#include <msp430G2231.h> // Header file for this device
#include <intrinsics.h> // Intrinsic functions
#define LED = BIT6 // Output bit for LED

void wait (long int pwmpause);

void main (void)

{
	long int i, istwert, sollwert, regeldifferenzalt, regeldifferenzneu, integrationssumme, kp, ki, kd, ausgang;
	
	WDTCTL = WDTPW | WDTHOLD; 	// Stop watchdog
	P1SEL = 0; 					// Digital i/o rather than crystal
	P1OUT = 0;
	P1DIR = BIT6|BIT7|BIT4|BIT0; 		
	ADC10CTL0 = ADC10ON + REFON + REF2_5V + SREF_1 + ADC10SHT_3;	
	//ADC10CTL0 = ADC10SHT_2 | ADC10ON | REFON | REF2_5V;
								// Input channel 1, trigger using ADC10SC bit , no clock division ,
								// internal ADC clock , single channel single conversions
	ADC10CTL1 = INCH_1 | SHS_0 | ADC10DIV_0 | ADC10SSEL_0 | CONSEQ_0;
	ADC10AE0 = BIT1; 			// Enable analog input on channel 1
	ADC10CTL0 |= ENC; 			// Enable conversions
	sollwert = 41;
	istwert=0;
	kp = 8;
	ki = 1;
	integrationssumme = 0;
for(;;)
{	

		ADC10CTL0 |=ADC10SC; 		// Trigger new conversion
		while ((ADC10CTL1 & ADC10BUSY) == ADC10BUSY) 
		{
		 							// Loop while conversion takes place
			if (ADC10MEM >= BIT9)   // Is output in top half of range?
			{
				P1OUT = BIT6; 				// Yes: Turn LED on
			} 
			else 
			{
				P1OUT = 0; 				// No: Turn LED off
			}		
		}

	
	istwert = ADC10MEM / 10;
	sollwert = 41;
	regeldifferenzneu = istwert - sollwert;																//Vergleich
	integrationssumme = integrationssumme + regeldifferenzneu;												//Integration I-Anteil
	ausgang = kp * regeldifferenzneu + ki * integrationssumme; //+ kd*regeldifferenzneu – regeldifferenzalt;	//Reglergleichung
	regeldifferenzalt = regeldifferenzneu;
	
	if(ausgang > 101) ausgang = 102;
	if(ausgang < 2) ausgang = 1; 

	// PWM ausgeben
	
	P1OUT = ~BIT4;
	wait(103-ausgang);
	P1OUT = BIT4;
	wait(ausgang);

}
}
void wait (long int pwmpause)
{
	do 
	{
		pwmpause--;
	}
	while (pwmpause != 0);
}