductor, Parallax, Rabbit Semiconductor, NEC, STMicroelectronics,
Analog Devices, Xemics, ZiLOG, NXP, OKI semiconductor, Renesas
Technology, Samsung, and etc.
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Today’s Personal Computer
Motherboard
Storage
(Harddisk)
>120GB
Peripherals
IDE
SATA
Audio
VGA
CPU
Memory
(DRAM)
>1GB
Ethernet
Keyboard, Mouse,
Monitor, Printer,
etc
Firewire
DMA
Wifi
USB
ComPort
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Microcontroller Block Diagram
Microcontroller
Clock System
Peripherals
GPIO
Timer
Sensors and
actuators
ADC
ALU
Memory
(RAM)
10KB
Storage
(Flash)
48KB
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UART
SPI
DMA
External storage,
other ICs, other
circuits
I2C
DAC
Host PC, PDA, etc.
USB
Ethernet
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Pins
Light Sensors
Temp/Humidity
Sensor
Infrared Sensors
Motor
Clock System
USB Chip
PC
Radio Chip
Switches
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LEDs
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MSP430 Family
 16-bit Reduced Instruction Set Computer
(RISC) CPU
 1K to 128K bytes Flash
 128 bytes to 10K bytes RAM
 14- to 100-pin I/O
 Ultra-low Power
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Clock Signal
 An oscillate signal generated by some hardware
 All processors, as well as many peripherals require
clocks
 Clock frequency is the speed of the processor
 Usually, higher speed consume large energy
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Crystals
 A small block of quartz
 Apply a voltage, it will vibrate
 For a block of given size, it will vibrate at a given and
fixed frequency
 They require a drive circuit to make them go
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Generate Clock
 Oscillator module
 include crystal and drive circuit
 Internal drive circuit + crystal
 most common case
 Digitally Controlled Oscillator
 an oscillator circuit constructed by
some electrical components
 can control its frequency
 frequency varies with temperature,
voltage, and from device to device
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MSP430 Clock system
 Flexible clock sources
 Always-on low frequency crystal (eg. 32.768KHz)
 On-demand high speed DCO (up to 25MHz)
 DCO on and stable in < 1μs
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Flexible Clock Sources in MSP430
 Oscillator consume energy
 Higher the speed, larger the energy consumption
 Use high speed DCO
 for CPU
 for high speed peripherals
 wake up and get things done, go to sleep as soon as
possible
 Use low frequency crystal oscillator
 for peripherals that require always on
 Save energy
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An Example: RTC
 Real-Time clock (RTC)
 software routine that records second, minute, and hour
 Calendar clock
 second, minute, hour, day, month, year.
 Implementation
 configure a timer (counter), use low frequency osc.
(32.768KHz) as clock source
 when the timer counts to 32768 (exactly 1 second), it
generates an interrupt
 processor wake-up, execute the RTC routines
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Low Power RTC
• Watch Battery CR2032
•Capacitor: 230 mAh
• Lifetime
= 230 mAh / 0.83 μA
= (230000 / 0.83) hours
= 277108 hours (approx.31 years)
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Memory
 RAM (Random Access Memory)
 volatile storage
 store variables, stack, and etc.
 Flash
 non volatile storage
 store program code, and data
 Info Segments (on MSP430)
 A special segment in flash
 Usually use to store parameters
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Memory Map of MSP430
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Peripherals
 To communicate with the external world
 Sensors
 switches, light, temperature, accelerometer, infrared,
humidity, pressure, acoustic, camera, and etc.
 Actuators and output controls
 motor, on/off control, LEDs, LCD display, and etc.
 Other ICs or circuit
 flash memory IC, SD card, USB flash disk, DSP
processor, and etc.
 Host PC, PDA, Industry PC, and etc.
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Ways to Communicate
 Programmed I/O
 The processor accepts or delivers data at times
convenient to it
 Interrupt-driven I/O
 External events control the processor by requesting the
current program be suspended and the external event be
serviced
 Direct Memory Access (DMA)
 DMA allows data to be transferred from I/O devices to
memory directly without the continuous involvement of
the processor
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Microcontroller Block Diagram
Microcontroller
Clock System
Peripherals
GPIO
Timer
Sensors and
actuators
ADC
ALU
Memory
(RAM)
10KB
Storage
(Flash)
48KB
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UART
SPI
DMA
External storage,
other ICs, other
circuits
I2C
DAC
Host PC, PDA, etc.
USB
Ethernet
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GPIO
 General purpose input/output
 A pin on the Microcontroller
 Function
 Set as input or output
 When input


Read the “value” on the pin (high/low)
Generate an interrupt when transition occur
 When output
 Set the output of the pin to high/low voltage
 Usage
 Control LEDs, read switches input, communication, etc
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Timer
 It is a counter
 Measures time intervals
Generate
Interrupt
(ex. 32.768kHz Crystal)
Internal
Clock Source
Timer
External
Source
Setting
(ex. count to 32768)
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PWM
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Other Outputs
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Analog to Digital Converter(ADC)
 Convert Voltage to a digital number
 Signal Path
Signal Conditioning
Sensors
• Light
• Temperature
• Acceleration
• Humidity
• Pressure
• etc.
Produce a
proper output
voltage level
(if necessary)
• Resistance
• Capacitance
• Current
• Voltage
• etc.
• Amplification
• Filtering
Convert to
voltage
Analog to
Digital
Conversion
(ADC)
10011101
Converts
voltage to
digital number
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Digital Communications
 Sending bits between each other
10011101
A
B
 Serial communication
Our focus
10011101
 Sending bits one by one
A
 UART, SPI, I2C, USB, etc.
 Parallel communication
1
0
 Sending multiple bits at one time
0
1
1
A
 Ethernet
1
B
B
0
1
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TI Embedded Processors
TI Embedded
Processing
Portfolio
ARM®-Based Processors
Microcontrollers (MCUs)
16-bit ultralow power
MCUs
MSP430™
32-bit
real-time
MCUs
C2000™
Delfino™
Piccolo™
32-bit ARM
Cortex™-M3
MCUs
Stellaris®
ARM®
Cortex™-M3
ARM
Cortex-A8
MPUs
Sitara™
ARM® Cortex™-A8
& ARM9
40MHz to
300 MHz
Up to
100 MHz
300MHz to
>1GHz
Flash
1 KB to 256 KB
Analog I/O, ADC
LCD, USB, RF
Flash, RAM
16 KB to 512 KB
Flash
8 KB to 256 KB
Measurement,
Sensing, General
Purpose
PWM, ADC,
CAN, SPI, I2C
Motor Control,
Digital Power,
Lighting, Ren. Enrgy
USB, ENET
MAC+PHY CAN,
ADC, PWM, SPI
Cache,
RAM, ROM
USB, CAN,
PCIe, EMAC
$1.50 to $20.00
DSP
DSP+ARM
C6000™
DaVinci™
Connectivity, Security,
Motion Control, HMI,
Industrial Automation
$1.00 to $8.00
Industrial computing,
POS & portable
data terminals
$5.00 to $20.00
Multi-core
DSP
C6000™
Ultra
Low power
DSP
C5000™
video processors
OMAP™
Up to
25 MHz
$0.25 to $9.00
Digital Signal Processors (DSPs)
300MHz to >1Ghz
+Accelerator
Cache
RAM, ROM
USB, ENET,
PCIe, SATA, SPI
Floating/Fixed Point
Video, Audio, Voice,
Security, Conferencing
$5.00 to $200.00
24.000
MMACS
Up to 300 MHz
+Accelerator
Cache
RAM, ROM
Up to 320KB RAM
Up to 128KB ROM
USB, ADC
McBSP, SPI, I2C
SRIO, EMAC
DMA, PCIe
Telecom test & meas,
media gateways,
base stations
$40 to $200.00
Audio, Voice
Medical, Biometrics
$3.00 to $10.00
Software & Dev. Tools
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MSP430F1xx
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MSP430F4xx
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MSP430F2xx
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What Has Changed?
1xx
2xx
4xx
5xx
Basic Clock System
Basic Clock System +
FLL, FLL +
Unified Clock System
UCS
Core voltage same as
supply voltage
Core voltage same as supply
voltage
Core voltage same as
supply voltage
Programmable Core
Voltage with integrated
PMM
16-bit CPU
16-bit CPU, CPUX
16-bit CPU, CPUX
16-bit CPUXV2
GPIO
GPIO w/ pull-up and
pull-down
GPIO
GPIO w/pull-up
and pull-down,
drive strength
N/A
N/A
N/A
CRC16
Software RTC
Software RTC
Software RTC with Basic
Timer, Basic Timer + RTC
True 32-bit RTC
w/Alarms
USART
USCI, USI
USART, USCI
USCI, USB, RF
DMA up to 3-ch
DMA up to 3-ch
DMA up to 3-ch
DMA up to 8-ch
MPY16
MPY16
MPY16, MPY32
MPY32
ADC10,12
ADC10,12
ADC12
ADC12_A
4-wire JTAG
4-wire JTAG, some devices
with Spy-Bi-Wire
4-wire JTAG
4-wire JTAG and Spy-BiWire
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F5xx vs. Prior MSP430 Generations
2xx
4xx
5xx
CPU Clock (max)
16MHz
8MHz
25MHz
*Active Current
(3.0V, typ)
515uA @ 1MHz
4.2mA @ 8MHz
9.1mA @ 16MHz
600uA @ 1MHz
4.8mA @ 8MHz
N/A
290uA @ 1MHz
1.84mA @ 8MHz  230 uA/MHz
8.90mA @ 25MHz
120KB / 8KB (Flash / RAM)
120KB / 8KB (Flash / RAM)
256KB / 16KB (Flash / RAM)
Wake-up Time From LPM3
1us
6us
5us
Standby LPM3 Current
0.9 – 1.1uA
1.1 – 2.5uA
2.6uA (with active true RTC)
LPM4 Current
0.1uA
0.1uA
1.6uA (LPM4) / 0.1uA (LPM5)
Flash ISP Minimum DVCC
2.2V
2.7V
1.8V
Port I/O Interrupt Capability
P1/P2
P1/P2
P1/P2
Some devices also P3/P4
Prog. Port Pin Drive Strength
N/A
N/A
All port pins
Prog. Pull-ups/-downs
All port pins
N/A
All port pins
Available MCLK Sources
DCO
LFXT1
XT2 (if available)
VLO
FLL
LFXT1
XT2 (if available)
N/A
LFXT1
Available FLL Reference
Clocks
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UCS
FLL
LFXT1
XT2 (if available)
VLO
REFO
LFXT1, REFO, & XT2 (if
available)
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MSP430 Roadmap
FR57xx
BGM, Catalog
Production
F53xx
Development
F51x2
16 MIPS
120 kB Flash
8 kB RAM
500 nA Standby
1.8 – 3.6V
G = Value Line
F = Flash
FR = FRAM
F23x0
F23x0
G2xx2
1xx-Catalog
•
•
•
•
8MIPS
60 kB Flash
10 kB RAM
1.8 – 3.6 V
•
•
•
•
•
•
•
F543xA
F541x
F15x-F16x
F13x-F14x
G2xx5
75+ devices
5xx-6xx
F21x2
F20xx
G2xx1
The New Generation
RF
USB
F22xx
F21x1
0.9V Native
CC430
F552x
F12xx
FG461x
Fx43x
F44x
F11xx
Fx42x
Fx42x0
F41x
FE42x2
F41x2
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25MIPS
256 kB Flash
16 kB RAM
1.8 – 3.6V
FRAM, USB, RF
6xx: LCD Controller
160 uA/MIPS
F471xx
F43x
Fx47x
F47x4
USB
L092
Lighting
F261x
F241x
F23x-F24x
2xx-Catalog
•
•
•
•
•
F550x
Gen Purpose
100+ devices
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FRAM
F6/563x
Device
100+ devices
4xx: LCD
•
•
•
•
16 MIPS
120 kB Flash
8 kB RAM
LCD Controller, 160
segments
• 1.8 – 3.6V
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The eZ430 Family of MSP430 Tools
The eZ430 is a tradition of low-cost,
easy-to-use tools for MSP430

Options include RF, energyharvesting, RFID, even a wireless
sports watch development kit!

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Programming Tools
 Parallel FET
 Supports ALL MSP430 devices
 Supports 4-Wire JTAG mode only
 Fixed output voltage of 2.8V
 No JTAG fuse blow
 Simple hardware circuit, possible
to implement as part of a product
 USB FET
 Supports ALL MSP430 devices
 Supports 4-Wire and 2-Wire (Spy-
Bi-Wire) JTAG
 Adjustable output voltage:
1.8 - 3.6V, 100mA
 JTAG fuse blow
 Fast operation
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Gang Programmer GANG430
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Target Boards for Device Programming
 100-pin target board exclusive to the





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F543x(A) / F541x(A) devices
Development board with 100-pin
TSSOP (PW) ZIF socket (MSPTS430PZ5x100)
All pins brought out to pin headers for
easy access
Programming via JTAG,
Spy-bi-wire or BSL
A FET board exists for most variants of
MSP430
Only $49
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MSP-EXP430FG4618 Experimenter Board
 Connector for CC1100/CC1101/
CC2500/CC2420 EMs
 Includes support for the
CC2480 ZigBee Processor
 SW examples and function
library available at
www.ti.com/ccmsplib
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MSP430 Software Tools
 Wireless Networking Protocols
 Z-Stack (CC2520 + MSP430F5438 ZigBee)
 TI-MAC
 SimpliciTI (on MSP430 MediaWiki)
 DASH7
 Wireless M-Bus
 6LoPAN
 Example Code for the MSP-EXP430F5438 Experimenter
Board (www.ti.com/msp430tools)
 Drivers for hardware peripherals, LCD, USB conn.
 Operating Systems
 uC-OSII
 IAR PowerPac
 Salvo

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FreeRTOS
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www.ti.com/msp430









User’s Guides
Datasheets
Code Libraries
100+ Application Reports
1000+ Code Examples
Product Brochure
Latest Tool Software
3rd Party Listing
Silicon Errata
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Typical PC Program
# include
# define
…….
1. Other sub-functions ()
main ()
{
do something;
wait for input;
terminate;
}
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External response
(mouse/keyboard)
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Typical Structure of Our Program
# include
# define
…….
main ()
{
System and Peripherals
initialization
for(;;) // forever loop
{
1. wait for interrupt(sleep)
2. do something after
return from
interrupt
}
1. Peripherals initialization
routines ()
2. Other sub-functions ()
Internal/External Events
(ISR) Interrupt Service
Routines ()
{
1. Quickly do something
or Setting flags
}
}
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Initialization
 Configure hardware into a proper state
 How to configure
 set registers
 Registers
 each hardware subsystem has its own registers
 store configuration, status, buffer, and etc.
 set these registers properly in order to get it works
 How to set the registers properly
 MSP430x1xx family user ‘s guide
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Interrupt
 A specific internal/external event occur that suspend
current program
 Mostly, it is defined by you
 some exceptions, for example – reset
 Usually, you have to handle it immediately
 You have to define how to react while this event occur
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maskable/non-maskable
 Non-maskable interrupts
 Interrupts that cannot be disable
 eg. reset, oscillator fault
 Maskable interrupts
 Interrupts that can be disable in the program
 Most of the interrupts you need to handle is maskable
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What happen when it occur
1.
2.
3.
4.
main()
{
for(;;)
{
MCU is executing
or sleeping
}
}
Set interrupt flag
Main program suspended
Store state variables
Jump to ISR
(ISR) Interrupt Service Routines ()
{
1. Quickly do something
or setting flags
}
2. Restore state variables
3. Return to main program, resume
process
Interrupt flag: a special register indicates a particular interrupt occur
State variables: information CPU will need to resume to normal processing
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Where to Jump
Memory Map of MSP430
 Interrupt vector
 a special segment in the memory
 store the address of the ISR
 by following code
Address of
Interrupt Vector
#progma vector=0xFFFA
__interrupt void Timer_B0 (void)
 where is the interrupt vector

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specified in datasheet
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More than one
 More than one interrupts occur simultaneously
 serve higher priority first
 When one interrupt is being serve, it will disable the
other interrupts
 means the other ISR cannot execute before this one
finish
 if more than one occur while serving one interrupt

wait until it finish, serve the highest priority one first
 You can enable interrupt in the ISR
 not recommended
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Masked twice
 While interrupt A is being serve, interrupt B occurred,
twice
 when interrupt A is finished, the ISR of interrupt B will
be serve, only once
 you miss one event!!
 KEEP YOUR ISR SHORT!!!!
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Protect Your Data
 Example:
Packet receive interrupt occurred
{
1. packet stored in a receive buffer
2. copy receive buffer to temporal buffer
3. return
}
In main program
{In main program
{ 1. disable global interrupt
1. copy temporal buffer to some data structure
2.
2. enable
processglobal
data interrupt
3.
} 4. process data
}
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Another packet receive
interrupt occurred in the
middle of copying data
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Software Architectures
 Round Robin with Interrupts
for(;;) // forever loop
{
1. wait for interrupt(sleep)
if( Event 1 occurred) {
do something
}
if( Event 2 occurred) {
do something
}
if( Event 3 occurred) {
do something
}
}
 Problem: no proirity
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(ISR) Interrupt Service Routines 1 ()
{
1. do critical things
2. set event 1 occurred flag
}
(ISR) Interrupt Service Routines 2 ()
{
1. do critical things
2. set event 2 occurred flag
}
(ISR) Interrupt Service Routines 3 ()
{
1. do critical things
2. set event 3 occurred flag
}
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Software Architectures
 Function-Queue-Scheduling
for(;;) // forever loop
{
1. wait for interrupt(sleep)
While (function queue is not empty)
{
call first function on queue
}
}
(ISR) Interrupt Service Routines 1 ()
{
1. do critical things
2. put function_1 on queue
}
(ISR) Interrupt Service Routines 2 ()
{
1. do critical things
2. put function_2 on queue
}
(ISR) Interrupt Service Routines 3 ()
{
1. do critical things
2. put function_3 on queue
}
 Worst wait for highest priority task
 bounded by the longest function
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Software Architectures
 Real-Time Operating System (RTOS)
 load an operating system into the MCU
 there are many RTOS available
 it is beyond the scope of this class
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How To Program
 FET (Flash Emulation Tool)
 A tool that allow you to program and debug MSP430
 Connects to the JTAG port on MSP430
 A generic term used in MSP430 world
 JTAG (Joint Test Action Group)
 IEEE 1149.1 standard: “standard Test Access Port and
Boundary-Scan Architecture”
 A standard interface defined for testing and debugging
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Video
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TinyOS
 “System architecture directions for network
sensors”, Jason Hill, Robert Szewczyk, Alec Woo, Seth
Hollar, David Culler, Kristofer Pister . ASPLOS 2000,
Cambridge, November 2000
 System software for networked sensors
 Tiny Microthreading Operating System: TinyOS
 Component-based
 Event-driven
 TinyOS is written in nesC programming language
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Why TinyOS?
 TinyOS is very powerful
 Modern operating system and language techniques in an
embedded system
 A lot of libraries, support code, and community
development
 “TinyOS has a steep learning curve”
 It can take time to use all of its capabilities
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Slides from TinyOS-IPSN2009
nesC
 nesC programming language
 An extension to C
 Designed for sensor network nodes
 Basic concepts behind nesC
 Separation of construction and composition

Many components, “wired”(link) those you want
 Component provide a set of interfaces
 Interfaces are bidirectional
 Command (down call), event (up call)
 nesC compiler signals the potential data races
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Support Multiple Platforms
 Hardware platforms
 eyesIFXv2, ETH Zurich

TI MSP430F1611, Infineon TDA5250
 Intelmote2, Intel
 PXA271 XScale Processor, TI (Chipcon) CC2420
 Mica2, UCB
 Atmel128, TI (Chipcon) CC1000
 Mica2dot, UCB
 Atmel128, TI (Chipcon) CC1000
 Micaz, UCB
 Atmel128, TI (Chipcon) CC2420
 Telosb, UCB (Taroko)
 MSP430F1611, TI (Chipcon) CC2420
 Tinynode, EPFL Switzerland
 MSP430F1611, Semtech radio transceiver XE1205
 Three different microcontrollers, four different radio transceivers and many
other peripheral ICs
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Contiki
 Contiki – a dynamic operating system for networked
embedded systems
 Loadable modules, multiple network stacks, multiple
threading models
 Open source; 3-clause BSD licence
 Small memory footprint
 Designed for portability
 14 platforms, 5 CPUs in current CVS code
 Many pioneering features
 Provides IP communication, both for IPv4 and IPv6.
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Demo
 http://www.youtube.com/watch?v=ievpE6nkj0Q
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Something To Note
 You won't get very far without at least a very
rudimentary understanding of electronics
 But electronics is a vast and complex field
 What we provide here is just some very basic
principles
 We assume you have some common sense about
electronics
 We will try to make it as simple as possible
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Voltage, Current and Power
 Voltage
 Symbol: V
 Unit: Volt, (V)
 Current
 Symbol: I
 Unit: Ampere, (A)
 Power
 P=V*I
 Unit: Watt, (W)
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DC and AC
 DC: Direct Current
 Definition: current that travels in one direction
 we usually refer to constant voltage
 AC: Alternating Current
 Definition: opposed to DC
 we usually refer to varying voltage
 DC component vs AC component
 DC component: average of signal
 AC component: the varying signal
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Relationship between V and I
 Ohm’s Law
 V=I*R
 Resistor
 Most widely used element
 Symbol: R
 Unit: Ohm (Ω)
 Schematic symbol:
Variable resistor
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Resistors in series
 Resistors in series
R = R1 + R2
=
I1
I
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V1
I2
V
V2
 R1 
V1  V  

 R1  R 2 
 R2 
V2  V  

 R1  R 2 
I  I1  I 2
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Resistors in parallel
 Resistor in parallel
R
=
I1
I2
I
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V1
V2
V
1
1
R1
1

R2
R1  R 2
R1  R 2
V  V1  V2
V 
 R2 
I1     I  

R
1
R
1

R
2
 


V 
 R1 
I2  

I




R
2
R
1

R
2




I  I1  I 2
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Capacitors
 Capacitor store charge
 Symbol: C
 Unit: Farads (F)
 Typical range we use is from μF to pF
 Circuit symbols
 Bipolar: no polarity
 Unipolar: has a positive and a negative lead
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Charge and discharge
 Apply a voltage  charging
 Remove voltage  discharging
 Provide a temporary voltage and current source
 Decoupling
 Stable the DC voltage source
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Diodes
 Pass a current in one direction, block it from another
 Symbol: D
 Forward voltage drop
Vanode
Vcathode
 A voltage different between anode and cathode
 Example


For a typical voltage drop of 0.7V
If Vanode is 3.3V, than Vcathode is 2.6V
 This value will be specified in datasheet
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LEDs
 Light-emitting diode (LED)
 Limited amount of current can pass through
 Will damage if current is too large
 Need a current-limiting resistor
I
R
3.3V
Vanode
Vcathode
Ground
Vcathode  3.3V  Vvoltage _ drop  1.7V
R  V  1.7
 85
I
0.02
 If voltage drop of this LED is 1.6V, and we want 20mA
pass through
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Other components
 Crystals
 Symbol: X, Y
 Switches
 symbols: SW
 Inductors
 symbol: L
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Understanding Schematic
Net Labels
Component
Power Ports
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Nets Crossing
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Nets Cross
Multiple Sheet
81
Real Schematic -- Taroko
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Reading Datasheet
 Every component should have a datasheet
 Contain every information about the component
 If you are designing you own embedded system
 Read it thoroughly and feel you understand
 Go back and reread it
 Get the latest datasheets and errata
 Lets take a look at the MSP430F1611 datasheet
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Next Two Labs
 Lab 1: GPIO
 Control LEDs
 Reading switches, keypads input
 Lab 2: Timer
 Generate different time interval
 Generate PWM signal, control servo motor
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LEDs
 This is a typical connection
 When P1.1 set to high
 DVcc = VP1.1
 no current flow
DVcc
Vanode Vcathode
 When P1.1 set to low
 VP1.1 = 0
 Current flow through, turn on the LED
R
 GPIO can use as an On/Off control
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Switches
A
B
 Operation
 Open: A and B are not connected in normal state
 Close: When you press the button, A and B are
connected
 Typical circuit
 When the switch is open, voltage of
USERINT stay at high
 When the switch is close, voltage of
will be low
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Keypad
 This is a 3x4 matrix
keypad
 When you press a
button, a pin in X and
a pin in Y is
connected
 How to interface to
MSP430?
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Next Two Labs
 Lab 1: GPIO
 Control LEDs
 Reading switches, keypads input
 Lab 2: Timer
 Generate different time interval
 Generate PWM signal, control servo motor
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Time Intervals
 Generate different time intervals
 Flash different LED with different time interval
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Robot Car
Servo
motors
Robot Power
(Vcc) Red
Robot Ground
(GND) Black
Robot Signal
White
Battery Ground
Black
Battery Power
Red
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Pulse Width Modulation
Pulse width
Pulse
Period
 Pulse Width Modulation (PWM)
 varying the pulse width
 Usage of PWM
 Control motor, telecommunication, voltage regulation,
and etc.
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Servo Motor
 A PWM input controls it angular position
 Pulse width = 1.5 ms; position = 90o (neutral)
Pulse
 Example


Pulse width
pulse width = 1.25 ms; position = 0o
pulse width = 1.75 ms; position = 180o
 Varies between brands and models
 The servo motor we used is Continuous
Period ≈ 20 ms
Rotation model
 Other models will just move to the
programmed position and stop
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Control Servo Motor
Pulse width
Pulse
Period ≈ 20 ms
 The servo motors we used are 1.5 ms neutral
 If pulse width = 1.5 ms  stop
 If pulse width > 1.5 ms  rotate in one direction
 If pulse width < 1.5 ms  rotate in another direction
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Install IAR
 We will begin our labs next week
 Install the programming software ahead
 Go to www.ti.com
 Click Microcontroller
 In MSP430 menu, click Tools & Software
 Find IAR-KICKSTART and click on it
 Download software and install
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