Texas Instruments LaunchPad 430¶
Texas Instruments has the MSP430 microcontroller familiy. It is completely different to the AVR Atmegas. Amforth recently started to support it as well. The Forth kernel is (almost) the same, many tools like the amforth-shell work for both too. Since the MSP430 is new, bugs and other oddities are more likely than for the Atmegas.
The sources are made for the naken_asm assembler.
Playing with the Launchpad¶
The LEDs can be used as follows
: red:init 1 34 bm-set ;
: red:on 1 33 bm-set ;
: red:off 1 33 bm-clear ;
: green:init 64 34 bm-set ;
: green:on 64 33 bm-set ;
: green:off 64 33 bm-clear ;
Example for (machine) code (instead of the forth code above)
code red:init $D3D2 , $0022 , end-code
code red:on $D3D2 , $0021 , end-code
code red:off $C3D2 , $0021 , end-code
There are many ways to wait, e.g. do other things while waiting (PAUSE). A simple approach is do nothing:
: ms 0 ?do 1ms loop ;
Now let the red LED blink ONCE
: blink red:on 100 ms red:off 100 ms ;
Test it! Now! The compiled version is much faster than the sequence “1 33 bm-set 1 33 bm-clear” (watch the red flashes). Next is to let it blink until a key is pressed
: blink-forever begin blink key? until key drop ;
A big difference to the AVR’s is that amforth for the MSP430 needs an explicit save command to make all writes to the dictionary permanent. Otherwise every changes are lost at cold or reset and moreover a re-flash is necessary.
Hardware Setup¶
At the first glance, the hardware setup is trivial: Connect your Launchpad to the USB port of your PC. It may take a while until the modem manager detects that it is not a device it can handle. Now open a terminal (I use minicom) and set the serial port settings: /dev/acm0, 9600 and 8N1 without flow control.
MSP430 G2553¶
The mspdebug to actually program the controller uses the rf2500 protocol:
> mspdebug rf2500 "prog launchpad430.hex "
MSPDebug version 0.22 - debugging tool for MSP430 MCUs
Copyright (C) 2009-2013 Daniel Beer <dlbeer@gmail.com>
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
Trying to open interface 1 on 007
rf2500: warning: can't detach kernel driver: No data available
Initializing FET...
FET protocol version is 30394216
Set Vcc: 3000 mV
Configured for Spy-Bi-Wire
fet: FET returned error code 4 (Could not find device or device not supported)
fet: command C_IDENT1 failed
Using Olimex identification procedure
Device ID: 0x2553
Code start address: 0xc000
Code size : 16384 byte = 16 kb
RAM start address: 0x200
RAM end address: 0x3ff
RAM size : 512 byte = 0 kb
Device: MSP430G2xx3
Number of breakpoints: 2
fet: FET returned NAK
warning: device does not support power profiling
Chip ID data: 25 53
Erasing...
Programming...
Writing 424 bytes at 0200...
Writing 188 bytes at 1000...
Writing 4096 bytes at e000...
Writing 4008 bytes at f000...
Writing 32 bytes at ffe0...
Done, 8748 bytes total
Your Amforth terminal session (minicom) should now print some readable characters like
+-------------------------------------
| amforth 5.6 MSP430G2553 8000 kHz
| >
|
Thats all. If nothing has happened look for error messages in the mspdebug window. Try replugging the launchpad. Some more information are in the Amforth with Raspberry PI recipe.
You can reprogram the controller via USB whilst the terminal session is still active. In this case you’ll see repeated welcome strings from amforth due to some resets.
+-------------------------------------
| amforth 5.6 MSP430G2553 8000 kHz
| > amforth 5.6 MSP430G2553 8000 kHz
| > amforth 5.6 MSP430G2553 8000 kHz
| > amforth 5.6 MSP430G2553 8000 kHz
| > amforth 5.6 MSP430G2553 8000 kHz
| >
|
MSP430 F5529 & FR5969¶
Thess chips require the libmsp430.so from TI which is (at least
with ubuntu) not part of the mspdebug package. I used the one
from Energia
and copied it into /usr/lib.
$ mspdebug tilib "prog amforth-5529.hex"
MSPDebug version 0.22 - debugging tool for MSP430 MCUs
Copyright (C) 2009-2013 Daniel Beer <dlbeer@gmail.com>
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
tilib: can't find libmsp430.so: libmsp430.so: cannot open shared object file: No such file or directory
If the following error message is displayed
tilib: MSP430_Initialize: Interface Communication error (error = 35)
the modem manager is still using the serial port. Just wait for it.
The next error message is potentially more troublesome
mspdebug tilib "prog amforth-5529.hex"
MSPDebug version 0.22 - debugging tool for MSP430 MCUs
Copyright (C) 2009-2013 Daniel Beer <dlbeer@gmail.com>
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
MSP430_GetNumberOfUsbIfs
MSP430_GetNameOfUsbIf
Found FET: ttyACM0
MSP430_Initialize: ttyACM0
FET firmware update is required.
Re-run with --allow-fw-update to perform a firmware update.
tilib: device initialization failed
Now you have to update the programming module on the launchpad. Be aware that this is a potentially dangerous action, it may seem to brick the chip (if not, you’re lucky) if something goes wrong:
$ mspdebug tilib --allow-fw-update
MSPDebug version 0.22 - debugging tool for MSP430 MCUs
Copyright (C) 2009-2013 Daniel Beer <dlbeer@gmail.com>
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
MSP430_GetNumberOfUsbIfs
MSP430_GetNameOfUsbIf
Found FET: HID_FET
MSP430_Initialize: HID_FET
FET firmware update is required.
Starting firmware update (this may take some time)...
tilib: MSP430_FET_FwUpdate: MSP-FET / eZ-FET recovery failed (error = 73)
tilib: device initialization failed
In this case try running the command as root e.g. via sudo
$ sudo mspdebug tilib --allow-fw-update
[sudo] password for <user>:
MSPDebug version 0.22 - debugging tool for MSP430 MCUs
Copyright (C) 2009-2013 Daniel Beer <dlbeer@gmail.com>
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
MSP430_GetNumberOfUsbIfs
MSP430_GetNameOfUsbIf
Found FET: HID_FET
MSP430_Initialize: HID_FET
FET firmware update is required.
Starting firmware update (this may take some time)...
Initializing bootloader...
Programming new firmware...
0 percent done
34 percent done
67 percent done
100 percent done
Update complete
Done, finishing...
MSP430_VCC: 3000 mV
tilib: MSP430_VCC: Internal error (error = 68)
tilib: device initialization failed
The error 68 signals “ok, I’m almost done”. Now re-run the same command to finally do the firmware update. Note some subtle differences in the output like the HID_FET vs. ttyACM0.
$ sudo mspdebug tilib --allow-fw-update
MSPDebug version 0.22 - debugging tool for MSP430 MCUs
Copyright (C) 2009-2013 Daniel Beer <dlbeer@gmail.com>
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
MSP430_GetNumberOfUsbIfs
MSP430_GetNameOfUsbIf
Found FET: ttyACM0
MSP430_Initialize: ttyACM0
FET firmware update is required.
Starting firmware update (this may take some time)...
Initializing bootloader...
Programming new firmware...
4 percent done
20 percent done
36 percent done
52 percent done
68 percent done
84 percent done
100 percent done
Update complete
Done, finishing...
MSP430_VCC: 3000 mV
MSP430_OpenDevice
MSP430_GetFoundDevice
Device: MSP430F5529 (id = 0x0030)
8 breakpoints available
MSP430_EEM_Init
Chip ID data: 55 29 18
Available commands:
= erase isearch power save_raw simio
alias exit load prog set step
break fill load_raw read setbreak sym
cgraph gdb md regs setwatch verify
delbreak help mw reset setwatch_r verify_raw
dis hexout opt run setwatch_w
Available options:
color gdb_loop
enable_bsl_access gdbc_xfer_size
enable_locked_flash_access iradix
fet_block_size quiet
gdb_default_port
Type "help <topic>" for more information.
Use the "opt" command ("help opt") to set options.
Press Ctrl+D to quit.
(mspdebug) <Ctrl-D>
MSP430_Run
MSP430_Close
If done properly the actions looks as follows
$ sudo mspdebug tilib --allow-fw-update
MSPDebug version 0.22 - debugging tool for MSP430 MCUs
Copyright (C) 2009-2013 Daniel Beer <dlbeer@gmail.com>
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
MSP430_GetNumberOfUsbIfs
MSP430_GetNameOfUsbIf
Found FET: ttyACM0
MSP430_Initialize: ttyACM0
FET firmware update is required.
Starting firmware update (this may take some time)...
Initializing bootloader...
Programming new firmware...
75 percent done
84 percent done
84 percent done
91 percent done
96 percent done
99 percent done
100 percent done
100 percent done
Initializing bootloader...
Programming new firmware...
4 percent done
20 percent done
36 percent done
52 percent done
68 percent done
84 percent done
100 percent done
Update complete
Done, finishing...
MSP430_VCC: 3000 mV
MSP430_OpenDevice
MSP430_GetFoundDevice
Device: MSP430FR5969 (id = 0x012d)
3 breakpoints available
MSP430_EEM_Init
Chip ID data: 69 81 30
Available commands:
= erase isearch power save_raw simio
alias exit load prog set step
break fill load_raw read setbreak sym
cgraph gdb md regs setwatch verify
delbreak help mw reset setwatch_r verify_raw
dis hexout opt run setwatch_w
Available options:
color gdb_loop
enable_bsl_access gdbc_xfer_size
enable_locked_flash_access iradix
fet_block_size quiet
gdb_default_port
Type "help <topic>" for more information.
Use the "opt" command ("help opt") to set options.
Press Ctrl+D to quit.
(mspdebug) <Ctrl-D>
MSP430_Run
MSP430_Close
Now your hardware is configured to upload the hexfiles from amforth
$ mspdebug tilib "prog amforth-5529.hex"
giving the amforth command prompt in your serial terminal
amforth 6.1 MSP430F5529 8000 kHz
> words
key? key emit? emit ...