lab5 finish

common/input_capture.c

@@ -9,16 +9,23 @@ void (*capture_task)(uint16_t time);
 // acknowledges the interrupt and calls a user function.
 void TimerA0CaptureInit(void (*task)(uint16_t time)) {
     capture_task = task;
+
     P7->SEL0 |= 0x08;
     P7->SEL1 &= ~0x08; // configure P7.3 as TA0CCP0
     P7->DIR &= ~0x08;
+
     TIMER_A0->CTL &= ~0x30; // halt Timer A0
     TIMER_A0->CTL = 0x200; // SMCLK
+
     TIMER_A0->CCTL[0] = 0x4910; // capture on rising edge, synchronous capture, capture mode, interrupt enabled
+    
     TIMER_A0->EX0 &= ~0x7; // input clock divider /1
+
     NVIC->IP[2] = (NVIC->IP[2] & 0xFFFFFF00) | 0x00000002; // priority 2
+
     // interrupts enabled in the main program after all devices initialized
     NVIC->ISER[0] = 0x100; // enable interrupt 8 in NVIC
+
     TIMER_A0->CTL |= 0x24;        // reset and start Timer A0 in continuous up mode
 }
 
@@ -42,15 +49,71 @@ void (*capture_task1)(uint16_t time);
 // Assumes: low-speed subsystem master clock is 12 MHz
 void TimerA3CaptureInit(void (*task0)(uint16_t time), 
                         void (*task1)(uint16_t time)) {
-    // write this code
+    capture_task0 = task0;
+    capture_task1 = task1;
+
+    // Configure P10.4 and P10.5 as TA3.CCP0 and TA3.CCP1
+    P10->SEL0 |= 0x30;   // Set SEL0 for bits 4 and 5
+    P10->SEL1 &= ~0x30;  // Clear SEL1 for bits 4 and 5
+    P10->DIR &= ~0x30;   // Set as inputs
+
+    // Halt Timer A3 and configure clock source
+    TIMER_A3->CTL &= ~0x0030;        // Halt Timer A3
+    TIMER_A3->CTL = 0x0200;          // Use SMCLK (12 MHz)
+
+    // Configure capture compare channels 0 and 1
+    TIMER_A3->CCTL[0] = 0x4910;      // Rising edge, sync, capture, interrupt
+    TIMER_A3->CCTL[1] = 0x4910;      // Same for channel 1
+
+    // Set input clock divider to /1
+    TIMER_A3->EX0 &= ~0x0007;        // Clear TAIDEX bits
+    // TIMER_A3->EX0 = (TIMER_A3->EX0 & ~0x0007) | 0x0002;
+
+    // Set NVIC priorities for TA3_0 and TA3_N interrupts to priority 2
+    NVIC->IP[10] = (NVIC->IP[10] & 0xFFFF0000) | 0x00000202;
+
+    // Enable interrupts in NVIC
+    NVIC->ISER[1] = 0x0300;          // Enable IRQ40 and IRQ41
+
+    // Start Timer A3 in continuous mode with clear
+    TIMER_A3->CTL |= 0x0024;         // TACLR | MC__CONTINUOUS
 }
 
-// The rising edge of P10.4 will cause an interrupt
+// // The rising edge of P10.4 will cause an interrupt
+// void TA3_0_IRQHandler(void) {
+//     TIMER_A3->CCTL[0] &= ~0x0001;    // Acknowledge interrupt
+//     capture_task0(TIMER_A3->CCR[0]); // Execute user task
+// }
+
+// // The rising edge of P10.5 will cause an interrupt
+// void TA3_N_IRQHandler(void) {
+//     if (TIMER_A3->CCTL[1] & 0x0001) { // Check if CCIFG1 is set
+//         TIMER_A3->CCTL[1] &= ~0x0001;  // Acknowledge interrupt
+//         capture_task1(TIMER_A3->CCR[1]); // Execute task
+//     }
+// }
+
+#define PRESCALER_FACTOR 3
+static uint16_t prev_capture0 = 0;
+static uint16_t prev_capture1 = 0;
+// ISR for TA3 CCR0 (P10.4 rising edge)
 void TA3_0_IRQHandler(void) {
-    // write this code
+    uint16_t current_capture = TIMER_A3->CCR[0];
+    uint16_t period = current_capture - prev_capture0;
+    prev_capture0 = current_capture;
+    
+    TIMER_A3->CCTL[0] &= ~0x0001;    // Acknowledge interrupt
+    capture_task0(period * PRESCALER_FACTOR); // Apply prescaler
 }
 
-// The rising edge of P10.5 will cause an interrupt
+// ISR for TA3 CCR1 (P10.5 rising edge)
 void TA3_N_IRQHandler(void) {
-    // write this code
+    if (TIMER_A3->CCTL[1] & 0x0001) { // Check CCIFG1
+        uint16_t current_capture = TIMER_A3->CCR[1];
+        uint16_t period = current_capture - prev_capture1;
+        prev_capture1 = current_capture;
+        
+        TIMER_A3->CCTL[1] &= ~0x0001; // Acknowledge interrupt
+        capture_task1(period * PRESCALER_FACTOR); // Apply prescaler
+    }
 }

lab5/main.c

@@ -70,9 +70,9 @@ int main_s(void) {
 }
 
 void checkBump() {
-        uint8_t bump = BumpRead();
-        if ((~bump & BUMP_PINS))
-            MotorStop();
+uint8_t bump = BumpRead();
+    if (~bump & BUMP_PINS)
+        MotorStop();
 }
 
 // Write a program that uses PWM to move the robot

lab6/main.c

@@ -55,15 +55,20 @@ void PeriodMeasure1(uint16_t time) {
     done1 = true;
 }
 
-int main_period_measure(void) {
+void dummy() {
+    int i = 1;
+}
+int main(void) {
     CPU_cpsid(); // Disable interrupts
     ClockInit48MHz();  // 48 MHz clock; 12 MHz Timer A clock
     RedLEDInit();
     ColorLEDInit();
-    PWMInitMotor(?);
+    PWMInitMotor(7502);
     MotorInit();
-    TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
-    MotorForward(3751, 3751);  // 50%
+    TimerA1Init(&dummy, 1000);
+    // TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
+    // MotorForward(3751, 3751);  // 50%
+    // MotorForward(1000, 1000);
     CPU_cpsie(); // Enable interrupts
     CPU_wfi(); // Wait for interrupt
     return 0;
@@ -117,7 +122,7 @@ int main_collect(void) {
     ClockInit48MHz();  // 48 MHz clock; 12 MHz Timer A clock
     RedLEDInit();
     ColorLEDInit();
-    PWMInitMotor(?);
+    PWMInitMotor(7502);
     MotorInit();
     TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
     TimerA1Init(&Collect, 5000);  // 100 Hz
@@ -129,7 +134,7 @@ int main_collect(void) {
 int main_tach(void) {
     CPU_cpsid(); // Disable interrupts
     ClockInit48MHz();
-    PWMInitMotor(?);
+    PWMInitMotor(7502);
     MotorInit();
     TachometerInit();
     MotorForward(2000, 2000); // confirm if rotating forward