Merge branch 'main' into dev

common/motor.c

@@ -0,0 +1,47 @@
+#include "motor.h"
+#include "pwm.h"
+
+#include "inc/msp432p401r.h"
+
+// Initialize GPIO pins for output, which will be
+// used to control the direction of the motors and
+// to enable or disable the drivers.
+// The motors are initially stopped, the drivers
+// are initially powered down, and the PWM speed
+// control is uninitialized.
+void MotorInit(void) {
+    // write this code
+}
+
+// Stop the motors, power down the drivers, and
+// set the PWM speed control to 0% duty cycle.
+void MotorStop(void) {
+    P2->OUT &= ~0xC0;   // off
+    P3->OUT &= ~0xC0;   // low current sleep mode
+    SetPWMDutyLeftMotor(0);
+    SetPWMDutyRightMotor(0);
+}
+
+// Left and right wheels forward with the given duty cycles. 
+// Duty cycle is 0 to 14,998.
+void MotorForward(uint16_t left_duty, uint16_t right_duty) { 
+    // write this code
+}
+
+// Left and right wheels backward with the given duty cycles.
+// Duty cycle is 0 to 14,998.
+void MotorBackward(uint16_t left_duty, uint16_t right_duty) { 
+    // write this code
+}
+
+// Left wheel backward, right wheel forward with the given duty cycles.
+// Duty cycle is 0 to 14,998.
+void MotorLeft(uint16_t left_duty, uint16_t right_duty) { 
+    // write this code
+}
+
+// Left wheel forward, right wheel backward with the given duty cycles. 
+// Duty cycle is 0 to 14,998.
+void MotorRight(uint16_t left_duty, uint16_t right_duty) { 
+    // write this code
+}

common/motor.h

@@ -0,0 +1,13 @@
+#ifndef MOTOR_H
+#define MOTOR_H
+
+#include <stdint.h>
+
+void MotorInit(void);
+void MotorStop(void);
+void MotorForward(uint16_t left_duty, uint16_t right_duty);
+void MotorBackward(uint16_t left_duty, uint16_t right_duty);
+void MotorLeft(uint16_t left_duty, uint16_t right_duty);
+void MotorRight(uint16_t left_duty, uint16_t right_duty);
+
+#endif /* MOTOR_H */

common/pwm.c

@@ -0,0 +1,50 @@
+#include "pwm.h"
+
+#include "inc/msp432p401r.h"
+
+// PWM on P2.4/.5 using TimerA0 TA0.CCR1/2
+// period is 1.333us (1.333us = 2 * 666.7ns because of up/down)
+// SMCLK = 48MHz/4 = 12 MHz, 83.33ns
+// Let Timerclock period T = 8/12MHz = 666.7ns
+// P2.4/.5 = 1 when timer equals TA0CCR1/2 on way down, 
+// P2.4/.5 = 0 when timer equals TA0CCR1/2 on way up
+void PWMInitP2_4_P2_5(uint16_t period) {
+    P2->DIR |= 0x30;
+    P2->SEL0 |= 0x30;           // Timer0A functions
+    P2->SEL1 &= ~0x30;
+    TIMER_A0->CCR[0] = period;
+    TIMER_A0->EX0 = 0;          // Divide by 1
+    TIMER_A0->CCTL[1] = 0x40;   // Toggle/reset
+    TIMER_A0->CCTL[2] = 0x40;
+    TIMER_A0->CCR[1] = 0;       // Initial duty cycle to 0
+    TIMER_A0->CCR[2] = 0;
+    TIMER_A0->CTL = 0x2F0;      // SMCLK = 12MHz, divide by 8, up-down mode
+}
+
+void SetPWMDutyP2_4(uint16_t duty) {
+    if (duty >= TIMER_A0->CCR[0]) return;
+    TIMER_A0->CCR[1] = duty;
+}
+
+void SetPWMDutyP2_5(uint16_t duty) {
+    if (duty >= TIMER_A0->CCR[0]) return;
+    TIMER_A0->CCR[2] = duty;
+}
+
+// PWM on P2.6/.7 using TimerA0 TA0.CCR3/4
+// SMCLK = 48MHz/4 = 12 MHz, 83.33ns
+// period is 1.333us
+// Let Timerclock period T = 8/12MHz = 666.7ns
+// P2.6/.7 = 1 when timer equals TA0CCR3/4 on way down, 
+// P2.6/.7 = 0 when timer equals TA0CCR3/4 on way up
+void PWMInitMotor(uint16_t period) {
+    // write this code
+}
+
+void SetPWMDutyRightMotor(uint16_t duty) {
+    // write this code
+}
+
+void SetPWMDutyLeftMotor(uint16_t duty) {
+    // write this code
+}

common/pwm.h

@@ -0,0 +1,10 @@
+#ifndef PWM_H
+#define PWM_H
+
+#include <stdint.h>
+
+void PWMInitMotor(uint16_t period);
+void SetPWMDutyRightMotor(uint16_t duty);
+void SetPWMDutyLeftMotor(uint16_t duty);
+
+#endif /* PWM_H */

common/timer_a1.c

@@ -0,0 +1,15 @@
+#include "timer_a1.h"
+
+#include "inc/msp432p401r.h"
+
+void (*timer_a1_task)(void); // user function
+
+// Activate Timer A1 interrupts to run user task periodically
+// 16 bits period in units (24/SMCLK, with SMCLK 12 MHz -> 2us)
+void TimerA1Init(void (*task)(void), uint16_t period) {
+    // write this code
+}
+
+void TA1_0_IRQHandler(void) {
+    // write this code
+}

common/timer_a1.h

@@ -0,0 +1,9 @@
+#ifndef TIMER_A1_H
+#define TIMER_A1_H
+
+#include <stdint.h>
+
+void TimerA1Init(void (*task)(void), uint16_t period);
+void TimerA1Stop(void);
+
+#endif /* TIMER_A1_H */

lab5/Makefile

@@ -0,0 +1,77 @@
+CC = arm-none-eabi-gcc
+
+# The location of the C compiler
+# ARMGCC_ROOT is used by some makefiles that need to know where the compiler
+# is installed.
+ARMGCC_BIN := ${shell which ${CC}}
+ifeq (${shell test -h ${ARMGCC_BIN} && echo "true" || echo "false"}, true)
+    ARMGCC_ROOT := ${shell dirname ${shell readlink ${ARMGCC_BIN}}}/..
+else
+    ARMGCC_ROOT := ${shell dirname ${ARMGCC_BIN}}/..
+endif
+
+# Search for source files that are not in this directory
+VPATH = ../common/
+
+OBJECTS = main.o timer_a1.o delay.o motor.o pwm.o bump.o cpu.o clock.o system.o startup.o syscalls.o
+
+NAME = lab
+
+CFLAGS = -I.. -I../inc -I../common \
+    -D__MSP432P401R__ \
+    -DDeviceFamily_MSP432P401x \
+    -mcpu=cortex-m4 \
+    -march=armv7e-m \
+    -mthumb \
+    -std=c99 \
+    -mfloat-abi=hard \
+    -mfpu=fpv4-sp-d16 \
+    -ffunction-sections \
+    -fdata-sections \
+    -gstrict-dwarf \
+    -Wall \
+    -I$(ARMGCC_ROOT)/arm-none-eabi/include/newlib-nano \
+    -I$(ARMGCC_ROOT)/arm-none-eabi/include
+
+LFLAGS = -Wl,-T,../config.lds \
+    -Wl,-Map,$(NAME).map \
+    -march=armv7e-m \
+    -mthumb \
+    -mfloat-abi=hard \
+    -mfpu=fpv4-sp-d16 \
+    -static \
+    -Wl,--gc-sections \
+	-lgcc \
+    -lc \
+    -lm \
+    -lnosys \
+    --specs=nano.specs
+
+all: $(NAME).out
+	@echo "SUCCESS: Compilation completed successfully."
+
+%.o: %.c
+	@$(CC) $(CFLAGS) -g $< -c -o $@
+
+cpu.o: ../common/cpu.c
+	@$(CC) $(CFLAGS) $< -c -o $@
+
+clock.o: ../common/clock.c
+	@$(CC) $(CFLAGS) $< -c -o $@
+
+system.o: ../system.c
+	@$(CC) $(CFLAGS) $< -c -o $@
+
+startup.o: ../startup.c
+	@$(CC) $(CFLAGS) $< -c -o $@
+
+syscalls.o: ../syscalls.c
+	@$(CC) $(CFLAGS) $< -c -o $@
+
+$(NAME).out: $(OBJECTS)
+	@$(CC) $(OBJECTS) $(LFLAGS) -o $(NAME).out
+
+clean: # Redirecting both the stderr and stdout to /dev/null 
+	@rm -f $(OBJECTS) > /dev/null 2>&1
+	@rm -f $(NAME).out > /dev/null 2>&1
+	@rm -f $(NAME).map > /dev/null 2>&1

lab5/main.c

@@ -0,0 +1,83 @@
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "timer_a1.h"
+#include "pwm.h"
+#include "motor.h"
+#include "clock.h"
+#include "cpu.h"
+#include "bump.h"
+#include "delay.h"
+
+#include "inc/msp432p401r.h"
+
+// bit-banded addresses, positive logic
+#define SW2IN ((*((volatile uint8_t *)(0x42098010)))^1)
+#define SW1IN ((*((volatile uint8_t *)(0x42098004)))^1)
+
+#define REDLED (*((volatile uint8_t *)(0x42098040)))
+
+void TimedWaitTouchRelease(uint32_t time) {
+    Delay1ms(time); // run for a while and then stop
+    MotorStop();
+    while (!(SW1IN || SW2IN)) {}  // wait for touch
+    while (SW1IN || SW2IN) {}     // wait for release
+}
+
+void RedLEDInit(void) {
+    P1->SEL0 &= ~0x01;
+    P1->SEL1 &= ~0x01;   // 1) configure P1.0 as GPIO
+    P1->DIR |= 0x01;     // 2) make P1.0 out
+}
+
+void SwitchInit(void) {
+    P1->SEL0 &= ~0x12;
+    P1->SEL1 &= ~0x12;    // 1) configure P1.4 and P1.1 as GPIO
+    P1->DIR &= ~0x12;     // 2) make P1.4 and P1.1 in
+    P1->REN |= 0x12;      // 3) enable pull resistors on P1.4 and P1.1
+    P1->OUT |= 0x12;      //    P1.4 and P1.1 are pull-up
+}
+
+void Task(void) {
+    static uint32_t time;
+    ++time;
+    REDLED ^= 1;
+}
+
+int main_periodic_test(void) {
+    ClockInit48MHz();
+    RedLEDInit();
+    TimerA1Init(&Task, 500);  // 1000 Hz
+    CPU_cpsie(); // Enable interrupts
+    while (true) {}
+}
+
+int main_motor_test(void) {
+    ClockInit48MHz();
+    SwitchInit();
+    PWMInitMotor(7502);     // your function
+    MotorInit();        // your function
+    while (true) {
+        TimedWaitTouchRelease(1000);
+        MotorForward(1500, 1500);  // your function
+        TimedWaitTouchRelease(2000);
+        MotorBackward(1500, 1500); // your function
+        TimedWaitTouchRelease(2000);
+        MotorLeft(1200, 1200);     // your function
+        TimedWaitTouchRelease(1000);
+        MotorRight(1200, 1200);    // your function
+    }
+}
+
+// Write a program that uses PWM to move the robot
+// but uses TimerA1 to periodically check the bump switches, 
+// stopping the robot on collision
+int main(void) {
+    ClockInit48MHz();
+    // write code here
+    CPU_cpsie(); // Enable interrupts
+    while (true) {
+        // write code here
+    }
+}
+