MC LCMC 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

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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.

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CHNG 1: TNG QUAN1.1 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.

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CHNG 2: C S L THUYT2.1 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.

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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

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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 GND RST / SBWTDIO TEST / SBWTCK 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.

2 3 4 5 6

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Bng 2: Chc nng cc chn ca Board eZ430-RF2500 PIN 1 2 3 GND VCC P2.0 / ACLK / A0 / OA0I0 Chc nng M t Mass Chn ngun Vcc 1.8V - 3.6V. Chn xut/nhp s, ng ra xung clock ACLK, ng vo tng t A0 knh ADC10. 4 P2.1 / TAINCLK / SMCLK / A1 /A0O Chn xut/nhp s, ng vo analog A1 knh ADC10, xung clock INCLK ca Timer_A, xung clock ch SMCLK. 5 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. 6 P2.3 / TA1 / A3 / VREF / VeREF OA1I1 / OA1O Xut/nhp, ng vo tng t A3 knh ADC10, in p tham chiu m VREF / VeREF , ng vo CCI1B ca Timer_A, ng ra OUT1 ch so snh. 7 P2.4 / TA2 / A4 / VREF+ / VeREF+/ OA1I0 Chn xut/nhp s, ng vo tng t A4 knh ADC10, ng ra OUT2 Timer_A ch so snh, ng vo/ra in p tham chiu. 8 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. 9 OA1O P4.4 / TB1 / A13 / 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.Trang 8

11

P4.6 / TBOUTH / A15 / OA1I3

Chn xut/nhp s, ng vo tng t A15 knh ADC10, chuyn mch t TB0 sang TB3 ng ra tng tr cao.

12 13 14 15

GND P2.6 / XIN (GDO0) P2.7 / XOUT (GDO2) P3.2 / UCB0SOMI / UCB0SCL

Mass Chn xut/nhp s, kt ni thch anh. Chn xut/nhp s, kt ni thch anh. Chn xut/nhp s, ng ra ch t, ng vo ch ch USCI_B0 trong ch SPI, ngun xung clock SCLI2C trong I2C mode.

16

P3.3 / UCB0CLK / UCA0STE

Chn xut/nhp s, ng vo xung clock USCI_B0, ng ra cho php truyn d liu USCI_A0 trong ch t.

17

P3.0 / UCB0STE / UCA0CLK / A5

Chn xut/nhp s, ng vo tng t A5 knh ADC10, xung USCI_A0, chn cho php truyn tn hiu USCI_B0 trong ch t.

18

P3.1 / UCB0SIMO /UCB0SDA

Chn xut/ nhp s, , ng ra ch t, ng vo ch ch USCI_B0 trong ch SPI, d liu SDAI2C trong I2C mode.

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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.

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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.

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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 iu kin lm vic in p Dng tiu th Tn hiu vo RX 250kbps Tn hiu vo RX 30dB 250kbps Dng tiu th TX (0dBm) Dng tiu th TX (-12dBm)

MIN

TYP

MAX

UNIT iu kin

1.8

3.6

V

16.6 18.8 13.3 15.7 21.2

mA mA mA mA mA

Dng ti u nhy ti u Dng ti u nhy ti u

11.1

mA

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c im truyn nhn RF Tn s Tc d liu Cng sut ng ra nhy 10 kbps 2400 1.2 -30 -99 -101 -87 -89 2483.5 MHz 500 0 kbps dBm dBm dBm dBm dBm Dng ti u nhy ti u Dng ti u nhy ti u

nhy 250 kbps

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CHNG 3: NI DUNG V KT QU NGHIN CU3.1. S mch chi tit ca kit eZ430-RF2500

Hnh 5: S nguyn l ca USBTrang 14

Hnh 6: S nguyn l ca USBTrang 15

Hnh 7: S nguyn l ca board eZ430-RF2500T

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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

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-

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

dk1

R110k

Q5NPN

Q6NPN

dk210k

R2

Hnh 10: S mch iu khin motor s dng cu H 3.2.2 Cc phm iu khin

R11k

R21k

R31k

R41k

Hnh 11: S cc phm iu khin

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3.3 Lu gii thut Gii thut truyn BEGIN

B

Phm tin n

sai

A

ng

Phm phi n

sai

Phm tri n

sai

ng Truyn k t a

ng Truyn k t b Truyn k t u

A Phm phi n

sai

sai Phm tri n Phm li n

sai

ng

ng

ng

Truyn k t r

Truyn k t lTrang 19

Truyn k t d

B

Gii thut nhn:

BEGIN B Nhn d liu

sai Nhn a Nhn b

sai Nhn u

A

ng Tin v r phi

ng Tin v r tri

ng Tin

ANhn r

sai Nhn l

sai Nhn d

ng r phi

ng r tri

ng

li

B

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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.

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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; }

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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 leftTrang 25

left(); } else if(signal=='r'){ clearu_d(); right(); } else if(signal=='s'){ clearl_r(); clearu_d(); } else{ 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){ P2OUT=0x00; } void clearl_r(void){ P4OUT=0x00; } void left(void){ P4OUT=0x10; //P4.4Trang 26

//turn right

//stop by control

//stop default

// stop up_down

// stop left_right

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

} void right(void){

P4OUT=0x40; P1OUT^=0x03;

// P4.6

__delay_cycles(100000); clearl_r(); } void up(void){ clearu_d(); P2OUT=0x01; P1OUT^=0x03; } void down(void){ clearu_d(); P2OUT=0x10; P1OUT^=0x03; } //P2.4 //P2.0

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KT LUNNhm 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.

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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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