EMBEDDED SYSTEMS DESIGN

USING THE MSP430FR2355 LAUNCHPAD™

1ST EDITION

Brock J. LaMeres, PH.D.

PREFACE
WHY ANOTHER BOOK ON EMBEDDED SYSTEMS?
Embedded computers represent one of the most pervasive technologies of our time. When most
people think of computers, they think of their laptops and workstations, or even the servers that are
the backbone of the internet; however, when one begins to contemplate how many technologies
around them use small, inexpensive computers embedded as their “brains”, one begins to more fully
understand the magnitude of how many embedded computers exist in our society. If you look around
any room you will see technology that is so commonplace, you may not even realize that most of it
is run by an internal computer. Technologies such as appliances, thermostats, handheld devices,
projectors, televisions, personal assistants, and radios all have small computers within them that
controls their operation. As one starts to notice all of the embedded computers around them, they
will quickly notice that there are orders of magnitude more embedded computers than the standard
general-purpose computers that run Windows® or iOSTM. As these technologies become smarter
and are WiFi connected, we move into era called the Internet of Things. This next technological
paradigm shift will turn all of the embedded computers into a collaborative network in an attempt to
make our lives better by automating taking mundane tasks.
Simultaneous to the exponential increase in embedded computers in our society, is the need for
engineers and software developers that can build and program these systems. Due to the high
popularity of embedded computers, there is also a wide range of embedded computer platforms. As
such, the textbooks that exist to aid in the education of embedded computers are somewhat
fragmented. Textbooks for embedded computers aren’t able to be written at only the theoretical level
such as circuits and electronics textbooks. Instead, they must identify a computer platform and focus
the content on that specific embedded computer technology. This leads to a large number of
embedded systems books to support the large number of embedded platforms. This also leads to
books becoming obsolete much faster than traditional engineering textbooks.
One reason for a new book in this area is creating comprehensive content around a widely
popular embedded computer, the Texas Instruments MSP430. The MSP430 is a modern computer
platform that is mature in the market and has a great deal of technical and educational support behind
it. This means that this platform will be relevant and supported for at least the next 10-15 years.
A second reason for a new book in this area is to provide content the way people actual learn
(i.e., by doing). Current embedded systems books, even those targeting the MSP430, tend to only
provide small code segments that can’t be directly run on a target platform. This new book
approaches content delivery around the model that the reader is sitting at a computer with an
MSP430 plugged in and running each of the examples as they move through the book. This learn-
a-little, do-a-little, is a proven pedagogical strategy. It also supports both active learning within the
classroom and self-regulated learning for individual readers.
A third reason for a new book in this area is to provide a seamless delivery of both assembly
language and C language programming of the MSP430. Most embedded systems books are
structured in one of three ways: 1) they only cover assembly; 2) they only cover C; 3) they attempt
to cover both but don’t provide sufficient details of either. This new book will begin in assembly
language as a means to show the lower-level operation of the computer hardware. It will then move
into C to implement more complex systems that require abstracting the lower-level hardware. With
the design of the book consisting of examples in both languages that can be directly coded and ran,
there will not be a void between the examples and real implementation of the concepts as seen in
other books.
The three guiding principles for the design of this book are:
Learn by example - This book is designed to teach the material the way it is learned, through
example. Every concept is supported by numerous programming examples that provide the reader
with a step-by-step explanation for how and why the computer is doing what it is doing.
 Learn by doing – This book targets the Texas Instruments MSP430 microcontroller. This
platform is a widely popular, low-cost embedded system that is used to illustrate each concept in the
book. The book is designed for a reader that is at their computer with the MSP430 plugged in so
that each example can be coded and ran as they learn.
Build a foundational understanding first, then move into abstraction – This book teaches
the basic operation of an embedded computer using assembly language first so that the computer
operation can be explored at a low-level. Once more complicated systems are introduced (i.e., serial
communication and analog-to-digital converters), the book moves into the C programming language.
Moving to C allows the learner to abstract the operation of the lower-level hardware and focus on
understanding how to “make things work”. By spending time in assembly to understand the
underlying hardware, the transition to C can happen more rapidly while still leaving the reader with a
foundational understanding of the underlying hardware.
If this learning model is followed, the reader will come away with much more than knowledge of
facts and figures, but a skillset and experience with embedded systems that will be both marketable
and of key importance to our society.

HOW TO USE THIS BOOK

This book is the most effective when the reader has the Texas Instruments Inc. MSP430FR2355
LaunchPadTM Development Kit and codes along with the material. All examples can be directly run
on the LaunchPadTM board. All programs were created and compiled using the Texas Instruments
Inc. Code Composer Studio (CCS). This development environment is free from Texas Instruments
and can be run on multiple operating systems. Each of the examples noted with a keyboard are
ones that are intended to be coded in CCS and run on the LaunchPadTM board.
There are three supporting documents that should also be downloaded from Texas Instruments
to provide background for the material in this book. The first is the MSP430FR4xx and
MSP430FR2xx Family User’s Guide1. This document gives the general concept of operation for the
MSP430 architecture that is used on the specific microcontroller targeted in this book. Throughout
this book, this document is referred to as the “MSP430 User’s Guide”. The second document that
should be retrieved is the MSP430FR235x, MSP430FR215x Mixed-Signal Microcontrollers Device-
Specific Data Sheet2. This second document provides the specific details of the MSP430FR2355
microcontroller device that is used in each example. Throughout this book, this document is referred
to as the ”Device-Specific Data Sheet”. The final document that should be retrieved is the
MSP430FR235x LaunchPadTM Development Kit User’s Guide3. This document describes the
circuitry implemented on the LaunchPadTM board. This document is critical to understanding the
types of input/output and programming capability are available on the LaunchPadTM board.

ADDITIONAL RESOURCES
Supporting videos will be posted to the author’s YouTube channel, which can be found at:
https://www.youtube.com/c/DigitalLogicProgramming_LaMeres. This channel contains many other
videos beyond embedded systems to help people learn digital logic, basic programming, and
robotics. Subscribe to this channel in order to be notified when new videos for this book are posted.

Bozeman, MT, USA Brock J. LaMeres

ACKNOWLEDGEMENTS
This book would not be possible without the endless support from my family. To JoAnn, you are
the heart of my life and I’m so thankful to be on this journey with you. To Alexis, your kindness and
warmth brings joy to the world. To Kylie, you fill the world with happiness because of who you are.
I would also like to thank the students at Montana State University for helping guide the
development of this book and proofread early versions. Go Bobcats!
Table of Contents
PREFACE ............................................................................................................................ I
WHY ANOTHER BOOK ON EMBEDDED SYSTEMS? ................................................................. I
HOW TO USE THIS BOOK.................................................................................................... II
ADDITIONAL RESOURCES ................................................................................................... II
ACKNOWLEDGEMENTS.................................................................................................... I
CHAPTER 1: INTRODUCTION TO EMBEDDED SYSTEMS ............................................ 1
WHAT IS AN EMBEDDED SYSTEM? ........................................................................... 1
SUMMARY ......................................................................................................................... 5
EXERCISE PROBLEMS ........................................................................................................ 5
CHAPTER 2: DIGITAL LOGIC BASICS ............................................................................ 7
NUMBER SYSTEMS .................................................................................................. 7
2.1.1 Positional Number Systems .......................................................................... 7
2.1.1.1 Generic Structure ................................................................................................. 8
2.1.1.2 Decimal Number System (Base 10) ..................................................................... 9
2.1.1.3 Binary Number System (Base 2) .......................................................................... 9
2.1.1.4 Hexadecimal Number System (Base 16) ............................................................. 9
2.1.2 Base Conversion ......................................................................................... 11
2.1.2.1 Converting to Decimal ........................................................................................ 11
2.1.2.2 Converting from Decimal .................................................................................... 15
2.1.2.3 Converting Between 2n Bases ............................................................................ 19
2.1.3 Binary Arithmetic ......................................................................................... 20
2.1.3.1 Addition (Carries) ............................................................................................... 20
2.1.3.2 Subtraction (Borrows)......................................................................................... 22
2.1.4 Unsigned and Signed Numbers .................................................................. 23
2.1.4.1 Unsigned Numbers............................................................................................. 24
2.1.4.2 Signed Numbers (Two’s Complement)............................................................... 24
2.1.4.3 Arithmetic with Two’s Complement .................................................................... 28
COMBINATIONAL LOGIC ......................................................................................... 31
2.2.1 Basic Gates ................................................................................................. 31
2.2.2 Boolean Algebra .......................................................................................... 33
2.2.3 Combinational Logic Synthesis ................................................................... 35
2.2.3.1 Canonical Sum of Products ................................................................................ 35
2.2.3.2 Canonical Product of Sums ................................................................................ 39
2.2.3.3 Logic Minimization in SOP Form ........................................................................ 44
2.2.3.4 Logic Minimization in POS Form ........................................................................ 51
2.2.3.5 Don’t Cares ........................................................................................................ 55
2.2.3.6 Identifying XOR Gates in K-maps ...................................................................... 56
2.2.4 MSI Logic..................................................................................................... 58
2.2.4.1 Decoders ............................................................................................................ 59
2.2.4.2 Encoders ............................................................................................................ 63
2.2.4.3 Multiplexers ........................................................................................................ 63
2.2.4.4 Demultiplexers ................................................................................................... 64
2.2.4.5 Adders ................................................................................................................ 65
2.2.4.6 Subtractors ......................................................................................................... 70
SEQUENTIAL LOGIC ............................................................................................... 73
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2.3.1 Sequential Logic Storage Devices .............................................................. 73

2.3.1.1 The Cross-Coupled Inverter Pair ........................................................................ 73
2.3.1.2 The SR Latch ..................................................................................................... 74
2.3.1.3 The S’R’ Latch .................................................................................................... 76
2.3.1.4 SR Latch with Enable ......................................................................................... 79
2.3.1.5 The D-Latch ....................................................................................................... 81
2.3.1.6 The D-Flip-Flop .................................................................................................. 82
2.3.1.7 Registers ............................................................................................................ 86
2.3.2 Finite State Machines .................................................................................. 87
2.3.2.1 Describing the Functionality of a FSM ................................................................ 87
2.3.2.2 State Diagrams .................................................................................................. 88
2.3.2.3 State Transition Tables ...................................................................................... 89
2.3.2.4 Logic Synthesis for a FSM ................................................................................. 90
2.3.2.5 State Memory ..................................................................................................... 91
2.3.2.6 Next State Logic ................................................................................................. 94
2.3.2.7 Output Logic ....................................................................................................... 95
2.3.2.8 The Final Logic Diagram .................................................................................... 96
2.3.2.9 FSM Design Process Overview .......................................................................... 97
2.3.2.10 FSM Design Example – Simple Control Unit ...................................................... 98
2.3.2.11 FSM Design Example – 2-Bit Up Counter ........................................................ 101
2.3.2.12 FSM Design Example - 2-Bit Binary Up/Down Counter.................................... 104
MEMORY ............................................................................................................ 106
2.4.1 Memory Terminology ................................................................................. 106
2.4.2 Memory Architecture ................................................................................. 107
2.4.3 Memory Technologies ............................................................................... 112
2.4.3.1 Masked Read Only Memory (MROM) .............................................................. 112
2.4.3.2 Programmable Read Only Memory (PROM) .................................................... 112
2.4.3.3 Erasable Programmable Read Only Memory (EPROM) .................................. 112
2.4.3.4 Electrically Erasable Programmable Read Only Memory (EEPROM) .............. 113
2.4.3.5 FLASH Memory ................................................................................................ 113
2.4.3.6 Static Random Access Memory (SRAM).......................................................... 114
2.4.3.7 Dynamic Random Access Memory (DRAM) .................................................... 114
2.4.3.8 Ferroelectric Random Access Memory (FRAM) ............................................... 115
SUMMARY ..................................................................................................................... 116
EXERCISE PROBLEMS .................................................................................................... 118
CHAPTER 3: COMPUTER SYSTEMS ........................................................................... 123
3.1 COMPUTER OVERVIEW ............................................................................................. 123
3.2 COMPUTER HARDWARE............................................................................................ 124
3.2.1 Program Memory ............................................................................................ 124
3.2.2 Data Memory .................................................................................................. 124
3.2.3 Central Processing Unit .................................................................................. 124
3.2.3.1 Control Unit ........................................................................................................... 125
3.2.3.2 Registers ............................................................................................................... 125
3.2.3.3 Arithmetic Logic Unit (ALU) ................................................................................... 126
3.2.4 Input / Output Ports ......................................................................................... 126
3.2.5 Bus System ..................................................................................................... 126
3.3 COMPUTER SOFTWARE ............................................................................................ 127
3.3.1 Classes of Instructions .................................................................................... 127
3.3.1.1 Data Movement Instructions............................................................................. 128
3.3.1.2 Data Manipulation Instructions ......................................................................... 128
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3.3.1.3 Program Flow Instructions................................................................................ 128

3.3.2 Op-codes and Operands ........................................................................... 128
3.3.3 Program Development Flow ...................................................................... 130
SUMMARY ..................................................................................................................... 133
EXERCISE PROBLEMS .................................................................................................... 134
CHAPTER 4: THE MSP430............................................................................................ 135
4.1 MSP430 HARDWARE OVERVIEW .............................................................................. 135
4.1.1 Word vs. Byte Memory Access ....................................................................... 135
4.1.2 Program Memory ............................................................................................ 136
4.1.3 Data Memory .................................................................................................. 136
4.1.4 Central Processing Unit .................................................................................. 136
4.1.4.1 Registers ............................................................................................................... 136
4.1.4.2 ALU ....................................................................................................................... 137
4.1.5 Input / Output Ports & Peripherals ............................................................ 138
4.1.5.1 Digital I/O ......................................................................................................... 139
4.1.5.2 Serial I/O .......................................................................................................... 139
4.1.5.3 Timers .............................................................................................................. 139
4.1.5.4 Analog to Digital Converter .............................................................................. 140
4.1.5.5 Digital to Analog Converters............................................................................. 140
4.1.5.6 Clock System ................................................................................................... 140
4.1.5.7 Power Management Module ............................................................................ 140
4.1.6 Bus System ............................................................................................... 140
4.1.7 MSP430 Part Numbering .......................................................................... 140
4.2 MSP430 SOFTWARE OVERVIEW ......................................................................... 142
4.2.1 The MSP430 Instruction Set ..................................................................... 142
4.2.2 Word (.W) vs. Byte (.B) Operations ........................................................... 144
4.2.3 The TI Code Composer Studio Development Environment ...................... 145
4.3 MSP430FR2355 LAUNCHPAD-TM DEVELOPMENT KIT .......................................... 146
SUMMARY ..................................................................................................................... 148
EXERCISE PROBLEMS .................................................................................................... 150
CHAPTER 5: GETTING STARTED PROGRAMMING THE MSP430 IN ASSEMBLY . 151
5.1 THE ANATOMY OF AN ASSEMBLY PROGRAM FILE .................................................. 151
5.1.1 Instruction statements ............................................................................... 151
5.1.2 Assembler Directives ................................................................................. 152
5.1.3 Miscellaneous Syntax Notes ..................................................................... 155
5.1.3.1 Identifiers.......................................................................................................... 155
5.1.3.2 Sections ........................................................................................................... 155
5.1.3.3 Case Sensitivity ................................................................................................ 155
5.2 YOUR FIRST PROGRAM – BLINKING LED .............................................................. 155
5.3 USING THE CCS DEBUGGER ............................................................................... 159
5.3.1 Resume, Terminate, and Suspend ........................................................... 159
5.3.2 Breakpoints................................................................................................ 160
5.3.3 Viewing Register Contents ........................................................................ 161
5.3.4 Viewing the Contents of Memory .............................................................. 163
5.3.5 Stepping Your Program ............................................................................. 163
SUMMARY ..................................................................................................................... 164
EXERCISE PROBLEMS .................................................................................................... 165
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CHAPTER 6: DATA MOVEMENT INSTRUCTIONS ..................................................... 167

6.1 THE MOV INSTRUCTION WITH REGISTER MODE (RN) ADDRESSING ....................... 167
6.2 THE MOV INSTRUCTION WITH IMMEDIATE MODE (#) ADDRESSING ......................... 169
6.3 THE MOV INSTRUCTION WITH ABSOLUTE MODE (&) ADDRESSING ......................... 171
6.4 THE MOV INSTRUCTION WITH SYMBOLIC MODE ADDRESSING ............................... 173
6.5 THE MOV INSTRUCTION WITH INDIRECT REGISTER MODE (@RN) ADDRESSING..... 175
6.6 THE MOV INSTRUCTION WITH INDIRECT AUTOINCREMENT MODE (@RN+)
ADDRESSING ................................................................................................................. 177
6.7 THE MOV INSTRUCTION WITH INDEXED MODE (X(RN)) ADDRESSING .................... 179
SUMMARY ..................................................................................................................... 182
EXERCISE PROBLEMS .................................................................................................... 182
CHAPTER 7: DATA MANIPULATION INSTRUCTIONS............................................... 187
7.1 ARITHMETIC INSTRUCTIONS ...................................................................................... 187
7.1.1 Addition Instructions ....................................................................................... 187
7.1.2 Subtraction Instructions .................................................................................. 190
7.1.3 Increments and Decrements........................................................................... 193
7.2 LOGIC INSTRUCTIONS ............................................................................................... 194
7.3 BIT SET AND BIT CLEAR INSTRUCTIONS..................................................................... 198
7.4 TEST INSTRUCTIONS ................................................................................................ 199
7.5 ROTATE OPERATIONS .............................................................................................. 200
SUMMARY ..................................................................................................................... 204
EXERCISE PROBLEMS .................................................................................................... 205
CHAPTER 8: PROGRAM FLOW INSTRUCTIONS ....................................................... 207
8.1 UNCONDITIONAL JUMPS & BRANCHES ....................................................................... 207
8.2 CONDITIONAL JUMPS................................................................................................ 208
8.2.1 Carry-Based Jumps ........................................................................................ 209
8.2.2 Zero-Based Jumps ......................................................................................... 210
8.2.3 Negative-Based Jumps ................................................................................... 211
8.2.4 Overflow-Based Jumps ................................................................................... 212
8.3 IMPLEMENTING COMMON PROGRAMMING CONSTRUCTS IN ASSEMBLY ........................ 213
8.3.1 Implementing While() Loop Functionality ....................................................... 213
8.3.2 Implementing For() Loop Functionality ........................................................... 214
8.3.3 Implementing If/Else Functionality .................................................................. 215
8.3.4 Implementing Switch/Case Functionality in Assembly ................................... 216
8.4 FLOW CHARTS ......................................................................................................... 218
SUMMARY ..................................................................................................................... 221
EXERCISE PROBLEMS .................................................................................................... 221
CHAPTER 9: DIGITAL I/O ............................................................................................. 223
9.1 THE MSP430 DIGITAL I/O SYSTEM........................................................................... 223
9.1.1 Port Direction Registers (PxDIR) .................................................................... 225
9.1.2 Port Input Registers (PxIN) ............................................................................. 225
9.1.3 Port Output Registers (PxOUT) ...................................................................... 225
9.1.4 Port Pull-up or Pull-down Resistor Enable Registers (PxREN) ...................... 225
9.1.5 Port Function Select Registers (PxSEL1 and PxSEL0) ................................. 226
9.1.6 Digital I/O Enabling After Reset ...................................................................... 227
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9.1.7 Using Literal Definitions from the MSP430.H Header File ............................. 228
9.2 DIGITAL OUTPUT PROGRAMMING .............................................................................. 228
9.3 DIGITAL INPUT PROGRAMMING.................................................................................. 231
SUMMARY ..................................................................................................................... 235
EXERCISE PROBLEMS .................................................................................................... 236
CHAPTER 10: THE STACK AND SUBROUTINES ....................................................... 237
10.1 THE STACK .......................................................................................................... 237
10.2 SUBROUTINES........................................................................................................ 241
SUMMARY ..................................................................................................................... 243
EXERCISE PROBLEMS .................................................................................................... 243
CHAPTER 11: INTRODUCTION TO INTERRUPTS ...................................................... 245
11.1 THE CONCEPT OF AN INTERRUPT ............................................................................ 245
11.1.1 Interrupt Flags (IFG) ..................................................................................... 245
11.1.2 Interrupt Priority and Enabling ...................................................................... 246
11.1.3 Interrupt Vectors ........................................................................................... 248
11.1.4 Operation of the STACK during an IRQ ....................................................... 249
11.1.5 Interrupt Service Routines (ISR) ................................................................... 250
11.1.6 Nested Interrupts .......................................................................................... 250
11.1.7 Interrupt Servicing Summary ........................................................................ 251
11.1.8 MSP430FR2355 Interrupts ........................................................................... 252
11.2 MSP430FR2355 PORT INTERRUPTS ..................................................................... 254
SUMMARY ..................................................................................................................... 259
EXERCISE PROBLEMS .................................................................................................... 260
CHAPTER 12: INTRODUCTION TO TIMERS ............................................................... 261
12.1 TIMER OVERVIEW .................................................................................................. 261
12.2 TIMER OVERFLOWS ON THE MSP430FR2355 ........................................................ 266
12.3 TIMER COMPARES ON THE MSP430FR2355 .......................................................... 277
12.4 CREATING PULSE WIDTH MODULATED SIGNALS USING TIMER COMPARES ................ 281
12.5 TIMER CAPTURES ON THE MSP430FR2355 ........................................................... 285
SUMMARY ..................................................................................................................... 285
EXERCISE PROBLEMS .................................................................................................... 286
CHAPTER 13: SWITCHING TO THE C LANGUAGE ................................................... 289
13.1 C CONSTRUCTS ON THE MSP430 .......................................................................... 289
13.1.1 While() Loops in C ........................................................................................ 290
13.1.2 For() Loops in C ............................................................................................ 292
13.1.3 If/Else Statements in C ................................................................................. 293
13.1.4 Switch/Case Statements in C ....................................................................... 293
13.1.5 Arithmetic Operators in C ............................................................................. 294
13.1.6 Bitwise Logic Operators in C ........................................................................ 295
13.2 DIGITAL I/O IN C .................................................................................................... 298
13.3 INTERRUPTS IN C ................................................................................................... 301
13.4 TIMERS IN C .......................................................................................................... 304
SUMMARY ..................................................................................................................... 311
EXERCISE PROBLEMS .................................................................................................... 312
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CHAPTER 14: SERIAL COMMUNICATION IN C ......................................................... 313

14.1 UNIVERSAL ASYNCHRONOUS RECEIVER/TRANSMITTER (UART)............................... 313
14.1.1 The UART Standard ..................................................................................... 313
14.1.2 UART Transmit on the MSP430FR2355 ...................................................... 318
14.1.3 UART Receive on the MSP430FR2355 ....................................................... 345
14.2 SERIAL PERIPHERAL INTERFACE (SPI) .................................................................... 349
14.2.1 The SPI Protocol ........................................................................................... 349
14.2.2 SPI Master Operation on the MSP430FR2355 ............................................ 353
14.2.2.1 Transmitting Data as the SPI Master .................................................................. 355
14.2.2.2 Receiving Data as the SPI Master ...................................................................... 369
14.2.3 SPI Slave Operation on the MSP430FR2355 .............................................. 374
14.2.3.1 Transmitting Data as a SPI Slave ....................................................................... 374
14.2.3.2 Receiving Data as a SPI Slave ........................................................................... 375
14.3 INTER-INTEGRATED CIRCUIT (I2C) BUS ................................................................... 375
14.3.1 The I2C Protocol ........................................................................................... 375
14.3.2 I2C Master Operation on the MSP430FR2355............................................. 386
14.3.2.1 Writing Data as an I2C Master ............................................................................ 388
14.3.2.2 Reading Data as an I2C Master .......................................................................... 401
14.3.3 I2C Slave Operation on the MSP430FR2355............................................... 407
SUMMARY ..................................................................................................................... 409
EXERCISE PROBLEMS .................................................................................................... 411
CHAPTER 15: ANALOG TO DIGITAL CONVERTERS ................................................ 413
15.1 ANALOG TO DIGITAL CONVERTERS ......................................................................... 413
15.2 ADC OPERATION ON THE MSP430FR2355 ........................................................... 416
SUMMARY ..................................................................................................................... 428
EXERCISE PROBLEMS .................................................................................................... 428
REFERENCES................................................................................................................ 429
APPENDIX A: CONCEPT CHECK SOLUTIONS .......................................................... 431