#include void main(void) { WDTCTL = WDTPW + WDTHOLD; // Stop watchdog timer _delay_cycles(1000000); // Initialization of the port pins of MSP430G2553 - P1.5 is connected to PIR sensor and the P1.6 and P1.7 are connected to the L293D motor driver P1DIR |= 0xC1; // Set P1.0 for LED output, P1.6 and P1.7 L293D motor pins to output direction P1OUT = 0X00; P2IE |= 0x01; // P2.0 interrupt enabled P2IES |= 0x01; // P2.0 High/low edge P2IFG &= ~0x01; // P2.0 IFG cleared _BIS_SR(LPM4_bits + GIE); // Enter LPM4 w/interrupt } // Port 1 interrupt service routine #pragma vector =PORT2_VECTOR __interrupt void Port_2(void) { P1OUT ^= 0x01; // P1.0 = toggle // P1.6 and P1.7 are Enable pins of the L293D (EN1 = 1, EN2 = 0 -- motor rotate in Forward direction) if(P1OUT & 0x01 == 0x01) { P1OUT |= 0x80; _delay_cycles(1000000); P1OUT &= ~0xC0; // disable the enable pins to stop the motor } // P1.6 and P1.7 are Enable pins of the L293D (EN1 = 0, EN2 = 1 -- motor rotate in Forward direction) else { P1OUT |= 0x40; _delay_cycles(1000000); P1OUT &= ~0xC0; // disable the enable pins to stop the motor } _delay_cycles(10000); P2IFG &= ~0x01; // P2.0 IFG cleared }
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