MSP430 Timers and PWM

MSP430 Timers and PWM
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Resources
Modified: 11/28/2012 16:08:32
Search C335
Ray Wisman
Timers - http://www.ccs.neu.edu/home/noubir/Courses/SWARM/S09/slides/msp430-clocks-timers.pdf Pulse Width Modulation Video (not me but still worthwhile) - http://www.pdnotebook.com/2012/06/videopulse-widthmodulation/ Pulse width modulation described - http://en.wikipedia.org/wiki/Pulse-width_modulation Clocks A clock signal controls timing on a computer, a typical digital clock signal is below.
MSP430 CPU and other system devices use three internal clocks: 1. Master clock, MCLK, is used by the CPU and a few peripherals. 2. Subsystem master clock, SMCLK, is distributed to peripherals. 3. Auxiliary clock, ACLK, is also distributed to peripherals. Typically SMCLK runs at the same frequency as MCLK, both in the megahertz range. ACLK is often derived from a watch crystal and therefore runs at a much lower frequency. Most peripherals can select their clock from either SMCLK or ACLK. For the MSP430 processor, both the MCLK and SMCLK clocks are supplied by an internal digitally controlled oscillator (DCO), which runs at about 1.1 MHz.
DCO - Digitally Controlled Oscillator internal runs at about 1Mhz. The frequency of the DCO is controlled through sets of bits in the modules registers at three levels. There calibrated frequencies of 1, 8, 12, and 16 MHz. To change frequency simply copy values into the clock module registers. The following sets the DCO used by the CPU to 1MHz, which seems to be the default value: BCSCTL1 = CALBC1_1MHZ; DCOCTL = CALDCO_1MHZ; // Set range // Set DCO step and modulation
Timers/Counters
http://homepages.ius.edu/RWISMAN/C335/HTML/msp430Timer.HTM
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Timers are fundamentally counters driven by a clock signal, commonly incrementing or decrementing the counter on each clock tick. When the counter reaches some predefined value (e.g. 0), the timer can generate an interrupt. The result is a reasonably accurate time base for executing functionality such as maintaining a reference clock (seconds, minutes, etc.) or performing some operation on a regular basis (blink a LED every second). The count of a 16-bit timer in continuous mode below repeats counting from 0 to FFFFh. Using UP mode, other limits can be specified.
The clock tick drives the counter, with each clock tick incrementing the counter. MSP430 timers can interrupt (TAIFG) when the timer reaches a specified limit, serving to perform accurately timed operations. For example, a timer clock of FFFFh Hz and a count limit of FFFFh could generate an interrupt every second by setting the TAIFG.
The MSP430 has many options for creating timers, we will limit ourselves to a simple one that illustrates the basic concepts. Keep in mind a timer has at least 3 key parts: 1. clock input that ticks at a specified rate, 2. counter that counts the clock ticks in UP mode, 3. interrupt procedure called when count limit reached. Timer TA0CTL Timer A0 control register. TASSEL_1 = 01 in bits 9-8, selects timer A 0 source clock as ACLK, 12KHz. MC_1 = 01 in bits 5-4, sets UP count mode, counting up to the value in TA0CCR0 and generating an interrupt if enabled.
Counter
http://homepages.ius.edu/RWISMAN/C335/HTML/msp430Timer.HTM Page 2 of 13
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TA0CCTL0 Control register for Timer A0 counter 0. Interrupts are enabled by writing a 1 into bit 4 of this register. TA0CCR0 Holds the 16-bit count value. 12000 is used because the ACLK clock operates at approximately 12KHz and we want to toggle the LEDs at approximately at one second intervals. With interrupts enabled, an interrupt is generated when the count reaches 12000. The counter, in UP mode, is automatically reset to 0 when count limit reached. Interrupts
TA0CCTL0 Enables/disables timer A0 interrupts

TIMER0_A0_VECTOR Vector for timer A0
One important point is that timers can run independently to the CPU clock, allowing the CPU to be turned off and then automatically turned on when an interrupt occurs.
_BIS_SR(LPM0_bits + GIE);
SR/R2 Status register.
places CPU in low power mode with interrupts enabled.
CPUOFF = 1 in bit 4 turns off the CPU until interrupt occurs. GIE = 1 in bit 3 enables global interrupts (same as EINT instruction). Full disclosure Counters in the examples are off by 1. Since the count starts at 0, a count of 12000 would have a limit of 11999. For clarity and arithmetic ease, we'll live with the small error. 14. Toggle red LED every second.
#include <msp430g2553.h> void main(void) { WDTCTL = WDTPW + WDTHOLD; P1DIR |= BIT0; P1OUT &= ~BIT0; TA0CCR0 = 12000; TA0CCTL0 = 0x10; TA0CTL = TASSEL_1 + MC_1; } _BIS_SR(LPM0_bits + GIE); // Stop watchdog timer
// Set P1.0 to output direction // Set the red LED on
// Count limit (16 bit)
// Enable counter inter
// Timer A 0 with ACLK @ 12KHz,
// LPM0 (low power mode) with interru
#pragma vector=TIMER0_A0_VECTOR __interrupt void Timer0_A0 (void) { }

Question 1 Timer A0 source clock selected as ACLK @ 12KHz. a. What happens if this statement is removed?
// Timer0 A0 interrupt service routine // Toggle red LED
P1OUT ^= BIT0;
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b. What happens if this statement is removed? c. What happens if the above statement is changed to: d. What happens if statement in a. is replaced by: e. What changes are needed to toggle every 3 seconds? f. What changes are needed to toggle every 30 seconds? http://mspsci.blogspot.com/2010/08/tutorial-09-timers.html There are three modes to operate Timer_A.
TA0CCTL0 = 0x10; _BIS_SR(LPM3_bits + GIE); _BIS_SR(GIE);
Continuous mode: Timer_A acts just like a 16-digit, binary odometer; it counts from 0 to 0xFFFF and then "rolls over" to 0 again. Up mode; as in continuous mode, counts up to set limit then rolls over to 0. Up/down mode, is similar to up mode having an upper limit. Rather than rolling over to 0, it turns around and counts down to 0. In addition to the three ways of counting in Timer_A, there are also a few ways to use the counter. Timer_A has the ability to set "checkpoints" in its counting (Value Line devices only have two, but other devices have a third). TI calls these checkpoints Capture/Compare Registers. The most basic use of these registers is to set values at which the counter flags the processor to do something special. One of these registers sets the upper limit in up and up/down mode. The other register only flags the processor and allows the timer to keep on counting. (This is also the behavior of the first register in continuous mode.) This type of use is the Compare mode of the register; we set a value that is compared to the current count in Timer_A. If the values are equal, it signals that's the case to the processor. Capture mode behaves a little differently; the timer waits for some type of signal (often from some sort of input) and then records the current value of the timer in the register without stopping the timer, somewhat like the lap time function of a stopwatch. Registers There are at least seven registers used in any device with the Timer_A peripheral. In the Family User's Guide, pages 12-20 through 12-23 list the register maps. TA0CTL -- The Timer_A Control Register is used to set up the source between the timer and a clock, and select the mode used. The TASSELx bits (8 and 9) tell the timer which clock to use as its source. TASSEL_0 = TACLK TASSEL_1 = ACLK @ 12KHz. TASSEL_2 = SMCLK @ 1MHz TASSEL_3 = INCLK The clock frequency can be divided by a further factor of 2, 4, or 8 using the IDx bits (6 and 7). (Note that this is further division to any divisions done from the clock source for the clock itself; could potentially have a total division of up to 64 from the clock source for this peripheral.) The MCx bits (4 and 5) select the particular mode for the timer to use. Note particularly that setting these bits to 0 (the default setting on POR) halts the timer completely. TACLR is bit 2. If you write a 1 to this bit, it resets the timer. The MSP430 will automatically reset this bit to zero after resetting the timer. TAIE and TAIFG (bits 0 and 1) control the ability of the timer to trigger interrupts. TA0R -- The Timer_A Register is the actual counter; reading this register reports the current value of the counter. TA0CCRx -- The Timer_A Capture/Compare Registers, of which there are two (TACCR0 and TACCR1) are where specific values to use are stored. In compare mode, the timer signals an event on the values. Particularly, TACCR0 stores the value that Timer_A counts in up and up/down mode. In capture mode, the processor will record the value of TAR when the MSP430 is signaled to do so. TA0CCTLx -- The Timer_A Capture/Compare Control Registers correspond to the TACCRx registers. These set the behavior of how the CCR's are used. CMx (bits 14 and 15) change what type(s) of signals tell the timer to perform a capture.
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CCISx (bits 12 and 13) select where the input signals are taken. SCS and SCCI (bits 11 and 10 respectively) change the synchronicity; the timer normally operates asynchronously to the input signals. CAP (bit 8) changes whether capture mode (1) or compare mode (0) is used. OUTMODx (bits 5-7) select various output modes for the CCR's signal when the timer flags a capture or compare event. CCIE and CCIFG (bits 4 and 0) are more interrupts associated with the CCR's. CCI and OUT (bits 3 and 2) are the input and output for the CCR. COV (bit 1) is the capture overflow; this bit is set to 1 if two captures are signaled before the first capture value is able to be read. TA0IV -- The Timer_A Interrupt Vector Register; since there are multiple types of interrupts that can be flagged by Timer_A, this register holds details on what interrupts have been flagged. The only bits used here are bits 1-3 (TAIVx), which show the type of interrupt that has happened, allowing us to take different actions to resolve the different types of interrupts. Figure below lists the Timer0 and Timer1 registers and values for the program that follows:
15. Toggle red LED every two seconds/green LED every second.
#include <msp430g2553.h> void main(void) { WDTCTL = WDTPW + WDTHOLD; P1DIR |= BIT0; P1OUT &= ~BIT0; P1DIR |= BIT6; P1OUT &= ~BIT6; TA0CCR0 = 12000; TA0CCTL0 = 0x10; 4=1 TA0CTL = TASSEL_1 + MC_1; TA1CCR0 = 24000; TA1CCTL0 = 0x10; 4=1 TA1CTL = TASSEL_1 + MC_1; _BIS_SR(LPM0_bits + GIE); enabled } #pragma vector=TIMER1_A0_VECTOR routine
// Stop watchdog timer // Set P1.0 to output direction // Set the red LED off // Set P1.6 to output direction // Set the green LED off // Count limit (16 bit) // Enable Timer A0 interrupts, bit // Timer A0 with ACLK, count UP // Count limit (16 bit) // Enable Timer A1 interrupts, bit // Timer A1 with ACLK, count UP // LPM0 (low power mode) interrupts
// Timer1 A0 interrupt service
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__interrupt void Timer1_A0 (void) { } P1OUT ^= BIT0; // Toggle red LED // Timer0 A0 interrupt service
#pragma vector=TIMER0_A0_VECTOR routine
__interrupt void Timer0_A0 (void) { } P1OUT ^= BIT6; // Toggle green LED
Question 1.5 Timer clock set to ACLK @ 12KHz by:
TA0CTL = TASSEL_1 + MC_1; TA1CTL = TASSEL_1 + MC_1; TA1CCR0 = 12000; TA1CTL = TASSEL_2 + MC_1; TA1CCR0 = 50000;
1. What results by the change of: 2. What results by the changes to SMCLK @ 1MHz:
Example timing ADC conversion by timer. Toogle green LED on Timer0 interrupt and start ADC conversion. Toogle red LED on ADC conversion complete interrupt. 16. ADC temperature (toogle red) every second using Timer0 (toggle green).
#include <msp430g2553.h> long sample; long DegreeF=0;

1. 2.
void main(void) { WDTCTL = WDTPW + WDTHOLD; P1DIR P1OUT P1DIR P1OUT |= &= |= &= BIT0; ~BIT0; BIT6; ~BIT6; // Stop watchdog timer // // // // Set Set Set Set P1.0 to output direction the red LED on P1.6 to output direction the green LED on
3.
4.
ADC10CTL1 = INCH_10 + ADC10DIV_3; // Temp Sensor ADC10CLK/4 ADC10CTL0 = SREF_1 + ADC10SHT_3 + REFON + ADC10ON + ADC10IE; // Ref voltage/sample & hold time // reference generator ON/ADC10 ON/Int Enabled TA0CCR0 = 12000; TA0CCTL0 = 0x10; bit 4=1 TA0CTL = TASSEL_1 + MC_1; _BIS_SR(LPM0_bits + GIE); interrupts enabled } #pragma vector=TIMER0_A0_VECTOR routine // Timer0 A0 interrupt service // Count limit (16 bit) // Enable Timer A0 interrupts, // Timer A0 with ACLK, count UP // LPM0 (low power mode)
5.
6.
7.
8.
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routine __interrupt void Timer0_A0 (void) {

9.
P1OUT ^= BIT6; ADC10CTL0 |= ENC + ADC10SC; start } #pragma vector=ADC10_VECTOR routine
// Toggle green LED // ADC sampling and conversion
10.
11.
12.
// ADC10 interrupt service
13.
__interrupt void ADC10_ISR (void) { sample = ADC10MEM; // Read ADC sample
14.
15.
DegreeF = ((sample - 630) * 761) / 1024; P1OUT ^= BIT0; }
16. 17.
Question 1.6 Trace the line numbers executed.
PWM (http://dbindner.freeshell.org/msp430/) Pulse Width Modulation Video (not me but still worthwhile) - http://www.pdnotebook.com/2012/06/videopulsewidth-modulation/ Pulse-width modulation (PWM) is a commonly used technique for controlling power to inertial[ambiguous] electrical devices, made practical by modern electronic power switches. The average value of voltage (and current) fed to the load is controlled by turning the switch between supply and load on and off at a fast pace. The longer the switch is on compared to the off periods, the higher the power supplied to the load is. The PWM switching frequency has to be much faster than what would affect the load, which is to say the device that uses the power. Typically switching's have to be done several times a minute in an electric stove, 120 Hz in a lamp dimmer, from few kilohertz (kHz) to tens of kHz for a motor drive and well into the tens or hundreds of kHz in audio amplifiers and computer power supplies. Period is the time of each pulse, both the On and Off times. Duty cycle describes the proportion of 'on' time to the regular interval or 'period' of time; a low duty cycle corresponds to low power, because the power is off for most of the time. Duty cycle is expressed in percent, 100% being fully on. The main advantage of PWM is that power loss in the switching devices is very low. When a switch is off there is practically no current, and when it is on, there is almost no voltage drop across the switch. Power loss, being the product of voltage and current, is thus in both cases close to zero. PWM also works well with digital controls, which, because of their on/off nature, can easily set the needed duty cycle.
PWM signal consists of two parts: Period Time of each pulse. 5Hz signal has periods of 1/5 second = 0.2 second. Duty cycle The percentage of period the PWM signal is On or high.
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A period of 0.2 second and 10% duty cycle = 0.10 * 0.2 second = 0.02 seconds. If the signal has a low voltage of 0 and a high voltage of 10 volts, a 50% duty cycle produces an average of 5 volts, a 10% duty cycle produces an average of 1 volt.
LED under PWM control
PWM on the LaunchPad PWM will be used to control the brightness of the green LED by varying the duty cycle, a longer duty cycle results in a brighter LED. LED (green) direction is set and selected for PWM.
P1DIR |= BIT6; P1SEL |= BIT6; modulation
// Green LED as output // Green LED controlled by Pulse width
Timer A0 PWM green LED TA0CCR0/TA0CCR1

Timer registers determine when events occur and the clock count limit. Combined, the register values determine the PWM period (TA0CCR0) and duty cycle (TA0CCR1).
TA0CCR0 = 1000; 1/12s period TA0CCR1 = 100;
// PWM period // 12KHz clock gives 12000/1000 = 12Hz = // PWM duty cycle = TA0CCR1/TA0CCR0 // time cycle on vs. off, on 10% initially
Achieves a 10% duty cycle, where PWM output is 1 for 10% of the time and 0 for 90% "TA0CCR1 output is reset (0) when the timer counts to the TA0CCR1 value and is set (1) when the timer counts to the TA0CCR0 value" (From User Guide). Means that when TA0CCR0 count is reached PWM output is 1 and counting starts over, and when TA0CCR1 is reached, PWM output is 0. Question 2
TA0CCR0 = 1000;
Give the
TA0CCR1
setting for a 25% duty cycle.
TA0CCTL1
Controls PWM output, whether high or low when TA0CCR1 is below the count.
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TA0CCTL1 = OUTMOD_7; low voltage when past

TA0CCR0=8 (0-8) period 9 ticks TA0CCR1=2 (0-2) duty cycle 3/9=33% 33% duty cycle is generated Clock TA0CCR0 TA0CCR1 PWM Period Duty Cycle 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 0 1 2 3 4 5 6 7 8 0 1 2 3 4 5 6 7 8 0 1 2 3 0 1 2 0 1 2 0 1 2 0 1 2 0 1 2 0 1 2 0 1 2 0 1 1 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 1 0
// TA0CCR1 reset/set // high voltage below TA0CCR1 count and
Question 2.1 1. What is the duty cycle for: TA0CCR0=7 (0-7) TA0CCR1=1 (0-1) 2. Give the table above for 16 clock ticks. 3. Give the period and duty cycle diagram for 16 clock ticks.
TA0CTL
Timer A control sets SMCLK as clock source and count Up Mode.
TA0CCR0 = 8; // 33% duty cycle TA0CCR1 = 2; TA0CTL = TASSEL_1 + MC_1; // Timer A control set to submain clock TASSEL_1 and count up mode MC_1
12KHz clock input to Timer A, the PWM output: 12000/9 = 1333 periods per second
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1s/1333 = 0.00075s period duration.
Question 2.2
Give the settings for a 25% duty cycle and a 2 second period (using 12KHz clock input to Timer A).
TA0CCR0 = TA0CCR1 =
_BIS_SR(LPM0_bits);
// Enter Low power mode 0
Placing system in LPM0 keeps the SMCLK and timer A operating to control the PWM while shutting down the CPU.
Timers depend on the clock frequency. The default DCO (digital controlled oscillator) which is the source of the MCLK and in this case the ACLK at approximately 12KHz, making the PWM period about 1 second and .10 second duty cycle or 10%. 17. Green LED 10% brightness
#include <msp430g2553.h> void main(void){ WDTCTL = WDTPW + WDTHOLD; P1DIR |= BIT6; P1SEL |= BIT6; Modulation TA0CCR0 = 12000; 1/second TA0CCR1 = 1200; off, on 10% initially TA0CCTL1 = OUTMOD_7; below TA0CCR1 count TA0CTL = TASSEL_1 + MC_1; clock TASSEL_1 ACLK _BIS_SR(LPM0_bits); // Stop watchdog timer // Green LED // Green LED selected for Pulse Width // PWM period, 12000 ACLK ticks or // PWM duty cycle, time cycle on vs. // TA0CCR1 reset/set -- high voltage // and low voltage when past // Timer A control set to submain // and count up to TA0CCR0 mode MC_1 // Enter Low power mode 0
Question 3 Timer A source clock selected as ACLK, 12KHz. a. What happens if this statement is removed? b. What happens if this statement is removed? c. What happens if statement in a. is replaced by: d. No interrupt handler! How does the green LED change? e. What changes are needed for a 33% duty cycle?
TA0CTL = TASSEL_1 + MC_1; _BIS_SR(LPM0_bits); TA0CTL = TASSEL_1 + MC_1; _BIS_SR(GIE);
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f. What changes are needed for a 3 second period and 33% duty cycle?
Example Use WDT to toggle red LED at
32ms intervals and timer A to generate 10% duty cycle to green LED.
18. Green LED 10% brightness, flashing red LED.
#include <msp430g2553.h> void main(void){ WDTCTL = WDT_MDLY_32; IE1 |= WDTIE; P1DIR |= BIT6+BIT0; P1SEL |= BIT6; TA0CCR0 = 1000; TA0CCR1 = 100; off, on 10% initially TA0CCTL1 = OUTMOD_7; below count TA0CTL = TASSEL_1 + MC_1; clock TASSEL_1 _BIS_SR(LPM0_bits + GIE); interrupts enabled } #pragma vector=WDT_VECTOR routine __interrupt void watchdog_timer(void) { } P1OUT ^= BIT0; // Toggle red LED // Watchdog timer 32ms // enable Watchdog timer interrupts // Green and red LED // Green LED Pulse width modulation // PWM period // PWM duty cycle, time cycle on vs. // CCR1 reset/set -- high voltage // and low voltage when past // Timer A control set to submain // and count up mode MC_1 // Enter Low power mode 0 with
// Watchdog Timer interrupt service
Question 3.1 Timer A source clock selected as ACLK, 12KHz. a. What happens if this statement is removed? b. What happens if statement in a. is replaced by: c. What happens if statement in a. is replaced by:
TA0CTL = TASSEL_1 + MC_1; _BIS_SR(LPM0_bits + GIE); _BIS_SR(GIE); _BIS_SR(LPM0_bits);
Example - Pulse green LED Use WDT to change at
32ms intervals, the green LED duty cycle.
Effect is the green LED cycles through becoming brighter then dimmer then brighter ...
pwmDirection
- always 1 or -1 to control whether duty cycle is increasing (1) or decreasing (-1).
TA0CCR1 - Increased (or decreased) by increments of 20, increasing (or decreasing) the duty cycle and therefore
the brightness of the green LED.
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19. Green LED changes brightness.
#include <msp430g2553.h> int pwmDirection = 1; void main(void){ WDTCTL = WDT_MDLY_32; IE1 |= WDTIE; P1DIR |= BIT6; P1SEL |= BIT6; TA0CCR0 = 1000; TA0CCR1 = 1; off, on 1/1000 initially TA0CCTL1 = OUTMOD_7; below count and TA0CTL = TASSEL_2 + MC_1; TASSEL_2, 1MHz _BIS_SR(LPM0_bits + GIE); // Watchdog timer 32ms // enable Watchdog timer interrupts // Green LED for output // Green LED Pulse width modulation // PWM period // PWM duty cycle, time cycle on vs. // TA0CCR1 reset/set -- high voltage // low voltage when past // Timer A control set to SMCLK clock // and count up mode MC_1 // Enter Low power mode 0 // Watchdog Timer interrupt service
#pragma vector=WDT_VECTOR routine __interrupt void watchdog_timer(void) { TA0CCR1 += pwmDirection*20; vs. off time if( TA0CCR1 > 980 || TA0CCR1 < 20 ) TA0CCR1) or dimmer pwmDirection = -pwmDirection; }
Question 4 Timer A source clock selected as SMCLK, 1MHz. a. What is the duration of one PWM period? b. What is the duration of time LED is On, the duty cycle?
// Increase/decrease duty cycle, on // Pulse brighter (increasing
TA0CTL = TASSEL_2 + MC_1;
C and Assembler #include <msp430g2553.h> void main(void) { WDTCTL = WDTPW + WDTHOLD; P1DIR |= 0x41; P1OUT &= 0xbf; P1OUT |= 0x01; CCR0 = 12000; CCTL0 = 0x10; TACTL = TASSEL_1 + MC_1; // Stop watchdog timer // Set P1.0 and P1.6 to output direction // Set the red LED on // Set the green LED off // Count limit // Enable counter interrupts, bit 4=1 // Timer A with ACLK, count UP
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// LPM0 (low power mode) with interrupts enabled
#pragma vector=TIMER0_A0_VECTOR __interrupt void Timer0_A0 (void) { // Timer0 A0 interrupt service routine
} P1OUT ^= 0x41; // Toggle red/green LEDs
main
.cdecls C,LIST, "msp430g2553.h" .text ; Progam Start mov.w #0280h,SP ; Initialize stackpointer mov.w #WDTPW+WDTHOLD,&WDTCTL ; Stop WDT bis.b #01000001b,&P1DIR ; P1.0 and P1.6 output bic.b #00000001b,&P1OUT ; Set green LED off bis.b #01000000b,&P1OUT ; Set red LED on mov.w mov.w mov.w bis.w #10h,&CCTL0 #12000,&CCR0 #TASSEL_1+MC_1,&TACTL #CPUOFF+GIE,SR #01000001b,&P1OUT ; CCR0 interrupt enabled, bit 4 = 1 ; Count 12000 to CCR0 ; ACLK source (~12KHz), UP mode (count up to CCR0 value) ; CPU off, interrupts enabled ; Toggle P1.0 and P1.6
TA0 ;
xor.b reti
Interrupt Vectors .sect ".reset" .short main .sect ".int09" .short TA0 .end
; MSP430 RESET Vector ; ; Timer_A0 Vector
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MSP430 Timers and PWM

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