;-------------------------------------------------------------------------------

; MSP430 Assembler Code Template for use with TI Code Composer Studio

;

;-------------------------------------------------------------------------------

.cdecls C,LIST,"msp430.h" ; Include device header file

;-------------------------------------------------------------------------------

.def RESET ; Export program entry-point to

; make it known to linker.

;-------------------------------------------------------------------------------

.text ; Assemble into program memory.

.retain ; Override ELF conditional linking

; and retain current section.

.retainrefs ; And retain any sections that have

; references to current section.

;-------------------------------------------------------------------------------

RESET mov.w #__STACK_END,SP ; Initialize stackpointer

StopWDT mov.w #WDTPW|WDTHOLD,&WDTCTL ; Stop watchdog timer

.text ; program start

.global _main ; define entry point

_main:

NOP

mov.w #WDTPW+WDTHOLD,&WDTCTL ; stop watchdog timer

;Set the I/O port that controls the RED LED to an output.

; To do this set bit 0 in the P1DIR register. Leave all

; all other I/O lines as inputs

Call #SetIOPorts

Call #InitilizeDisplaySPI

Call #InitilizeDisplay

looptemp:

;mov.b #0xa5,R10

;call #SendSPI

;jmp looptemp

call #DisplayLetters

;bic #0X4100,&UCSCTL6

call #HalfSecondDelay

;bic.b #0X70,&UCSCTL1

;MOV #0X11FF,&UCSCTL2

;call #HalfSecondDelay

Mainloop:

jmp Mainloop; jump to the Mainloop label

nop

InitilizeDisplay:

bic.b #01000000b,P1OUT ;reset the display

call #HalfSecondDelay ;only need 20us but I have a half second delay.

bis.b #01000000b,P1OUT

mov.a #DisplayInitilizationData,R4

InitDisplayMore:

bic.b #00001000b,P2OUT

mov #0x1f,R10

call #SendSPI

mov.b @R4+,R13

cmp.b #0xff,R13

jz InitDisplayDone

mov.b R13,R10

and.b #0x0f,R10

call #SendSPI

rra.b R13

mov.b R13,R10

and.b #0x0f,R10

call #SendSPI

bis.b #00001000b,P2OUT

jmp InitDisplayMore

InitDisplayDone:

bis.b #00001000b,P2OUT

ret

DisplayInitilizationData:

.byte 0x3A,0x01f,0x09,0x06,0x1E,0x39,0x1B,0x6E,0x56,0x7A,0x38,0x01,0x0F,0x39,0x56,0x70,0x38,0xff

Displaynumbers:

mov.a #DisplayNumberData,R4

bic.b #00001000b,P2OUT

DisplaynumbersMore:

mov.b @R4+,R10

cmp.b #0xff,R10

jz DisplaynumbersDone

call #SendSPI

jmp DisplaynumbersMore

DisplaynumbersDone:

bis.b #00001000b,P2OUT

ret

DisplayNumberData:

.byte 0x5f,0x01,0x03,0x02,0x03,0xff

DisplayLetters:

mov.a #DisplayLettersData,R4

bic.b #00001000b,P2OUT

DisplayLettersMore:

mov.b @R4+,R10

cmp.b #0xff,R10

jz DisplayLettersDone

call #SendSPI

jmp DisplayLettersMore

DisplayLettersDone:

bis.b #00001000b,P2OUT

ret

DisplayLettersData:

.byte 0x5f,0x01,0x04,0x02,0x06,0x01,0x06,0x0E,0x06,0x0F,0x06,0x02,0x06,0xff ; Abanoub

HalfSecondDelay:

mov #0x1,R14

OuterTimercountLoop:

mov #0xffff,R15

TimercountLoop:

nop

sub #1,R15

jnz TimercountLoop

sub #1,R14

jnz OuterTimercountLoop

ret

SetIOPorts:

; IO ports need to be defined as Inputs and outputs based on the development board

;

; PORT 1 bit direction function

; 0 output LED on Developmet board

; 1 input (pullup) Switch 2 on development board

; 2 input right distance sensor

; 3 input left distance sensor

; 4 output left pwm

; 5 output right pwm

; 6 output Display reset

; 7 input EzEET_uart

mov.b #00000011b,P1OUT ;set up all default output values and pullups

mov.b #00000010b,P1REN ;enable pull up/dn resistors

mov.b #01110001b,P1DIR ;set all pin directions per definition

; PORT 2 bit direction function

; 0 output Distance Right Trigger

; 1 input (pullup) Switch 1 on development board

; 2 output Direction of right motor

; 3 output Chip Select for display

; 4 input front distance sensor

; 5 output front distance sensor trigger

; 6 output left distance sensor trigger

; 7 output direction of left motor

mov.b #00001010b,P2OUT ;set up all default output values and pullups

mov.b #00000010b,P2REN ;enable pull up/dn resistors

mov.b #11101101b,P2DIR ;set all pin directions per definition

; PORT 3 bit direction function

; 0 output MOSI (also LED 1)

; 1 input MISO (also LED 2)

; 2 output SCLK (also LED 3)

; 3 output UART Tx (also LED 4)

; 4 input UART Rx (also LED 5)

; 5 output LED 6

; 6 output LED 7

; 7 output LED 8

mov.b #00000110b,P3OUT ;set up all default output values and pullups

mov.b #00000000b,P3REN ;enable pull up/dn resistors

mov.b #11101101b,P3DIR ;set all pin directions per definition

mov.b #00000111b,P3SEL

; PORT 4 bit direction function

; PORT 5 bit direction function

; PORT 6 bit direction function

; PORT 7 bit direction function

ret

InitilizeDisplaySPI:

bic.b #00001000b, &P2OUT ;Chip Select low initializer

mov.b #01000000b, &P1OUT ;Reset high initializer

mov.b #00001000b, &P2DIR ;Chip Select Output mode

mov.b #01000000b, &P1DIR ;Reset Output mode

mov.b #00000111b, &P3SEL ;SCLK, MOSI, MISO

mov.b #00000001b, UCB0CTL1 ;Allow modifications

mov.b #01001001b, &UCB0CTL0 ;Communication parameters

mov.b #11000001b, &UCB0CTL1 ;More parameters

mov.b #0x0B, &UCB0BR0 ;Setting baud rate to achieve 100 kHz clock

mov.b #0x00, &UCB0BR1

bic.b #00000001b, UCB0CTL1 ;Enable serial

bic.b #01000000b, &P1DIR ;Pull reset low

call #HalfSecondDelay ;Wait

; bic.b #01000000b, &P1DIR ;Pull reset high

nop

ret

SendSPI:

; Send SPI will send the data in R10 to the SPI port and recieve the data

; R9 is used to check the buisy bit.

; make sure to check teh busy bit before and after sending data.

bis.b #01000000b, &P1DIR ;Pull Chip Select high

mov.b R10, &UCB0TXBUF ;send the spi the content of r10

CheckSTATUS:

bit.b #1, &UCB0STAT l ;if spi is busy wait till its finished

jnz CheckSTATUS

nop

ret

nop

;-------------------------------------------------------------------------------

; Stack Pointer definition

;-------------------------------------------------------------------------------

.global __STACK_END

.sect .stack

;-------------------------------------------------------------------------------

; Interrupt Vectors

;-------------------------------------------------------------------------------

.sect ".reset" ; MSP430 RESET Vector

.short RESET