MC LC

MC LC................................................................................................................... 1
LI M U ............................................................................................................. 2
CHNG 1: TNG QUAN ...................................................................................... 3
1.1 t vn ........................................................................................................... 3
1.2 Phm vi ca ti ............................................................................................... 3
1.3 Hng gii quyt vn ..................................................................................... 3
CHNG 2: C S L THUYT .......................................................................... 4
2.1 Gii thiu s lc v MSP430 ............................................................................ 4
2.2 Kit eZ430 RF2500 .............................................................................................. 4
2.2.1 Gii thiu Kit eZ430 RF2500 ....................................................................... 4
2.2.2 Thnh phn Kit eZ430 RF2500 ca TI.......................................................... 5
2.2.3 Chc nng cc chn ca board eZ430-RF2500 ............................................. 7
2.2.4 c im MSP430F2274 trn kit eZ430-RF2500 ....................................... 10
2.2.5 c im CC2500 trn kit eZ430-RF2500.................................................. 11
CHNG 3: NI DUNG V KT QU NGHIN CU ..................................... 14
3.1. S mch chi tit ca kit eZ430-RF2500....................................................... 14
3.2 S khi ca mch thit k............................................................................. 17
3.2.1 Mch iu khin Motor s dng cu H ....................................................... 17
3.2.2 Cc phm iu khin ................................................................................... 18
3.3 Lu gii thut ............................................................................................... 19
3.4 Nguyn tc truyn nhn d liu gia MSP430F2274 vi CC2500 ..................... 21
3.5 Khung d liu truyn nhn ................................................................................ 21
3.6 Chng trnh ..................................................................................................... 22
KT LUN ............................................................................................................... 28
TI LIU THAM KHO ........................................................................................ 29
21

Trang 1

LI M U

MSP430 l h vi iu khin cu trc RISC 16-bit c sn xut bi cng ty Texas

Instruments. MSP l ch vit tt ca MIXED SIGNAL MICROCONTROLLER, l
dng vi iu khin siu tit kim nng lng, s dng ngun thp, khong t 1.8V
3.6V. MSP430 kt hp cc c tnh ca mt CPU hin i v tch hp sn cc module
ngoi vi. Kit eZ430-RF2500 l mt sn phm ng dng ca MSP430, c tch hp
thm b phn truyn nhn d liu khng dy hot ng vng tn s 2.4GHz v b
phn cm bin nhit. y l h vi iu khin mi gia nhp vo th trng vi iu khin
ca nc ta, nn cha c nhiu ti nghin cu v trin khai ng dng.
Bi bo co vi x l ny trnh by v Kit eZ430-RF2500 v ng dng Kit ny vo
thit k xe iu khin t xa.
Trong qu trnh tm hiu v thit k khng trnh khi thiu st, rt mong nhn
c kin ng gp ca thy c v cc bn.
Xin gi li cm n chn thnh n thy Trn Hu Danh hng dn nhm
chng em hon thnh tt ti vi x l ny.

Trang 2

CHNG 1: TNG QUAN

1.1 t vn
Yu cu t ra: tm hiu Kit eZ430-RF2500 ca TI v s dng b truyn nhn khng
dy c tch hp sn trn kit thit xe iu khin t xa.
1.2 Phm vi ca ti
ti tp trung vo kho st, nghin cu Kit eZ430-RF2500. Trn c s , thit k
phn cng v lp trnh iu khin c xe.
1.3 Hng gii quyt vn
Da trn nhng vn t ra chng ta s s dng cc phng php sau hon
thnh ti:
-

Nghin cu ti liu: thu thp v x l ti liu. Cc ti liu thu thp ch yu qua

s hng dn ca thy c v ti liu trn mng internet (trang web ca TI).

Thit k phn cng m hnh xe.

Dng IAR Embedded Workbench (phn mm h tr y cc cng c lp

trnh cho dng sn phm MSP430) vit chng trnh, bin dch, g li v np
cho Kit.

Trang 3

CHNG 2: C S L THUYT
2.1 Gii thiu s lc v MSP430
MSP430 l h vi iu khin c cu trc RISC 16-bit c sn xut bi cng ty Texas
Instruments, l dng vi iu khin siu tit kim nng lng, s dng ngun thp,
khong in p ngun cp t 1.8V 3.6V. MSP430 kt hp cc c tnh ca mt CPU
hin i v tch hp sn cc module ngoi vi. RISC (Reduced Intruction Set Computer)
l mt kin trc vi x l theo hng n gin ha tp lnh. Cc lnh c xy dng
c th thc hin vi ch 1 chu k my. Mt khc bus d liu v bus a ch (c rng
16 bt) tch ri nhau iu ny gip cho qu trnh c d liu v m lnh c th din ra
ng thi do nng cao hiu sut lm vic ca vi x l.
Cc thnh vin ca dng MSP430 bao gm:
- MSP430F2232: 8KB + 256B Flash Memory 512B RAM.
- MSP430F2272: 32KB + 256B Flash Memory 1KB RAM.
- MSP430F2234: 8KB + 256B Flash Memory 512B RAM.
- MSP430F2254: 16KB + 256B Flash Memory 512B RAM.
- MSP430F2274: 32KB + 256B Flash Memory 1KB RAM.
Vi s tiu th dng rt thp trong ch tch cc th dng tiu th l 200uA, 1Mhz,
2.2V. Vi ch standby th dng tiu th l 0.7uA. V ch tt ch duy tr b nh
Ram th dng tiu th rt nh 0.1uA. MSP430 c u th v ch ngun nui. Thi
gian chuyn ch t ch standby sang ch tch cc rt nh (< 6us).
2.2 Kit eZ430 RF2500
2.2.1 Gii thiu Kit eZ430 RF2500
eZ430-RF2500 l mt th giao tip USB v truyn nhn d liu khng dy. eZ430RF2500 c pht trin da trn MSP430F2274 kt hp vi chp CC2500 truyn nhn
tn hiu vng tn s 2.4 GHz, tch hp sn cm bin nhit . Do c im dng
MSP430 c nhng u th v nng lng nn p ng c nhng nhu cu trong thit
b di ng. MSP430 dng ngun 3.6V nn trong thit k ny ta c th s dng pin.

Trang 4

B eZ430-RF2500 l mt sn phm c th lm vic vi u cm USB nh mt h

thng c lp vi cm bin bn ngoi. Hoc s dng thit k m rng vi nhng
module ngoi vi. Vi giao din g li USB cho php sn phm c th truyn v nhn
d liu t xa t my tnh c nhn s dng truyn nhn ni tip UART.
c tnh ca eZ430-RF2500:
-

Giao din lp trnh v g li.

C sn 21 chn.

Mt tch hp cao, MSP430 c ngun cc thp siu tit kim nng lng.

Hai chn xut/ nhp kt ni vi hai led xanh v cho php ngi lp trnh m
phng trc quan.

Mt nt nhn dng m phng trc quan.

2.2.2 Thnh phn Kit eZ430 RF2500 ca TI

Phn cng:
-

Hai eZ430-RF2500T target board.

Mt eZ430-RF cng USB.

Mt eZ430-RF2500 dng Pin (c Pin km theo).

Mt CD- ROM MSP430 Development Tool c ti liu, mt s code mu v phn mm

ng dng:
-

MSP430x2xx Family Users Guide, SLAU144

eZ430-RF2500 Users Guide, SLAU227

Code Composer Essentials (CCE), SLAC063

IAR Embedded Workbench (KickStart Version), SLAC050

eZ430-RF2500 Sensor Monitor (Code and Visualizer), SLAC139

Hnh 1 m t Kit eZ430-RF2500 dng cng USB.

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Hnh 1: Board eZ430-RF2500 USB

Hnh 2 l Board eZ430-RF2500 dng Pin.

Hnh 2: Board eZ430-RF2500 dng Pin

Trang 6

2.2.3 Chc nng cc chn ca board eZ430-RF2500

Hnh 3 l s kt ni gia eZ430-RF2500T target board v Battery Board.

Hnh 3: S kt ni gia eZ430-RF2500T Target Board v Battery Board

Ngoi ng dng truyn nhn tn hiu t xa, board cn ly ra 18 chn cho ngi lp
trnh thc hnh v pht trin nhng ng dng ring ca mnh.
Bng 1: Chc nng cc chn ca Battery Board
PIN
1

Chc nng
P3.4 / UCA0TXD /
UCA0SIMO

2
3
4

GND
RST / SBWTDIO
TEST / SBWTCK

5
6

VCC (3,6V)
P3.5 / UCA0RXD /
UCA0SOMI

M t
Chn xut/nhp s, chn truyn d liu
USCI_A0 trong ch UART, ng vo ch
t, ng ra ch ch trong ch SPI
Mass
Chn reset tch cc mc thp.
La chn ch kim tra cho chn JTAG ca
port 1.
Ngun Vcc 3.6V
Chn xut/nhp s, chn nhn d liu USCI_A0
trong ch UART, ng vo ch t, ng ra
ch ch trong ch SP.

Trang 7

Bng 2: Chc nng cc chn ca Board eZ430-RF2500

PIN

Chc nng

M t

GND

Mass

VCC

Chn ngun Vcc 1.8V - 3.6V.

P2.0 / ACLK / A0 / OA0I0

Chn xut/nhp s, ng ra xung clock ACLK,

ng vo tng t A0 knh ADC10.

P2.1 / TAINCLK / SMCLK

Chn xut/nhp s, ng vo analog A1 knh

/ A1 /A0O

ADC10, xung clock INCLK ca Timer_A, xung

clock ch SMCLK.

P2.2 / TA0 / A2 / OA0I1

Xut/nhp, ng vo tng t A2 ca knh

ADC10, ng vo CCI0B ca Timer_A ch
capture, ng ra OUT0 ch so snh.

P2.3 / TA1 / A3 / VREF /

Xut/nhp, ng vo tng t A3 knh ADC10,

VeREF OA1I1 / OA1O

in p tham chiu m VREF / VeREF , ng

vo CCI1B ca Timer_A, ng ra OUT1 ch
so snh.

P2.4 / TA2 / A4 / VREF+ /

Chn xut/nhp s, ng vo tng t A4 knh

VeREF+/ OA1I0

ADC10, ng ra OUT2 Timer_A ch so snh,

ng vo/ra in p tham chiu.

P4.3 / TB0 / A12 / OA0O

Chn xut/nhp s, ng vo tng t A12 knh

ADC10, ng vo CCI0B Timer_B ch
capture, ng ra OUT0 ch so snh.

P4.4 / TB1 / A13 /

OA1O

Chn xut/nhp s, ng vo tng t A13 knh

ADC10, ng vo CCI1B Timer_B ch
capture, ng ra OUT1 ch so snh.

10

P4.5 / TB2 / A14 / OA0I3

Chn xut/nhp s, ng vo tng t A14 knh

ADC10, ng ra OUT0 ca Timer_B ch so
snh.
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11

P4.6 / TBOUTH / A15 /

Chn xut/nhp s, ng vo tng t A15 knh

OA1I3

ADC10, chuyn mch t TB0 sang TB3 ng ra

tng tr cao.

12

GND

Mass

13

P2.6 / XIN (GDO0)

Chn xut/nhp s, kt ni thch anh.

14

P2.7 / XOUT (GDO2)

Chn xut/nhp s, kt ni thch anh.

15

P3.2 / UCB0SOMI /

Chn xut/nhp s, ng ra ch t, ng vo

UCB0SCL

ch ch USCI_B0 trong ch SPI, ngun

xung clock SCLI2C trong I2C mode.

16

P3.3 / UCB0CLK /

Chn xut/nhp s, ng vo xung clock

UCA0STE

USCI_B0, ng ra cho php truyn d liu

USCI_A0 trong ch t.

17

P3.0 / UCB0STE /

Chn xut/nhp s, ng vo tng t A5 knh

UCA0CLK / A5

ADC10, xung USCI_A0, chn cho php truyn

tn hiu USCI_B0 trong ch t.

18

P3.1 / UCB0SIMO

Chn xut/ nhp s, , ng ra ch t, ng vo

/UCB0SDA

ch ch USCI_B0 trong ch SPI, d liu

SDAI2C trong I2C mode.

Trang 9

2.2.4 c im MSP430F2274 trn kit eZ430-RF2500

S khi bn trong ca MSP430F2274 c th hin qua Hnh 3.

Hnh 3: S khi MSP430F2274

S khi trn bao gm mt s khi nh sau: khi ngun xung, khi CPU, khi
ADC10, khi Timer, khi chun giao tip,
Cc thng s k thut ca MSP430F2274 c trnh by nh bng 3.

Trang 10

Bng 3: Cc thng s k thut ca MSP430F2274.

2.2.5 c im CC2500 trn kit eZ430-RF2500

CC2500 l vi iu khin thc hin cc cng vic nh: iu ch, gii iu ch, kim tra
li, lp bit, . phc v cho vic thu pht khng dy.
CC2500 l chp thu pht sng v tuyn RF tn s 2.4 GHz. Chip s dng ngun thp
tit kim nng lng c th s dng pin. Thch hp vi nhng thit b di ng iu
khin bng cng ngh khng dy, thit b in t dn dng, iu khin chi, chut
v bn phm khng dy, cc ng dng iu khin t xa khc. B thu pht c tch hp
vi cu hnh modem di gc cao. Modem h tr nhiu hnh thc iu ch tn hiu khc
nhau trong cu hnh d liu ln ti 500 Kbaud. CC2500 h tr phn cng cho vic
x gi d liu. Tch hp cm bin nhit . Thng CC2500 kt hp vi mt chip vi
x l v cc linh kin th ng khc thc hin chc nng iu khin.

Trang 11

Hnh 4: S khi bn trong CC2500

Cc thng s k thut ca CC2500 c trnh by nh bng 4.
Bng 4: Cc thng s k thut ca CC2500.

Thng s

MIN

TYP

MAX

UNIT iu kin

3.6

iu kin lm vic
in p

1.8

Dng tiu th
Tn hiu vo RX

16.6

mA

Dng ti u

250kbps

18.8

mA

nhy ti u

Tn hiu vo RX

13.3

mA

Dng ti u

30dB 250kbps

15.7

mA

nhy ti u

Dng tiu th TX

21.2

mA

11.1

mA

(0dBm)
Dng tiu th TX
(-12dBm)
Trang 12

c im truyn nhn RF
Tn s

2400

2483.5 MHz

Tc d liu

1.2

500

kbps

Cng sut ng ra

-30

dBm

nhy 10 kbps

nhy 250 kbps

-99

dBm

Dng ti u

-101

dBm

nhy ti u

-87

dBm

Dng ti u

-89

dBm

nhy ti u

Trang 13

CHNG 3: NI DUNG V KT QU NGHIN CU

3.1. S mch chi tit ca kit eZ430-RF2500

Hnh 5: S nguyn l ca USB

Trang 14

Hnh 6: S nguyn l ca USB

Trang 15

Hnh 7: S nguyn l ca board eZ430-RF2500T

Trang 16

3.2 S khi ca mch thit k

3.2.1 Mch iu khin Motor s dng cu H
-

Motor c cu to gm stato (phn ng yn) vi cc cc t (bng nam chm

vnh cu hoc nam chm in), roto vi cc cun dy qun, c gp, chi in.

Hnh 8: Cu to ca motor
Relay l mt dng cng tc (switch) c in, gm cc tip im c c iu
khin ng m bng dng in. Cc C gi l cc chung, NC l tip im
thng ng (Normal Closed) v NO l tip im thng m (Normal Open).
Hnh 9 l cu to v hnh dng thc t mt loi ca relay. Vi kh nng ng
m cc tip im, nn ta chn relay lm kha cho mch cu H.

Hnh 9: Cu to v hnh dng thc t mt loi ca relay

Trang 17

Mch iu khin motor s dng cu H c thit k nh hnh 10.

dk1

R1

Q5

Q6

NPN

NPN

10k

R2

dk2
10k

Hnh 10: S mch iu khin motor s dng cu H

3.2.2 Cc phm iu khin

R1
1k

R2
1k

R3
1k

R4
1k

Hnh 11: S cc phm iu khin

Trang 18

3.3 Lu gii thut

Gii thut truyn
BEGIN

sai

Phm tin
n

ng

sai

Phm phi
n

ng

ng

Truyn k t a

Truyn k t b

Phm tri
n

Phm phi
n

Truyn k t r

ng

Phm li
n

ng

Truyn k t l
Trang 19

Truyn k t u

sai

sai

ng

sai

Phm tri
n

Truyn k t d

sai

Gii thut nhn:

BEGIN
B
Nhn d liu

sai
Nhn b

Nhn a

ng

ng

Tin v r tri

ng
r phi

Tin

sai

sai
Nhn r

Nhn u

ng

Tin v r phi

sai

Nhn l

Nhn d

ng

ng
r tri

Trang 20

li

3.4 Nguyn tc truyn nhn d liu gia MSP430F2274 vi CC2500

Qu trnh truyn d liu bt u vi d liu cn truyn c np vo thanh ghi

m truyn UCxTXBUF. T d liu c chuyn ti thanh ghi dch truyn. Qu
trnh truyn kt thc khi thanh ghi dch truyn rng.
Qu trnh nhn d liu bt u vi d liu nhn thanh ghi dch nhn Receive
Shift Register. D liu t thanh ghi ny chuyn sang thanh ghi UCxRXBUF. Qu trnh
nhn kt thc khi thanh ghi dch nhn Receive Shift Register rng.
3.5 Khung d liu truyn nhn

Khung d liu c phn thnh cc thnh phn chnh sau:

- Chiu di khung d liu cn truyn (Length) 1 Byte: ch r di c th ca d
liu cn truyn.
- Ngun d liu (Source) 4 Byte: xc nh ngun ca d liu.
- nh hng (Destination) 4 Byte: nh hng d liu cn truyn.
- Ni dung (Payload) 8 Byte: trnh by ni dung ca d liu cn truyn. Ti a c
th ln n 20 byte.
Thc t khi truyn d liu ta c th b qua 2 thnh phn: source v destination.
Khi truy xut d liu t khung ta c th truy xut nh 1 mng gm c s phn t bng
vi di ca khung d liu.

Trang 21

3.6 Chng trnh

Chng trnh truyn

#include "radios/family1/mrfi_spi.h"
#include "mrfi.h"
#define down (P2IN&0x02)
#define right (P2IN&0x08)
#define left (P4IN&0x08)
#define up (P4IN&0x20)
#define up_left (P2IN&0x04)
mrfiPacket_t packetToSend;
void transmit(char value);
int main(void)
{
BSP_Init();
P1REN |= 0x04;
P1IE |= 0x04;
MRFI_Init();
mrfiSpiWriteReg(PKTCTRL0,0x41); //what does it mean? why do we need it?
MRFI_WakeUp();
MRFI_RxOn();
__bis_SR_register(GIE+LPM4_bits);
}
void MRFI_RxCompleteISR()
{
}
//define: signal to transmit
//a: up_right
//b: up_left
//u: up
//d: down
//c: down_right
//e: down_left
//r: right
//l: left
//s: stop
#pragma vector=PORT1_VECTOR
__interrupt void Port_1 (void)
{
for(;;){
if(up){
Trang 22

if(right){
transmit('a');
}
else if(left){
transmit('b');
}
else
transmit('u');
}
else if(down){
if(right){
transmit('c');
}
else if(left){
transmit('e');
}
else
transmit('d');
}
else if(right){
transmit('r');
}
else if(left){
transmit('l');
}
else if(up_left){
transmit('s');
}
}
}
void transmit(char value) //transmit function
{
mrfiPacket_t packet;
packet.frame[9]=value;
packet.frame[0]=11;
MRFI_Transmit(&packet, MRFI_TX_TYPE_FORCED);
P1OUT^=0x03;
}

Trang 23

Chng trnh nhn:

#include "radios/family1/mrfi_spi.h"
#include "mrfi.h"
mrfiPacket_t packetToSend;
void clearu_d(void);
void left(void);
void right(void);
void up(void);
void down(void);
void clearl_r(void);
int main(void)
{
P2DIR=0x11;
P4DIR=0x50;
BSP_Init();
P1REN |= 0x04;
P1IE |= 0x04;
MRFI_Init();
mrfiSpiWriteReg(PKTCTRL0,0x41); //what does it mean? why do we need it
MRFI_WakeUp();
MRFI_RxOn();
__bis_SR_register(GIE+LPM4_bits);
}
void MRFI_RxCompleteISR()
{
mrfiPacket_t packet;
Trang 24

MRFI_Receive(&packet);
char signal;
signal=packet.frame[9];//received signal

if(signal=='u'){ //go ahead

clearl_r();
up();
}
else if(signal=='a'){ //go ahead and turn right
up();
right();
}
else if(signal=='b'){ //go ahead and turn left
up();
left();
}
else if(signal=='d') { //go back
clearl_r();
down();
}
else if(signal=='c'){//down_right
down();
right();
}
else if(signal=='e'){// down_left
down();
left();
}
else if(signal=='l'){ //turn left
Trang 25

left();
}
else if(signal=='r'){

//turn right

clearu_d();
right();
}
else if(signal=='s'){

//stop by control

clearl_r();
clearu_d();
}
else{

//stop default

clearu_d();
clearl_r();
}
}
//control functions
//defination:
//P2.2_up(0x04)
//P2.4_down(0x10)
//P4.4_left(0x10)
//P4.6_right(0x40)
void clearu_d(void){

// stop up_down

P2OUT=0x00;
}
void clearl_r(void){

// stop left_right

P4OUT=0x00;
}
void left(void){
P4OUT=0x10;

//P4.4
Trang 26

P1OUT^=0x03;
__delay_cycles(100000);
clearl_r();

}
void right(void){

P4OUT=0x40;

// P4.6

P1OUT^=0x03;
__delay_cycles(100000);
clearl_r();
}
void up(void){
clearu_d();
P2OUT=0x01;

//P2.0

P1OUT^=0x03;
}
void down(void){
clearu_d();
P2OUT=0x10;

//P2.4

P1OUT^=0x03;
}

Trang 27

KT LUN
-

Nhm tm hiu v Kit eZ430-RF2500 v thit k c mch, p ng yu

cu t ra ca ti. Xe iu khin chy tt v n nh, bn tng i. Ngoi
ra, nhm nm c mt s kin thc c bn v MSP430, c bit l v Kit
eZ430-RF2500. Hn na p dng c vo thit k mch thc t. Qua
nhm hiu bit thm v dng vi iu khin mi ny.

Kt qu cho thy xe iu khin truyn nhn tt khong cch hn 100 mt

trong mi trng truyn thng, nu mi trng truyn c nhiu chng ngi th
khong cch truyn nhn nh hn.

Trang 28

TI LIU THAM KHO

[1] Nguyn Trung Lp. Gio trnh K thut s. Nh xut bn i hc Cn Th. Cn
Th, 12/2003.
[2] www.ti.com
[3] eZ430-RF2500_User Guide_SLAU227A
[4] Thomas Watteyne. eZWSN: Experimenting with Wireless Sensor Networks using
the eZ430-RF2500

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