lab5
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@ -3,21 +3,72 @@
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#include "inc/msp432p401r.h"
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// Initialize GPIO pins for output, which will be
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// used to control the direction of the motors and
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// to enable or disable the drivers.
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// The motors are initially stopped, the drivers
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// are initially powered down, and the PWM speed
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// control is uninitialized.
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#undef BIT0
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#undef BIT1
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#undef BIT2
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#undef BIT3
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#undef BIT4
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#undef BIT5
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#undef BIT6
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#undef BIT7
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#define BIT0 (uint8_t)(0x01)
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#define BIT1 (uint8_t)(0x02)
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#define BIT2 (uint8_t)(0x04)
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#define BIT3 (uint8_t)(0x08)
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#define BIT4 (uint8_t)(0x10)
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#define BIT5 (uint8_t)(0x20)
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#define BIT6 (uint8_t)(0x40)
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#define BIT7 (uint8_t)(0x80)
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// duty := H/(H+L) = H/10000
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// H+L is always 10 000 microsecond
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// Left motor (PH) direction connected to P5.4 (J3.29)
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#define LEFT_DIR_PIN BIT4 // P5.4
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// Right motor (PH) direction connected to P5.5 (J3.30)
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#define RIGHT_DIR_PIN BIT5 // P5.5
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// Left motor (EN) PWM connected to P2.7/TA0CCP4 (J4.40)
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#define LEFT_PWM_PIN BIT7 // P2.7
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// Right motor (EN) PWM connected to P2.6/TA0CCP3 (J4.39)
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#define RIGHT_PWM_PIN BIT6 // P2.6
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// Left motor (nSLEEP) enable connected to P3.7 (J4.31)
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#define LEFT_SLEEP_PIN BIT7 // P3.7
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// Right motor (nSLEEP) enable connected to P3.6 (J2.11)
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#define RIGHT_SLEEP_PIN BIT6 // P3.6
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// Initializes the 6 GPIO output lines and puts driver to sleep
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void MotorInit(void) {
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// write this code
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// 1. Configure all motor control pins as outputs
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// P5.4 (Left DIR), P5.5 (Right DIR)
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P5->SEL0 &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN); // GPIO function
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P5->SEL1 &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);
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P5->DIR |= (LEFT_DIR_PIN | RIGHT_DIR_PIN); // Output direction
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// P3.6 (Right SLEEP), P3.7 (Left SLEEP)
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P3->SEL0 &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // GPIO function
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P3->SEL1 &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);
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P3->DIR |= (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // Output direction
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// P2.6 (Right EN), P2.7 (Left EN)
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P2->SEL0 &= ~(LEFT_PWM_PIN | RIGHT_PWM_PIN); // GPIO function
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P2->SEL1 &= ~(LEFT_PWM_PIN | RIGHT_PWM_PIN);
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P2->DIR |= (LEFT_PWM_PIN | RIGHT_PWM_PIN); // Output direction
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// 2. Initial state: disable motors
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P3->OUT &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // SLEEP pins low - DRV8838 disabled
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P2->OUT &= ~(LEFT_PWM_PIN | RIGHT_PWM_PIN); // EN pins low
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}
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// Stop the motors, power down the drivers, and
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// set the PWM speed control to 0% duty cycle.
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void MotorStop(void) {
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P2->OUT &= ~0xC0; // off
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P3->OUT &= ~0xC0; // low current sleep mode
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void MotorStop(void) {
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P5->OUT &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN); // set direction - PH low
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P3->OUT |= (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
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SetPWMDutyLeftMotor(0);
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SetPWMDutyRightMotor(0);
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}
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@ -25,7 +76,11 @@ void MotorStop(void) {
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// Left and right wheels forward with the given duty cycles.
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// Duty cycle is 0 to 14,998.
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void MotorForward(uint16_t left_duty, uint16_t right_duty) {
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// write this code
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P5->OUT &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN); // set direction - PH low
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P3->OUT |= (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
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SetPWMDutyRightMotor(right_duty);
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SetPWMDutyLeftMotor(left_duty);
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}
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// Left and right wheels backward with the given duty cycles.
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27
common/pwm.c
27
common/pwm.c
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@ -38,13 +38,32 @@ void SetPWMDutyP2_5(uint16_t duty) {
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// P2.6/.7 = 1 when timer equals TA0CCR3/4 on way down,
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// P2.6/.7 = 0 when timer equals TA0CCR3/4 on way up
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void PWMInitMotor(uint16_t period) {
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// write this code
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P2->DIR |= BIT6 | BIT7;
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P2->SEL0 |= BIT6 | BIT7;
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P2->SEL1 &= ~(BIT6 | BIT7);
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TIMER_A0->CCR[0] = period;
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TIMER_A0->EX0 = 0x00;
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TIMER_A0->CCTL[3] = 0x40;
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TIMER_A0->CCTL[4] = 0x40;
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TIMER_A0->CCR[3] = 0;
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TIMER_A0->CCR[4] = 0;
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TIMER_A0->CTL = 0x02F0;
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// ZKURVENA MRDKA
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}
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// right motor on P2.6 -> CCR3
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void SetPWMDutyRightMotor(uint16_t duty) {
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// write this code
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if (duty >= TIMER_A0->CCR[0]) return;
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TIMER_A0->CCR[3] = duty;
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}
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// left motor on P2.7 -> CCR4
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void SetPWMDutyLeftMotor(uint16_t duty) {
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// write this code
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}
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if (duty >= TIMER_A0->CCR[0]) return;
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TIMER_A0->CCR[4] = duty;
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}
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@ -7,9 +7,30 @@ void (*timer_a1_task)(void); // user function
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// Activate Timer A1 interrupts to run user task periodically
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// 16 bits period in units (24/SMCLK, with SMCLK 12 MHz -> 2us)
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void TimerA1Init(void (*task)(void), uint16_t period) {
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// write this code
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timer_a1_task = task;
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// bits9-8=10, clock source to SMCLK
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// bits7-6=10, input clock divider
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// bits5-4=00, stop mode
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// bit2=0, set this bit to clear
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// bit1=0, no interrupt on
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TIMER_A1->CTL = 0x0280;
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// bits15-14=00, no capture mode
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// bit8=0, compare mode
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// bit4=1, enable capture/compare interrupt on CCIFG
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// bit2=0, output this value in output mode 0
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TIMER_A1->CCTL[0] &= ~0x0001;
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TIMER_A1->CCR[0] = (period - 1);
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TIMER_A1->EX0 = 0x0005;
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NVIC->IP[3] = (NVIC->IP[3]&0xFFFFFF00)|0x00000040; // priority 2
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NVIC->ISER[0] = 0x00001000; // enable interrupt 12 in NVIC
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TIMER_A1->CTL |= 0x0014; // reset and start Timer A in up mode
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TIMER_A1->CTL |= 0x0020; // Enable Timer A1 interrupts (TAIE)
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}
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void TA1_0_IRQHandler(void) {
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// write this code
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TIMER_A1->CCTL[0] &= ~0x0001;
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timer_a1_task();
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}
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@ -95,8 +95,8 @@ int main(void) {
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BumpInit();
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MotorInit(); // your function
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MotorForward(1500, 100);
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return 0;
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// MotorForward(1500, 100);
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// return 0;
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while (true) {
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WaitTouchRelease();
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@ -44,7 +44,7 @@ void Task(void) {
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REDLED ^= 1;
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}
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int main_periodic_test(void) {
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int main_f(void) {
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ClockInit48MHz();
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RedLEDInit();
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TimerA1Init(&Task, 500); // 1000 Hz
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@ -52,7 +52,7 @@ int main_periodic_test(void) {
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while (true) {}
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}
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int main_motor_test(void) {
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int main(void) {
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ClockInit48MHz();
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SwitchInit();
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PWMInitMotor(7502); // your function
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@ -72,7 +72,7 @@ int main_motor_test(void) {
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// Write a program that uses PWM to move the robot
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// but uses TimerA1 to periodically check the bump switches,
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// stopping the robot on collision
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int main(void) {
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int main_final(void) {
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ClockInit48MHz();
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// write code here
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CPU_cpsie(); // Enable interrupts
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