EMBEDDED SYSTEMS: Jonathan W. Valvano INTRODUCTION TO THE MSP432 MICROCONTROLLER. Volume 1 First Edition June 2015

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1 EMBEDDED SYSTEMS: INTRODUCTION TO THE MSP432 MICROCONTROLLER Volume 1 First Edition June 2015 Jonathan W. Valvano

2 ii Jonathan Valvano First edition 3 rd printing June 2015 The true engineering experience occurs not with your eyes and ears, but rather with your fingers and elbows. In other words, engineering education does not happen by listening in class or reading a book; rather it happens by designing under the watchful eyes of a patient mentor. So, go build something today, then show it to someone you respect! ARM and uvision are registered trademarks of ARM Limited. Cortex and Keil are trademarks of ARM Limited. Code Composer Studio is a trademark of Texas Instruments. All other product or service names mentioned herein are the trademarks of their respective owners. In order to reduce costs, this college textbook has been self-published. For more information about my classes, my research, and my books, see For corrections and comments, please contact me at: valvano@mail.utexas.edu. Please cite this book as: J. W. Valvano, Embedded Systems: Introduction to the MSP432 Microcontroller, Volume 1, ISBN: Copyright 2015 Jonathan W. Valvano All rights reserved. No part of this work covered by the copyright herein may be reproduced, transmitted, stored, or used in any form or by any means graphic, electronic, or mechanical, including but not limited to photocopying, recording, scanning, digitizing, taping, web distribution, information networks, or information storage and retrieval, except as permitted under Section 107 or 108 of the 1976 United States Copyright Act, without the prior written permission of the publisher. ISBN-13: ISBN-10:

3 Jonathan Valvano iii Table of Contents Preface... x Acknowledgements... xi 1. Introduction to Computers and Electronics Review of Electronics Binary Information Implemented with MOS transistors Digital Logic Digital Information stored in Memory Numbers Character information Computer Architecture Flowcharts and Structured Programming Concurrent and Parallel Programming Exercises Introduction to Embedded Systems Embedded Systems Applications Involving Embedded Systems Product Life Cycle Successive Refinement Quality Design Quantitative Performance Measurements Qualitative Performance Measurements Attitude Debugging Theory Switch and LED Interfaces Introduction to C Exercises Introduction to the ARM Cortex -M Processor Cortex -M Architecture... 82

4 iv Jonathan Valvano Registers Reset Memory Operating Modes The Software Development Process ARM Cortex-M Assembly Language Syntax Addressing Modes and Operands Memory Access Instructions Logical Operations Shift Operations Arithmetic Operations Stack Functions and Control Flow Assembler Directives First Example Project Simplified Machine Language Execution CISC versus RISC Details Not Covered in this Book Exercises Introduction to Input/Output Texas Instruments MSP432 I/O pins Basic Concepts of Input and Output Ports I/O Programming and the Direction Register Switch Inputs and LED Outputs Clock System SysTick Timer Standard I/O Driver and the printf Function Debugging monitor using an LED Performance Debugging

5 Jonathan Valvano v Instrumentation Measurement of Dynamic Efficiency Exercises Lab Assignments Modular Programming C Keywords and Punctuation Modular Design using Abstraction Definition and Goals Functions, Procedures, Methods, and Subroutines Dividing a Software Task into Modules How to Draw a Call Graph How to Draw a Data Flow Graph Top-down versus Bottom-up Design Making Decisions Conditional Branch Instructions Conditional if-then Statements switch Statements While Loops Do-while Loops For Loops *Assembly Macros *Recursion Writing Quality Software Style Guidelines Comments Inappropriate I/O and Portability How Assemblers Work Functional debugging Stabilization Single Stepping

6 vi Jonathan Valvano Breakpoints with Filtering Instrumentation: Print Statements Desk checking Exercises Lab Assignments Pointers and Data Structures Indexed Addressing and Pointers Arrays Strings Structures Finite State Machines with Linked Structures Abstraction Moore Finite State Machines Mealy Finite State Machines *Dynamically Allocated Data Structures *Fixed Block Memory Manager *Linked List FIFO Matrices and Graphics *Tables Functional Debugging Instrumentation: Dump into Array without Filtering Instrumentation: Dump into Array with Filtering Exercises Lab Assignments Variables, Numbers, and Parameter Passing Local versus global Stack rules Local variables allocated on the stack Stack frames Parameter Passing

7 Jonathan Valvano vii Parameter Passing in C Parameter Passing in Assembly Language C Compiler Implementation of Local and Global Variables Fixed-point Numbers Conversions *IEEE Floating-point numbers Exercises Lab Assignments Serial and Parallel Port Interfacing General Introduction to Interfacing Universal Asynchronous Receiver Transmitter (UART) Asynchronous Communication MSP432 UART Details UART Device Driver Synchronous Peripheral Interface, SPI Nokia 5110 Graphics LCD Interface Scanned Keyboards Binary actuators Interface Electromagnetic and Solid State Relays Solenoids *Pulse-width modulation *Stepper motors Exercises Lab Assignments Interrupt Programming and Real-time Systems I/O Synchronization Interrupt Concepts Interthread Communication and Synchronization NVIC on the ARM Cortex-M Processor

8 viii Jonathan Valvano 9.5. Edge-triggered Interrupts SysTick Periodic Interrupts Periodic Interrupts using TimerA Hardware debugging tools Profiling Profiling using a software dump to study execution pattern Profiling using an Output Port *Thread Profile Exercises Lab Assignments Analog I/O Interfacing Approximating continuous signals in the digital domain Digital to Analog Conversion Music Generation Analog to Digital Conversion MSP432 ADC14 details ADC Resolution Real-time data acquisition Exercises Lab Assignments Communication Systems Introduction Reentrant Programming and Critical Sections Producer-Consumer using a FIFO Queue Basic Principles of the FIFO Queue FIFO Queue Analysis FIFO Queue Implementation Double Buffer Serial port interface using interrupt synchronization *Distributed Systems

Jonathan Valvano ix 11.6. Exercises... 403 11.7. Lab Assignments... 405 11.8. Best Practices... 405 Appendix 1. Glossary... 406 Appendix 2.

9 Jonathan Valvano ix Exercises Lab Assignments Best Practices Appendix 1. Glossary Appendix 2. Solutions to Checkpoints Appendix 3. How to Convert Projects from Keil to CCS Appendix 4. Assembly Reference Index

Lecture notes Lectures 1 through 5 (up through lecture 5 slide 63) Book Chapters 1-4

Lecture notes Lectures 1 through 5 (up through lecture 5 slide 63) Book Chapters 1-4 EE445M Midterm Study Guide (Spring 2017) (updated February 25, 2017): Instructions: Open book and open notes. No calculators or any electronic devices (turn cell phones off). Please be sure that your answers