23/11/2013

Hng dn - T hc lp trnh c bn vi Msp430G2553 | Cng ng c in t Vit Nam | Mechatronics

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Hng dn - T hc lp trnh c bn vi Msp430G2553

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Moderators: thanh_nhanbk

ng 23/6/13

#1

thanh_nhanbk Moderator S bi vit: 268 c thch: 488

Vic vit 1 bi tut nh th ny i vi 1 ngi ang hc msp430 nh mnh l vic c phn hi kh khn, nhng ha vi anh BuiBachTuanAnh l s vit 1 tut v msp430 nn mnh xin chia s cho mi ngi ti y . Mc d cha vit xong nhng cng xin up ln y, m ly ng lc vit tip. c ngun t liu vit ny , trc tin mnh xin cm n cc anh ch ti CLB nghin cu khoa hc - khoa in - in t trng i hc Bch Khoa TP.HCM gip mnh rt nhiu. Mi vic tho lun hay gp xin cc bn ng bi ti Tho lun - Tng hp cc vn v dng MSP430 | Cng ng c in t Vit Nam | Mechatronics . Mong cc bn ng gp kin ti liu c hon chnh hn na . Xin cm n ! L Thnh Nhn lethanhnhan010193@gmail.com
codientu.org/threads/tu-hoc-lap-trinh-co-ban-voi-msp430g2553.6566/ 1/14

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Hng dn - T hc lp trnh c bn vi Msp430G2553 | Cng ng c in t Vit Nam | Mechatronics

Ch cng chuyn mc S dng Thch anh ngoi cho Msp430g2553 [Nhn gp ] Dng MSP430 iu khin... MSP430 WITH LCD16x2 CIRCUIT BY LUONG9 O NHIT M DNG DHT11 n o cng nh sng, hin th LCD Tng hp cc vn v dng MSP430 Tng hp cc vn c bn v dng... [Gip em] Gii thut nhp pass cho kha... [Gip em] Dng 74HC595 hin th Ra led... [gip em] To hm gi kt qu qut...
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T hc lp trnh c bn vi Msp430G2553 ~~> http://codientu.org/threads/tu

quockhanh, reichperson, huuhung100 v 11 others thch bi ny. #1

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ng 23/6/13

#2

Chng 1 : Gii thiu qua h vi iu khin MSP430G2553. 1.Gii thiu tng qut : Cc dng vi iu khin msp430 ny do hng TI ( Texas Instruments) sn xut, ngoi ra th TI cn sn xut v cung cp nhiu linh kin in t v cc module khc , tm hiu th cc bn c th tham kho a ch :
thanh_nhanbk Moderator S bi vit: 268 c thch: 488

www.ti.com bit r hn . Vi iu khin( Micro controller unit MCU ) l n v x l nh, n c tch hp ton b cc b nh nh ROM , RAM , cc port truy xut , giao tip ngoi vi trc tip trn 1 con chip ht sc nh gn. c thit k da trn cu trc VON-NEUMAN , c im ca cu trc ny l ch c duy nht 1 bus gia CPU v b nh (data v chng trnh) , do m chng phi c rng bit tng t nhau. MSP430 c mt s phinbn nh: MSP430x1xx, MSP430x2xx, MSP430x3xx, MSP430x4xx, MSP430x5xx. Di y l nhng c im tng qut ca h vi iu khin MSP430: + Cu trc s dng ngun thp gip ko di tui th ca Pin -Duy tr 0.1A dng nui RAM. -Ch 0.8A real-time clock. -250 A/ MIPS. + B tng t hiu sut cao cho cc php o chnh xc -12 bit hoc 10 bit ADC-200 kskp, cm bin nhit , Vref , -12 bit DAC. -B gim st in p ngun. + 16 bit RISC CPU cho php c nhiu ng dng, th hin mt phn kch thc Code lp trnh. -Thanh ghi ln nn loi tr c trng hp tt nghn tp tin khi ang lm vic. -Thit k nh gn lm gim lng tiu th in v gim gi thnh. -Ti u ha cho nhng chng trnh ngn ng bc cao nh C, C++ -C 7 ch nh a ch. -Kh nng ngt theo vc t ln.

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Hng dn - T hc lp trnh c bn vi Msp430G2553 | Cng ng c in t Vit Nam | Mechatronics

+ Trong lp trnh cho b nh Flash cho php thay i Code mt cch linh hot, phm vi rng, b nh Flash cn c th lu li nh nht k ca d liu.
quockhanh, tuanlsbk , Coffee-Bean v 6 others thch bi ny. #2

ng 23/6/13

#3

Chng 2 : Phn cng Msp430G2553 . 1.S chn : Chip MSP430 c kch thc nh gn , ch vi 20 chn i vi kiu chn DIP. Bao gm 2 port I/O (hay GPIO general purprose input/ output : cng nhp xut chung).

thanh_nhanbk Moderator S bi vit: 268 c thch: 488

Ta thy rng mi port u c 8 chn. Port 1 : c 8 chn t P1.0 n P1.7 tng ng vi cc chn t 2-7 v 14 , 15. Port 2 : cng gm c 8 chn P2.0 P2.7 ng vi cc chn 8 13 , 18,19. Ngoi chc nng I/O th trn mi pin ca cc port u l nhng chn a chc nng, ta th thy r trong bng sau :

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Trn bng l chc nng ca tng chn , ngoi ra i vi cc MCU c kiu chn SMD loi 28 chn th n c thm port 3 na,nhng y ch xt i vi kiu DIP 20 chn v kiu TSSOP 20 chn , kiu cn li cc bn c th tm hiu trn trang ch ca nh sn xut .
quockhanh, Coffee-Bean, nguyenphuocho v 6 others thch bi ny. #3

ng 23/6/13

#4

thanh_nhanbk Moderator S bi vit: 268 c thch: 488

2.Gii thch s lc cc chn : - Chn s 1 l chn cp ngun Vcc( k hiu trn chip l DVcc ) , y ngun cho chip ch c cp mc 3,3V , nu cp ngun cao qu mc ny th chip c th hot ng sai hay chy chip . c c mc ngun ny th ta phi dng 1 IC n p ring c k hiu LM1117 hay AD1117 , IC ny c kiu chn SMD nh gn , cch mc chip ny th cng ging nh vi nhng IC ngun nh LM78xx , tuy nhin lu y l th t chn y c hi khc 1 cht.Cc bn c th xem datasheet ca IC m mc cho ph hp. -Chn 20 l chn ni cc m (0V) , chn ny th khng c g c bit. Cc bn c th tham kho mch ngun y phc v cho vic thit k mch hc tp :

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Trn mch cc bn c th thy l c thm IC 7805 cp 5V , vi mc ch s dng cho cc ngoi vi khc cho ng dng ca cc bn , mch trn ch gip cc bn tham kho, nhng cc bn yn tm l mch ny khng h sai , cc bn c th ly ng gi tr nh mch trn . -Chn reset : Chnh l chn s 16 RST , nu cc bn tng hc v PIC th s thy chn reset c k hiu l MCLR , cc bn thy du gch ngang trn c ngha l chn ny tch cc mc thp . Mc ch ca vic reset l nhm cho chng trnh chy li t u . Mch reset cho chip :

Cc bn ch t y l t pi v chnh xc l t 102 nha, nu thay i th khi kt ni Jtag np code cho chip s khng c. -Mch dao ng : Cng ging nh nhng dng vi iu khin khc th Msp430 cng h tr ngi dng thch anh ngoi ( external crystal ), nhng thch anh ngoi vi cho php ch c th ln ti 32,768 kHz m thi, v tn hiu ny c mc trn 2 chn 18 v 19. Nhng msp430 li h tr thch anh ni c th ln n 16Mhz, ty vo cch khai bo trong lp trnh. V mc nh ca chip l thch anh ni. Nh vy th chng ta khng cn thit phi s dng mch dao ng ngoi cho chip ging nh nhng dng khc. - Port I/O : Port 1 : c 8 chn t P1.0 n P1.7 tng ng vi cc chn t 2-7 v 14 , 15.
codientu.org/threads/tu-hoc-lap-trinh-co-ban-voi-msp430g2553.6566/ 5/14

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Hng dn - T hc lp trnh c bn vi Msp430G2553 | Cng ng c in t Vit Nam | Mechatronics

Port 2 : cng gm c 8 chn P2.0 P2.7 ng vi cc chn 8 13 , 18,19. Trong ch nhp (input) th c 2 port u c 1 mch iu khin in tr ko dng gi l PULL UP nhng gi tr ca in tr ny rt ln khong 47K nn gi l WEAK PULL UP RESISTAN. Vic iu khin PULL UP s c tin hnh thng qua lp trnh tc ng ln thanh ghi PxREN s c cp chng sau . iu ny cng ging nh vic thit lp input port B ca vi iu khin PIC, port B cng c in tr ko ln , v ngi lp trnh phi thao tc qua thanh ghi OPTION_REG.

Tm tt : Qua chng ny chng ta phi nm c cc chn c bn trc ca chip . Mch reset v mch dao ng OSC ca chip . Cc chn I/O ca 2 port v PULL UP .
quockhanh, Coffee-Bean, mta_cdt v 5 others thch bi ny. #4

ng 23/6/13

#5

Chng 3 : Mch np cho MCU. 1 . Kit Lanchpad : Vi bt k 1 con MCU no th vic phi thit k 1 mch np cho chip l iu khng th b qua ! V vi Msp430 cng khng l ngoi l . PIC hay 8051 th c nhiu mch np np code cho chip , t n gin n phc tp , ni chung cc k a dng.V ni chung th cc mch np cng u kh t , thp cng phi mt 200k hay hn. Nh ni th Msp430 l dng value line , power low, v low cost . Chnh v vy m TI cung cp cho ngi dng 1 mch np code + debug ch trn 1 mch nh gn. Trong kit cn c h tr : -1 mch np code c c debug -1 dy cp USB tt kt ni kit vi my tnh. -1 chip thch anh 32,768kHz -1 chip Msp430G2553 -1 chip Msp430G2453 -1 header female. Tt c ch c 9,8 USD rt r hc! y chnh l hnh nh ca Kit lanchpad :

thanh_nhanbk Moderator S bi vit: 268 c thch: 488

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Cc bn c th mua ti a ch sau : HShopVN

Kit c th np c code cho dng Msp430G : nh msp430g2231, 2553, 2452, Kit kt ni vi my tnh thng qua cng USB .
quockhanh, Coffee-Bean, mta_cdt v 4 others thch bi ny. #5

ng 23/6/13

#6

Chng 4 : Trnh bin dch By gi chng ta s tin hnh ci t chng trnh c th tin hnh vit code , bin dch v np code cho chip .
thanh_nhanbk Moderator S bi vit: 268 c thch: 488

Khng ging nh chng trnh ca cc dng vi iu khin khc , TI cung cp cho ngi dng nhng IDE c tch hp trong 1 gi phn mm. Cc bn ch cn ci t 1 chng trnh l c th va vit code , debug, v np code cho chip. Chc nhiu bn s thc mc cm t debug c ngha l g? Debug ch l vic cho chng trnh chy tng dng lnh kim tra li ca chng trnh cng nh kim tra c c thanh ghi ca chip khi n thc hin lnh . C nhiu IDE c TI cung cp cho ngi s dng , nhng trong c 2 chng trnh mnh v c nhiu ngi a thch l CCS v IAR . Cc bn ng c nhm ln gia CCS C cho PIC vi CCS cho Msp430 nh! Hai chng trnh ny l hon ton khc nhau . Sau y , xin c gii thiu c th 2 chng trnh trn : 1 . IAR (IAR Embedded Workbench ) : y l chng trnh bin dch c cung cp bi IAR SYSTEMS. C 3 phin bn: Kickstart Version Free

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, Baseline Version ~ $795 v Full Version ~ $2695. ti chng trnh , chng ta c th vo trang ch : www.iar.com hoc t a ch ca TI : www.ti.com , sau g t IAR trn mc tm kim , download c th cc bn phi to 1 ti khon v ng nhp ti v , cc bn ch c th ti c bn trial m thi .

2 . CCS (Code composer studio ) : y l chng trnh do TI cung cp , c nhiu server c cung cp . Phin bn mi nht hin nay l CCS 5.3 . Cc bn c th ti ti : www.ti.com ng nhp vo (sau khi ng k ti khon ) , CCS c h tr cho ngi dng bn dng th nhng b gii hn code (limited code ) , chng ta ch c s dng 4kB b nh , nhng vi sinh vin chng ta th vi 4 kB cng lm nhng d n nh . Chnh v vy m ti khuyn bn nn ti bn CCS v , v trong ti liu ny cng s dng CCS vit code . CCS c rt nhiu tnh nng hay m sau ny chng ta s cng nhau nghin cu sau .Vic s dng phin bn no l ty thuc vo cc bn , cc version cng u ging nhau , nu CCS 5.3 th yu cu my ca bn phi c cu hnh mnh dng. 3 . Ci t v s dng CCS : Sau khi ti CCS v , cc bn tin hnh ci t , cch ci t cng rt n gin. Cc bn ch cn chy file setup.exe . i vi phin bn CCS 4.3 hay 4.2 th cc bn ci t xong l c th s dng c nhng vi CCS 5.3 th cc bn cn phi lm 1 vic na l chn : limit free code , th mi vit code c . Cch lm nh sau : Sau khi ci t xong, cc bn khi ng chng trnh : Start -> all program -> Texas Instruments -> Chn code . Hoc chy chng trnh bng cch click vo biu tng CCS trn desktop . Sau , click chn Help -> Code Composer code linsce -> upgrade -> active vic ci t v s dng cng nh to mi 1 project cc bn xem ti mc MSP430 ny, c gn nh y cc video minh ha vic hc lp trnh vi msp430.
quockhanh, Coffee-Bean, Trn Ngc Nhn v 5 others thch bi ny. #6

ng 23/6/13

#7

Phn 2 : Cch lp trnh. Phn ny , s gii thiu cho cc bn cch lp trnh trn MCU Msp430G2553 . Ngn ng lp trnh y chnh l C (Language programing C).y l ch chnh ca ti liu .
thanh_nhanbk Moderator S bi vit: 268 c thch: 488

Chng 1 : GPIO (General purpose input/ouput ) : y s l chng trnh u tin ca cc bn , cng tng t nh khi cc bn mi hc C th u tin chng ta phi hc cch vit chng trnh hin th dng ch hello word in ra mn hnh . y chng ta s tm hiu cch vit 1 chng trnh n gin , bit cch bt tt 1 led trn chn P1.0 . Ti sao li l trn chn P1.0 ? n gin l v trn kit lanchpad c sn 2 ch led c hn trn 2 chn l P1.0 v P1.6 . Cng ging nh chc nng I/O ca Pic th chc nng GPIO cng ch lm 1 vic n gin l vic xut ra tn hiu hay c vo tn hiu . Tn hiu y hiu n gin l nhng tn hiu in - tn hiu s . Tn hiu s (Binary ) tn hiu ny ch c 2 trng thi l 1 v 0 .

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1 : C in , mc in p ny bng vi in p ngun cp cho MCU . 00: khng c in . 1.Cc thanh ghi cn thit lp : Msp430 c 2 port nhp xut l : Port1 : T chn P1.0 n P1.7 Port2: 8 chn P2.0 n P2.7 bit r cc chn ny trn MCU th cc bn chu kh c li chng 1 trong phn 1 .

a. Thanh ghi PxSEL(x:1 , 2) v PxSEL2(x:1 , 2) : Thanh ghi ny qui nh ch lm vic cho cc chn bao gm PxSEL v PxSEL2 . View attachment 5570 VD: Ta mun port 1 l GPIO th ta thc hin lnh nh sau: P1SEL = 0; P1SEL2 = 0 ; Nu nh mun chn P1.2 lm chc nng I/O th khai bo nh sau : P1SEL & = ~0x01 ; // s dng lnh o bit , set v mc 0 . P1SEL2 &= ~0x01; Lu : Interrupts P1 v P2 s b v hiu ha khi PxSEL= 1 . b. Thanh ghi PxDIR(x:1 , 2) Thanh ghi ny qui nh loi ng vo ra cho cc chn (I/O pins) Mc nh cc chn ny l input, nn ta ch cn set output cho cc chn ny VD: P1DIR = 0x01 // chn P1.0 l output. Mc 1 : ouput ( xut tn hiu ) . Mc 0 : input (c tn hiu v) . c. Thanh ghi PxREN(x:1 , 2) Thanh ghi ny cho php tt hoc m ch pullup/pulldown resistor cho cc pins . Bit = 0 : Tt chc nng pull up /down (disable). Bit= 1 : enable pull up/down. d. Thanh ghi PxOUT(x: 1 , 2) _Khi ta mun xut gi tr cho cc chn I/O, ta s t gi tr vo cc thanh ghi PxOUT . Bit = 1 : output mc cao. Bit = 0 : output mc thp. _Khi ta config thanh ghi PxREN sang ch pullup/pulldown resistor th Bit = 1 : Pull up . Bit = 0 : Pull down . Lu l ta phi chnh P1DIR trc khi xut gi tr ra ngoi.

Tm tt: thc hin xut / nhp trn 1 chn (Pin): - Ci t ng gi tr cho thanh ghi PxDIR - t kiu tn hiu ca pin l GPIO hay cc chc nng khc qua thanh ghi PxSEL
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Hng dn - T hc lp trnh c bn vi Msp430G2553 | Cng ng c in t Vit Nam | Mechatronics

- Xut tn hiu bng cch ghi gi tr 0 hoc 1 vo port tng ng (port P1OUT) - c gi tr ca chn bng cch c mc logic trn port tng ng.

Code mu :

HTML:

# i n c l u d e< m s p 4 3 0 g 2 2 3 1 . h> v o i d m a i n ( v o i d ) { W D T C T L=W D T P W+W D T H O L D ; / /S t o pw a t c h d o gt i m e r P 1 D I R| =0 x 0 1 ; / /S e tP 1 . 0t oo u t p u t d i r e c t i o n P 1 S E L=0 ; / /S e tP 1G P I Of u n c t i o n P 1 S E L 2=0 ; w h i l e ( 1 ) { P 1 O U T^ =0 x 0 1 ; / /T o g g l eP 1 . 0u s i n ge x c l u s i v e O R _ d e l a y _ c y c l e s ( 1 0 0 ) ; / / i v i C C S }}

Tm thi bi vit s tm dng ti y , mnh s vit tip v s up ln sm cho mi ngi , mong cc bn ng h mnh ,hy th hin vic lm ca cc bn bng cch th hin vic n like nh!
quockhanh, Coffee-Bean, NgoHungCuong v 10 others thch bi ny. #7

ng 27/6/13

#8

Bi 1 : GPIO tip theo . By gi chng ta s vit v phn c tn hiu cho msp430 , config chc nng input .
thanh_nhanbk Moderator S bi vit: 268 c thch: 488

Cc bn lu l trn kit lanchpad ca chng ta c sn 1 button c mc vo chn P1.3 , v vy chng ta s tn dng iu ny vit code , khng cn phi lp mch test . Nh ni phn u th vic thit lp ch input , c tch hp sn 1 mch iu khin in tr ko dng - pull up , in tr tm 47K , bt c chc nng ny , ta s tc ng n thanh ghi PxREN Code :
HTML:

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/ /B A I2:d o cb u t t o n/ / # i n c l u d e" m s p 4 3 0 . h " i n tm a i n( v o i d ) { W D T C T L=W D T H O L D+W D T P W; P 1 S E L& =~ ( B I T 0+B I T 3 ) ; P 1 S E L 2& =~ ( B I T 0+B I T 3 ); P 1 D I R| =B I T 0;/ /P 1 . 0:O U T / /B I T3:I N P U T P 1 D I R& =~ B I T 3;/ /L E N HX O AB I T3 P 1 O U T| =B I T 3; / / B I T 3=1 P 1 R E N=B I T 3;/ / P U L LU PB I T 3 w h i l e ( 1 ){ i f( ( P 1 I N&B I T 3 ) = = 0 ){ / /s et a tk h ip 1 . 3k h o n gc ob a mn u t . P 1 O U T| =B I T 0; } e l s eP 1 O U T& =~B I T 0;/ /s es a n g }

quockhanh, nguyenphuocho, thaibinh v 4 others thch bi ny. #8

ng 8/10/13

#9

Th ti to hiu ng LED . Code mu thm kho t : LED patterns using msp430 launchpad

PHP: thanh_nhanbk Moderator S bi vit: 268 c thch: 488

C o d e : # i n c l u d e m a i n ( v o i d ){ W D T C T L=W D T P W|W D T H O L D ;/ /S t o pw a t c h d o gt i m e r P 1 D I R| =0 X F F ;/ /s e ta l lt h ep o r t sa so u t p u tp o r t s i n tx=0 X 0 1 ; l o n gi = 0 ; i n tj = 1 ; i n tk = 0 ; i n tl = 0 ; f o r ( ; ; ) { f o r ( k = 1 ; k < = 5 ; k + + ) { x = 0 0 1 ; f o r ( j = 1 ; j < = 8 ; j + + ) { P 1 O U T=x ; x * = 2 ; f o r ( i = 0 ; i < = 1 0 0 0 0 ; i + + ) { } } } f o r ( k = 1 ; k < = 5 ; k + + ) { x = 0 8 0 ; f o r ( j = 1 ; j < = 8 ; j + + ) { P 1 O U T=x ; x / = 2 ; f o r ( i = 0 ; i < = 1 0 0 0 0 ; i + + ) { } } quockhanh , mta_cdt , huuhung100 v 4 others thch bi ny. }
#9

f o r ( k = 1 ; k < = 5 ; k + + ) { ng 9/10/13 P 1 O U T = 0 x A A ; f o r ( l = 0 ; l < = 1 ; l + + ) { f o r ( i = 0 ; i < = 6 4 0 0 0 ; i + + ) { } } #10

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Chng 2 : Basic Clocks

Phn ny c th hi kh hiu, nhng cc bn c c k trc, ri sau ny s hiu dn dn sau . Ch clock c cung cp trong tt c cc dng MCUs Msp430 ca TI .Trong chng ny s gip cc bn hiu r v hot ng cc xung clocks c bn ca msp430.
thanh_nhanbk Moderator S bi vit: 268 c thch: 488

1. Gii thiu v clock : Vic config xung clocks l v cng cn thit i vi bt k 1 con MCUs no, c xung clock th con mcu ca chng ta mi c th hot ng ng c . Chng ta c th hiu xung clocks chnh l tri tim ca 1 h thng x l s, v tc x l lnh ph thuc hon ton vo ngun xung . Vn l lm sao chng ta c th thit lp xung clocks ny hot ng .Chng ta c th c nhiu cch lm vic . Vi dng msp430 ny th n 3 loi xung c bn nh sau : - Internal Oscillators - External Crystals - External Oscillators 2. Internal/External Oscillators : a. Internal : y l ngun dao ng c sn bn trong chip , thng thng s dng cc mch RC c tch hp sn vi cc h mch . - Li ch ca ngun ny l vic chng ta c th d dng thay i c tn s hot ng m khng cn phi s dng cc linh kin ngoi lm chim din tch board . - Trn chip Msp430 c sn ngun xung DCO (Digitally Controller Oscillator) h tr tc cao . b. External : Khc vi nhng dng vi iu khin khc th dng Msp430 ch c th h tr thch anh c tn s ln n 32.768khz ,vic s dng thch anh ngoi nhm p ng nhu cu v ng dng cn chy thi gian thc v cn s chnh xc cao . Chnh v vy m chng ta nn hn ch s dng nu c th c , 1 mt gim vic thi cng mch in .

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Hng dn - T hc lp trnh c bn vi Msp430G2553 | Cng ng c in t Vit Nam | Mechatronics

Hnh nh ch mang tnh minh ha . Trong chng ny , chng ta s nghin cu chi tit vic thit lp ngun xung ni ,nh vy s n gin cho vic thit k phn cng .V ngun xung ni h tr di tn lm vic t 400-kHz to 16-MHz . 3. Mode trong xung ni : Trong ngun xung ni th chng ta c ti a l 4 mode ch hot ng , cc mode ny ln lt l : LFXT1CLK : Low-frequency/high-frequency oscillator Module dao ng h tr tn s thp / cao , c th c dung cho ng dng vi b theo di tn s thp thch anh 32.768khz , hoc t cc ngun xung khc c tn s t 400khz n 16Mhz . XT2CLK: Optional high-frequency oscillator . Module la chn lm vic tn s cao . DCOCLK: Internal digitally controlled oscillator (DCO). B dao ng s c tch hp sn trong chip, khi lm vic nu khng c thit lp g v ngun xung th msp430 s hot ng da trn b DCO ny . VLOCLK: Internal very low power, low frequency oscillator with 12-kHz typical frequency Module tch hp , y l mode hot ng siu tit kim nng lng . S khi clocks :

(cn na ...)
quockhanh, sgesvn, mta_cdt v 4 others thch bi ny. #10

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23/11/2013
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Hng dn - T hc lp trnh c bn vi Msp430G2553 | Cng ng c in t Vit Nam | Mechatronics

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