lab 4 finished

common/bump.c

@@ -2,8 +2,6 @@
 
 #include "inc/msp432p401r.h"
 
-#define BUMP_PINS 0b11101101
-
 void BumpInit(void) {
     // Port 4 pins 0, 2, 3, 5, 6, 7
     // and enables internal resistors

common/bump.h

@@ -3,6 +3,7 @@
 
 #include <stdint.h>
 
+#define BUMP_PINS 0b11101101
 // Set port pins Port 4.0, 4.2, 4.3, 4.5, 4.6 and 4.7 and enable internal resistors as needed
 void BumpInit(void);
 

common/motor_hw_pwm.c

@@ -0,0 +1,145 @@
+#include <stdbool.h>
+#include "motor_simple.h"
+
+#include "bump.h"
+#include "systick.h"
+
+#include "inc/msp432p401r.h"
+
+
+#define BIT0 (uint8_t)(0x01)
+#define BIT1 (uint8_t)(0x02)
+#define BIT2 (uint8_t)(0x04)
+#define BIT3 (uint8_t)(0x08)
+#define BIT4 (uint8_t)(0x10)
+#define BIT5 (uint8_t)(0x20)
+#define BIT6 (uint8_t)(0x40)
+#define BIT7 (uint8_t)(0x80)
+
+
+// Left motor (PH) direction connected to P5.4 (J3.29)
+#define LEFT_DIR_PIN     BIT4  // P5.4
+// Right motor (PH) direction connected to P5.5 (J3.30)
+#define RIGHT_DIR_PIN    BIT5  // P5.5
+
+// Left motor (EN) PWM connected to P2.7/TA0CCP4 (J4.40)
+#define LEFT_PWM_PIN     BIT7  // P2.7
+// Right motor (EN) PWM connected to P2.6/TA0CCP3 (J4.39)
+#define RIGHT_PWM_PIN    BIT6  // P2.6
+
+// Left motor (nSLEEP) enable connected to P3.7 (J4.31)
+#define LEFT_SLEEP_PIN   BIT7  // P3.7
+// Right motor (nSLEEP) enable connected to P3.6 (J2.11)
+#define RIGHT_SLEEP_PIN  BIT6  // P3.6
+
+
+// Initializes the 6 GPIO output lines and puts driver to sleep
+void MotorInit(void) {
+    P5->SEL0 &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);    // GPIO enable
+    P5->SEL1 &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);
+    P5->DIR |=   (LEFT_DIR_PIN | RIGHT_DIR_PIN);    // Output direction
+    P5->OUT &=  ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);    // Initialize low
+    
+    // motor enable pins - P2.6 P2.7
+    P2->SEL0 |=  (LEFT_PWM_PIN | RIGHT_PWM_PIN);    // TimerA function
+    P2->SEL1 &= ~(LEFT_PWM_PIN | RIGHT_PWM_PIN);
+    P2->DIR |=   (LEFT_PWM_PIN | RIGHT_PWM_PIN);    // Output direction
+    
+    // motor sleep pins - P3.6 P3.7
+    P3->SEL0 &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);    // GPIO enable
+    P3->SEL1 &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);
+    P3->DIR |=   (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);    // Output direction
+    P3->OUT &=  ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);    // Initialize low (sleep mode)
+}
+
+// Stops both motors, puts driver to sleep
+void MotorStop(void) {
+    P2->OUT &= ~0xC0;   // off
+    P3->OUT &= ~0xC0;   // low current sleep mode
+}
+
+// Drives both motors forward at duty (100 to 9900)
+// Runs for time duration, and then stops
+// Stop the motors and return if any bumper switch is active
+void MotorForward(uint16_t duty, uint32_t times_10ms) {
+    // set direction - PH low
+    P5->OUT &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);
+
+    // wake up motors
+    P3->OUT |= (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);
+
+    // Set PWM duty cycle
+    TIMER_A0->CCR[3] = duty;  // Right motor (P2.6/TA0.3)
+    TIMER_A0->CCR[4] = duty;  // Left motor  (P2.7/TA0.4)
+
+    while(times_10ms--) {
+        Delay10ms(1);
+    }
+    
+    MotorStop();
+}
+
+// Drives both motors backward at duty (100 to 9900)
+// Runs for time duration, and then stops
+// Runs even if any bumper switch is active
+void MotorBackward(uint16_t duty, uint32_t times_10ms) {
+    // set direction - PH high
+    P5->OUT |= (LEFT_DIR_PIN | RIGHT_DIR_PIN);
+
+    // wake up motors
+    P3->OUT |= (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);
+
+    // Set PWM duty cycle
+    TIMER_A0->CCR[3] = duty;  // Right motor (P2.6/TA0.3)
+    TIMER_A0->CCR[4] = duty;  // Left motor  (P2.7/TA0.4)
+
+    while(times_10ms--) {
+        Delay10ms(1);
+    }
+    
+    MotorStop();
+}
+
+// Drives just the left motor forward at duty (100 to 9900)
+// Right motor is stopped (sleeping)
+// Runs for time duration, and then stops
+// Stop the motor and return if any bumper switch is active
+void MotorLeft(uint16_t duty, uint32_t times_10ms) {
+    // set direction - PH low
+    P5->OUT &= ~LEFT_DIR_PIN;
+
+    // wake up motors
+    P3->OUT = (P3->OUT & ~RIGHT_SLEEP_PIN) | LEFT_SLEEP_PIN;
+
+    // Set PWM duty cycle
+    TIMER_A0->CCR[3] = 0;      // Right motor off
+    TIMER_A0->CCR[4] = duty;   // Left motor on
+
+    while(times_10ms--) {
+        Delay10ms(1);
+    }
+    
+    MotorStop();
+}
+
+// Drives just the right motor forward at duty (100 to 9900)
+// Left motor is stopped (sleeping)
+// Runs for time duration, and then stops
+// Stop the motor and return if any bumper switch is active
+void MotorRight(uint16_t duty, uint32_t times_10ms) {
+    // set direction - PH low
+    P5->OUT &= ~RIGHT_DIR_PIN;
+
+    // wake up motors
+    P3->OUT = (P3->OUT & ~LEFT_SLEEP_PIN) | RIGHT_SLEEP_PIN;
+
+    // Set PWM duty cycle
+    TIMER_A0->CCR[3] = duty;    // Right motor off
+    TIMER_A0->CCR[4] = 0;       // Left motor on
+
+    while(times_10ms--) {
+        Delay10ms(1);
+    }
+    
+    MotorStop();
+}

common/motor_simple.c

@@ -6,38 +6,116 @@
 
 #include "inc/msp432p401r.h"
 
-// Left motor (PH) direction connected to P5.4 (J3.29)
+#undef BIT0
-// Left motor (EN) PWM connected to P2.7/TA0CCP4 (J4.40)
+#undef BIT1
-// Left motor (nSLEEP) enable connected to P3.7 (J4.31)
+#undef BIT2
+#undef BIT3
+#undef BIT4
+#undef BIT5
+#undef BIT6
+#undef BIT7
 
+#define BIT0 (uint8_t)(0x01)
+#define BIT1 (uint8_t)(0x02)
+#define BIT2 (uint8_t)(0x04)
+#define BIT3 (uint8_t)(0x08)
+#define BIT4 (uint8_t)(0x10)
+#define BIT5 (uint8_t)(0x20)
+#define BIT6 (uint8_t)(0x40)
+#define BIT7 (uint8_t)(0x80)
+
+// duty := H/(H+L) = H/10000
+// H+L is always 10 000 microsecond
+
+// Left motor (PH) direction connected to P5.4 (J3.29)
+#define LEFT_DIR_PIN     BIT4  // P5.4
 // Right motor (PH) direction connected to P5.5 (J3.30)
+#define RIGHT_DIR_PIN    BIT5  // P5.5
+
+// Left motor (EN) PWM connected to P2.7/TA0CCP4 (J4.40)
+#define LEFT_PWM_PIN     BIT7  // P2.7
 // Right motor (EN) PWM connected to P2.6/TA0CCP3 (J4.39)
+#define RIGHT_PWM_PIN    BIT6  // P2.6
+
+// Left motor (nSLEEP) enable connected to P3.7 (J4.31)
+#define LEFT_SLEEP_PIN   BIT7  // P3.7
 // Right motor (nSLEEP) enable connected to P3.6 (J2.11)
+#define RIGHT_SLEEP_PIN  BIT6  // P3.6
 
 
 // Initializes the 6 GPIO output lines and puts driver to sleep
 void MotorInit(void) {
-    // write this code
+    // 1. Configure all motor control pins as outputs
+    // P5.4 (Left DIR), P5.5 (Right DIR)
+    P5->SEL0 &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);         // GPIO function
+    P5->SEL1 &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);
+    P5->DIR  |=  (LEFT_DIR_PIN | RIGHT_DIR_PIN);           // Output direction
+
+    // P3.6 (Right SLEEP), P3.7 (Left SLEEP)
+    P3->SEL0 &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);         // GPIO function
+    P3->SEL1 &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);
+    P3->DIR  |=  (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);           // Output direction
+    
+    // P2.6 (Right EN), P2.7 (Left EN)
+    P2->SEL0 &= ~(LEFT_PWM_PIN | RIGHT_PWM_PIN);         // GPIO function
+    P2->SEL1 &= ~(LEFT_PWM_PIN | RIGHT_PWM_PIN);
+    P2->DIR  |=  (LEFT_PWM_PIN | RIGHT_PWM_PIN);           // Output direction
+
+    // 2. Initial state: disable motors
+    P3->OUT  &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);  // SLEEP pins low - DRV8838 disabled
+    P2->OUT  &= ~(LEFT_PWM_PIN | RIGHT_PWM_PIN);  // EN pins low
+
+    SysTickWait1us(1000);
 }
 
 // Stops both motors, puts driver to sleep
 void MotorStop(void) {
-    P2->OUT &= ~0xC0;   // off
+    P3->OUT &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);  // SLEEP pins low
-    P3->OUT &= ~0xC0;   // low current sleep mode
+    P2->OUT &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);  // EN pins low
 }
 
 // Drives both motors forward at duty (100 to 9900)
 // Runs for time duration, and then stops
 // Stop the motors and return if any bumper switch is active
 void MotorForward(uint16_t duty, uint32_t times_10ms) {
-    // write this code
+    P5->OUT &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);     // set direction - PH low
+    P3->OUT |=  (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
+
+    uint32_t i;
+    for (i = 0; i < times_10ms; ++i) {
+        P2->OUT |= (LEFT_PWM_PIN | RIGHT_PWM_PIN);  // Enable both motors (EN high)
+        SysTickWait1us(duty);
+        
+        P2->OUT &= ~(LEFT_PWM_PIN | RIGHT_PWM_PIN); // Disable motors
+        SysTickWait1us(10000 - duty);
+
+        uint8_t bump = BumpRead();
+        if (!(bump & BUMP_PINS)) break;
+    }
+
+    MotorStop();
 }
 
 // Drives both motors backward at duty (100 to 9900)
 // Runs for time duration, and then stops
 // Runs even if any bumper switch is active
 void MotorBackward(uint16_t duty, uint32_t times_10ms) {
-    // write this code
+    P5->OUT |=  (LEFT_DIR_PIN | RIGHT_DIR_PIN);     // set direction - PH high
+    P3->OUT |=  (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
+
+    uint32_t i;
+    for (i = 0; i < times_10ms; ++i) {
+        P2->OUT |= (LEFT_PWM_PIN | RIGHT_PWM_PIN);  // Enable both motors (EN high)
+        SysTickWait1us(duty);
+        
+        P2->OUT &= ~(LEFT_PWM_PIN | RIGHT_PWM_PIN); // Disable motors
+        SysTickWait1us(10000 - duty);
+
+        uint8_t bump = BumpRead();
+        if (!(bump & BUMP_PINS)) break;
+    }
+    
+    MotorStop();
 }
 
 // Drives just the left motor forward at duty (100 to 9900)
@@ -45,7 +123,22 @@ void MotorBackward(uint16_t duty, uint32_t times_10ms) {
 // Runs for time duration, and then stops
 // Stop the motor and return if any bumper switch is active
 void MotorLeft(uint16_t duty, uint32_t times_10ms) {
-    // write this code
+    P5->OUT &= ~(LEFT_DIR_PIN);   // set direction
+    P3->OUT |=  (LEFT_SLEEP_PIN); // wake up motors
+
+    uint32_t i;
+    for (i = 0; i < times_10ms; ++i) {
+        P2->OUT |= (LEFT_PWM_PIN);  // Enable both motors (EN high)
+        SysTickWait1us(duty);
+        
+        P2->OUT &= ~(LEFT_PWM_PIN); // Disable motors
+        SysTickWait1us(10000 - duty);
+
+        uint8_t bump = BumpRead();
+        if (!(bump & BUMP_PINS)) break;
+    }
+    
+    MotorStop();
 }
 
 // Drives just the right motor forward at duty (100 to 9900)
@@ -53,5 +146,20 @@ void MotorLeft(uint16_t duty, uint32_t times_10ms) {
 // Runs for time duration, and then stops
 // Stop the motor and return if any bumper switch is active
 void MotorRight(uint16_t duty, uint32_t times_10ms) {
-    // write this code
+    P5->OUT &= ~(RIGHT_DIR_PIN);   // set direction - PH high
-}
+    P3->OUT |=  (RIGHT_SLEEP_PIN); // wake up motors
+
+    uint32_t i;
+    for (i = 0; i < times_10ms; ++i) {
+        P2->OUT |= (RIGHT_PWM_PIN);  // Enable both motors (EN high)
+        SysTickWait1us(duty);
+        
+        P2->OUT &= ~(RIGHT_PWM_PIN); // Disable motors
+        SysTickWait1us(10000 - duty);
+
+        uint8_t bump = BumpRead();
+        if (!(bump & BUMP_PINS)) break;
+    }
+    
+    MotorStop();
+}

common/systick.c

@@ -9,10 +9,24 @@ void SysTickInit(void) {
 
 // Assumes 48 MHz bus clock
 void SysTickWait(uint32_t delay_ticks) {
-    // write this code
+    // 1. Write a desired delay_ticks value into the SysTick->LOAD register and subtract 1 from it,
+    SysTick->LOAD = delay_ticks - 1;
+
+    // 2. Clear the SysTick->VAL counter value, which also clears the COUNT bit,
+    SysTick->VAL = 0;
+
+    // 3. Wait for the COUNT bit in the SysTick->CTRL register to be set.
+    while((SysTick->CTRL & 0x00010000) == 0); // wait for COUNTFLAG
+
     // any write to CVR clears it and COUNTFLAG in CSR
 }
 
 void SysTickWait1us(uint32_t times) {
-    // write this code
+    uint32_t count = (48 * times) / 0x00FFFFFF;
+    uint32_t rem   = (48 * times) % 0x00FFFFFF;
+    uint32_t i;
+    for (i = 0; i < count; ++i) {
+        SysTickWait(0x00FFFFFF); // wait max
+    }
+    SysTickWait(rem);
 }

lab4/main.c

@@ -44,16 +44,17 @@ void SwitchInit(void) {
 }
 
 void WaitTouchRelease(void) {
-    while(!(SW1IN || SW2IN)) {}  // wait for touch
+    while(!(SW1IN || SW2IN));  // wait for touch
-    while(SW1IN || SW2IN) {}     // wait for release
+    while(  SW1IN || SW2IN );  // wait for release
 }
 
-int main_test_systick(void) {
+int main_f(void) {
     ClockInit48MHz();
     SysTickInit();
     RedLEDInit();
-    uint32_t H = 7500;
+    uint32_t H =  5000;
     uint32_t L = 10000 - H;
+
     while (true) {
         P1->OUT |= 0x01;
         SysTickWait1us(H);
@@ -66,20 +67,37 @@ int main_test_systick(void) {
 // The heartbeat stops when the operator pushes Button 2
 // When beating, the P1.0 LED oscillates at 100 Hz (too fast to see with the eye)
 // and the duty cycle is varied sinuosoidally once a second
-int main_heartbeat(void) { 
+int main_s(void) { 
+    uint32_t H;
+    uint32_t L;
+    uint32_t i = 0;
     ClockInit48MHz();
-    // write this code
+    SysTickInit();
+    RedLEDInit();
+
     while (true) {
-        // write this code
+        H = pulse_us[i];
+        L = 10000 - H;     // 2. calculate L 
+        P1->OUT |= 0x01;   // 3. set P1.0 high
+        SysTickWait1us(H); // 4. wait H us
+        P1->OUT &= ~0x01;  // 5. clear P1.0 low
+        SysTickWait1us(L); // 6. Wait L us
+        i = (i + 1) % 100;
     }
 }
 
-int main_test_wheels(void) {
+
+void MotorTestPulse(void);
+int main(void) {
     ClockInit48MHz();
     SysTickInit();
     SwitchInit();
     BumpInit();
     MotorInit(); // your function
+
+    MotorForward(1500, 100);
+    return 0;
+
     while (true) {
         WaitTouchRelease();
         MotorForward(1500, 100);  // your function