book

MSP430-based Robot Applications

by Dan Harres

February 2013

Intermediate to advanced

416 pages

9h 36m

English

Newnes

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Expected reader backgroundThe parts of a robotWhere to get helpTools you will needComponents
Mechanical disassemblyElectrical inspectionElectrical disassembly
Some basic lawsResistors, capacitors, and inductorsChapter wrap-upBibliography
P–n junctionsThe diodeThe bipolar transistorMetal oxide semiconductor field-effect transistor (MOSFET)The operational amplifierThe H-bridgeSemiconductor wrap-upBibliography

Learning by doingBeakman’s motorImproving on Beakman’s motorIs a DC motor also a DC generator?Powering the motorThe analog DC motor driveBrakeable and reversible PWM motor driveGearsBibliography
Circuit simulation historyModern circuit simulation programsSimulations wrap-up
The birth of integrated circuitsThe advent of logicWhy is it called logic?Some algebraic identitiesLogic optimizationAdvanced topics in computer logicElectronic implementation of logicA logic example – the adderThe Exclusive-Or gateThe multiple-bit adderFlip-flops and registersLogic chapter wrap-upBibliography
Getting started with binaryConverting from binary to decimalConverting from decimal to binaryAdditionFractional numbersNegative numbersOverflowSubtractionMultiplicationDivisionHexadecimal and octalFloating-point arithmeticBibliography
What is a central processing unit and how does it work?What does an MSP430 instruction look like?How does the microcontroller talk to the peripherals?InterruptsIs there more than one type of MSP430 and what are the differences?What is the MSP430 launchpad?Which MSP430 types does this book focus on?Choosing the programming languageClocksBibliography
The TI MSP430x2xx family user’s guideThe MSP430 datasheetsRegisters and memoryAddressing memory and registers in assembly languageInstruction setBibliography
Getting startedA second programming example – the software multiplyBibliography
The multiply program in CC programming wrap-upBibliography
Back to hardware!System clocking in a computerBibliography
Parallel I/OSerial I/ODigital I/O wrap-upBibliography
Capture – timestamping eventsTimer compare modeTimers and counters wrap-upBibliography
Digital-to-analog convertersUsing superposition to analyze D/A circuitsAnalog-to-digital conversionSuccessive approximation guessingBibliography
Types of circuit constructionWhere to buy partsBibliography
Ultrasonic generation and detectionOptical generation and detectionCombining sensors for improved avoidance decisionsBibliography
Ways to measure vehicle speedOther optical methods for measuring speedReducing the effect of ambient lightingSpeed measurement exampleBibliography
The charge pumpInductor-based boost circuitsNegative feedback maintains the proper output voltageBibliography
RF remote controlsOptical remote controlsImproving interference immunity through modulationRobot remote transmitterRobot remote receiverRemote control wrap-upBibliography
Learning to troubleshoot is invaluableStrategies for troubleshootingSpecific troubleshooting tipsTroubleshooting wrap-upBibliography
Juggling multiple tasks using a real-time operating systemSchedulingRTOS wrap-upBibliography
Final hardwareOne remaining software task: high-level controlThe complete programProgramming and circuit wrap-upFuture robot peripheralsLearn and enjoy!

Content preview from MSP430-based Robot Applications

Chapter 13

System Clocking for the MSP430

Chapter Outline

Back to hardware!

System clocking in a computer

The MSP430 system clocks

The DCOCLK

Frequency inaccuracy of the RC oscillator

Setting the frequency of the DCOCLK

Calibrated frequencies

Bibliography

Back to hardware!

The last several chapters gave the basics of MSP430 software and, previous to that, we talked about electronics at a general level. Now it’s time to look at specific aspects of the MSP430. In the “Introducing the MSP430 Microcontroller” chapter, we discussed briefly the clocking of the MSP430. In this chapter, we’ll discuss clocking in more detail.