using the code composer studio example below write a c program for the msp430f5529 w 5155116

Using the Code Composer Studio example below, write a C program for the MSP430F5529 with the following specifications: The two pins P1.2 and P1.3 are designed to send off PWM signals to drive a 150:1 metal gear motor. The pwm signal should be programmed to be swtiched by button P2.1 to change from duty cycle 400 to duty cycle 100.

Another two pins P1.4 and P1.5 are to be receiving input digital signal from a Quadrature Encoder connecting to the motor.  A timer interrupt is to be used to work out the elapsed time dt between interrupts.

And finally, the current RPM is to be calculated using the calculated position & time values to be used in further PID controls.

(It's OK to leave the PID section blank as I've already got PID control working seperately)

#include
#include

#define LINE_A BIT4   // change these two to whichever digital input pin you are using
#define LINE_B BIT5

uint8_t pos;
uint16_t time;

/**
* main.c
*/
int main(void)
{
   WDTCTL = WDTPW | WDTHOLD; // stop watchdog timer

   // Initialize globals
   pos = 0;
   time = 0;

   // Configure input for encoder pins
   P1DIR &= ~(LINE_A + LINE_B);   // set pins to input
   P1OUT |= LINE_A | LINE_B;
   P1REN |= LINE_A | LINE_B;

// set interrupts and enable
P1IES |= LINE_A + LINE_B;       // initialise with falling edging detection
P1IFG = 0; // Clear all P1 interrupt flags
P1IE = LINE_A | LINE_B;           // enable interupt for encoder

// setup a timer interrupt here
// example: 1000Hz sampling freq

   int target_RPM = 10;   

while (1)
{
   // do something

   if (msecond >= 10)
   {
       // 100Hz, dt = 0.01s (but will this really run at 100Hz?)
           // do RPM calculation here

           // calculate:
           // pos/time (dt) -> rad/s -> RPM

           // can use a moving average filter here, output: filtered_RPM
   }

   if (msecond >= PID loop time)
   {

            // control loop freq = ?
            // dt_control = ?

       int RPM_err = target_RPM – filtered_RPM;

       int PWM_output = PID equation here;

       // forward, if PWM_output is +ve
       PWM_register1 = abs(PWM_output);
       PWM_register2 = 0 or full PWM;       // 0 = fast decay, full PWM = slow decay

       // backward, if PWM_output is -ve
       PWM_register2 = abs(PWM_output);
       PWM_register1 = 0 or full PWM;       // 0 = fast decay, full PWM = slow decay
   }
}

}

// dummy timer interrupt code here
void one_ms_timer_ISR()
{
   msecond++;   // will this overflow? if so how to solve it?
}

// this part is from the original example
#pragma vector=PORT1_VECTOR
__interrupt void port1_ISR(void)
{

uint8_t state = P1IN & (LINE_A | LINE_B);

switch(__even_in_range(P1IV, P1IV__P1IFG7))
{
   // use P1IV_P1IFGX to switch between interrupt of different pins in the same port

case P1IV__NONE: break;
case P1IV__P1IFG0:               // Pin 1.0
if (P1IES & LINE_B) { // if falling edge on Line B
if (state & LINE_A) { // Transitioned from State 3 to State 2
pos += 1;
}
else {
pos -= 1; // Transitioned from State 1 to State 0
}
}
else { // else rising edge on Line B
if (state & LINE_A) { // Transitioned from State 2 to State 3
pos -= 1;
}
else { // Transitioned from State 0 to State 1
pos += 1;
}
}

P1IES ^= LINE_B;
break;
case P1IV__P1IFG1:               // Pin 1.1
if (P1IES & LINE_A) { // if falling edge on Line A
if (state & LINE_B) { // Transitioned from State 3 to State 1
pos -= 1;
}
else {
pos += 1; // Transitioned from State 2 to State 0
}
}
else { // else rising edge on Line A
if (state & LINE_B) { // Transitioned from State 1 to State 3
pos += 1;
}
else { // Transitioned from State 0 to State 2
pos -= 1;
}
}

P1IES ^= LINE_A;
break;
case P1IV__P1IFG2: break;   // Pin 1.2
case P1IV__P1IFG3: break;   // Pin 1.3
case P1IV__P1IFG4: break;   // Pin 1.4
case P1IV__P1IFG5: break;   // Pin 1.5
case P1IV__P1IFG6: break;   // Pin 1.6
case P1IV__P1IFG7: break;   // Pin 1.7
default: break;
}

}