lab6 fixpoint
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@ -9,16 +9,13 @@ void (*capture_task)(uint16_t time);
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// acknowledges the interrupt and calls a user function.
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void TimerA0CaptureInit(void (*task)(uint16_t time)) {
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capture_task = task;
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P7->SEL0 |= 0x08;
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P7->SEL1 &= ~0x08; // configure P7.3 as TA0CCP0
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P7->DIR &= ~0x08;
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TIMER_A0->CTL &= ~0x30; // halt Timer A0
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TIMER_A0->CTL = 0x200; // SMCLK
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TIMER_A0->CCTL[0] = 0x4910; // capture on rising edge, synchronous capture, capture mode, interrupt enabled
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TIMER_A0->EX0 &= ~0x7; // input clock divider /1
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NVIC->IP[2] = (NVIC->IP[2] & 0xFFFFFF00) | 0x00000002; // priority 2
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@ -51,69 +48,59 @@ void TimerA3CaptureInit(void (*task0)(uint16_t time),
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void (*task1)(uint16_t time)) {
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capture_task0 = task0;
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capture_task1 = task1;
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// Configure P10.4 and P10.5 as TA3.CCP0 and TA3.CCP1
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P10->SEL0 |= 0x30; // Set SEL0 for bits 4 and 5
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P10->SEL1 &= ~0x30; // Clear SEL1 for bits 4 and 5
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P10->DIR &= ~0x30; // Set as inputs
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// Halt Timer A3 and configure clock source
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TIMER_A3->CTL &= ~0x0030; // Halt Timer A3
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TIMER_A3->CTL = 0x0200; // Use SMCLK (12 MHz)
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TIMER_A3->CTL &= ~0x30; // halt Timer A3
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TIMER_A3->CTL = 0x200; // SMCLK
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TIMER_A3->CCTL[0] = 0x4910; // rising, sync, capture, interrupt
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TIMER_A3->CCTL[1] = 0x4910;
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TIMER_A3->EX0 &= ~0x7; // input clock divider /1
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// Configure capture compare channels 0 and 1
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TIMER_A3->CCTL[0] = 0x4910; // Rising edge, sync, capture, interrupt
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TIMER_A3->CCTL[1] = 0x4910; // Same for channel 1
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NVIC->IP[3] = (NVIC->IP[3] & 0xFF0000FF) | 0x00020300; // priority 2 and 3
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//? enabling something different??
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NVIC->ISER[0] = (1 << 13) | (1 << 14); // enable 14 and 15
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// Set input clock divider to /1
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TIMER_A3->EX0 &= ~0x0007; // Clear TAIDEX bits
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// TIMER_A3->EX0 = (TIMER_A3->EX0 & ~0x0007) | 0x0002;
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// Set NVIC priorities for TA3_0 and TA3_N interrupts to priority 2
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NVIC->IP[10] = (NVIC->IP[10] & 0xFFFF0000) | 0x00000202;
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// Enable interrupts in NVIC
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NVIC->ISER[1] = 0x0300; // Enable IRQ40 and IRQ41
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// Start Timer A3 in continuous mode with clear
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TIMER_A3->CTL |= 0x0024; // TACLR | MC__CONTINUOUS
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}
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// // The rising edge of P10.4 will cause an interrupt
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// The rising edge of P10.4 will cause an interrupt
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void TA3_0_IRQHandler(void) {
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TIMER_A3->CCTL[0] &= ~0x0001; // ack
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capture_task0(TIMER_A3->CCR[0]);
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}
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// The rising edge of P10.5 will cause an interrupt
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void TA3_N_IRQHandler(void) {
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TIMER_A3->CCTL[1] &= ~0x0001; // ack
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capture_task1(TIMER_A3->CCR[1]);
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}
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// #define PRESCALER_FACTOR 3
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// static uint16_t prev_capture0 = 0;
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// static uint16_t prev_capture1 = 0;
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// // ISR for TA3 CCR0 (P10.4 rising edge)
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// void TA3_0_IRQHandler(void) {
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// uint16_t current_capture = TIMER_A3->CCR[0];
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// uint16_t period = current_capture - prev_capture0;
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// prev_capture0 = current_capture;
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// TIMER_A3->CCTL[0] &= ~0x0001; // Acknowledge interrupt
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// capture_task0(TIMER_A3->CCR[0]); // Execute user task
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// capture_task0(period * PRESCALER_FACTOR); // Apply prescaler
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// }
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// // The rising edge of P10.5 will cause an interrupt
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// // ISR for TA3 CCR1 (P10.5 rising edge)
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// void TA3_N_IRQHandler(void) {
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// if (TIMER_A3->CCTL[1] & 0x0001) { // Check if CCIFG1 is set
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// TIMER_A3->CCTL[1] &= ~0x0001; // Acknowledge interrupt
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// capture_task1(TIMER_A3->CCR[1]); // Execute task
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// if (TIMER_A3->CCTL[1] & 0x0001) { // Check CCIFG1
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// uint16_t current_capture = TIMER_A3->CCR[1];
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// uint16_t period = current_capture - prev_capture1;
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// prev_capture1 = current_capture;
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// TIMER_A3->CCTL[1] &= ~0x0001; // Acknowledge interrupt
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// capture_task1(period * PRESCALER_FACTOR); // Apply prescaler
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// }
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// }
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#define PRESCALER_FACTOR 3
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static uint16_t prev_capture0 = 0;
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static uint16_t prev_capture1 = 0;
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// ISR for TA3 CCR0 (P10.4 rising edge)
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void TA3_0_IRQHandler(void) {
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uint16_t current_capture = TIMER_A3->CCR[0];
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uint16_t period = current_capture - prev_capture0;
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prev_capture0 = current_capture;
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TIMER_A3->CCTL[0] &= ~0x0001; // Acknowledge interrupt
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capture_task0(period * PRESCALER_FACTOR); // Apply prescaler
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}
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// ISR for TA3 CCR1 (P10.5 rising edge)
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void TA3_N_IRQHandler(void) {
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if (TIMER_A3->CCTL[1] & 0x0001) { // Check CCIFG1
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uint16_t current_capture = TIMER_A3->CCR[1];
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uint16_t period = current_capture - prev_capture1;
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prev_capture1 = current_capture;
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TIMER_A3->CCTL[1] &= ~0x0001; // Acknowledge interrupt
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capture_task1(period * PRESCALER_FACTOR); // Apply prescaler
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}
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}
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191
lab5/main.c
191
lab5/main.c
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@ -1,92 +1,147 @@
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#include <stdint.h>
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#include <stdbool.h>
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#include "timer_a1.h"
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#include "pwm.h"
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#include "motor.h"
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#include "clock.h"
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#include "cpu.h"
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#include "bump.h"
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#include "delay.h"
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#include "../common/cpu.h"
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#include "../common/motor.h"
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#include "../common/pwm.h"
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#include "../common/clock.h"
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#include "../common/input_capture.h"
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#include "../common/timer_a1.h"
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#include "../common/tachometer.h"
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#include "inc/msp432p401r.h"
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// bit-banded addresses, positive logic
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#define SW2IN ((*((volatile uint8_t *)(0x42098010)))^1)
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#define SW1IN ((*((volatile uint8_t *)(0x42098004)))^1)
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#define REDLED (*((volatile uint8_t *)(0x42098040)))
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void TimedWaitTouchRelease(uint32_t time) {
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Delay1ms(time); // run for a while and then stop
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MotorStop();
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while (!(SW1IN || SW2IN)) {} // wait for touch
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while (SW1IN || SW2IN) {} // wait for release
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}
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void RedLEDInit(void) {
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P1->SEL0 &= ~0x01;
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P1->SEL1 &= ~0x01; // 1) configure P1.0 as GPIO
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P1->DIR |= 0x01; // 2) make P1.0 out
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}
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void SwitchInit(void) {
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P1->SEL0 &= ~0x12;
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P1->SEL1 &= ~0x12; // 1) configure P1.4 and P1.1 as GPIO
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P1->DIR &= ~0x12; // 2) make P1.4 and P1.1 in
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P1->REN |= 0x12; // 3) enable pull resistors on P1.4 and P1.1
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P1->OUT |= 0x12; // P1.4 and P1.1 are pull-up
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// bit-banded address
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#define REDLED (*((volatile uint8_t *)(0x42098040)))
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void ColorLEDInit(void) {
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P2->SEL0 &= ~0x07;
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P2->SEL1 &= ~0x07; // 1) configure P2.2-P2.0 as GPIO
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P2->DIR |= 0x07; // 2) make P2.2-P2.0 out
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P2->DS |= 0x07; // 3) activate increased drive strength
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P2->OUT &= ~0x07; // all LEDs off
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}
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void Task(void) {
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static uint32_t time;
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++time;
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// bit-banded addresses
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#define BLUEOUT (*((volatile uint8_t *)(0x42098068)))
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#define GREENOUT (*((volatile uint8_t *)(0x42098064)))
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#define REDOUT (*((volatile uint8_t *)(0x42098060)))
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uint16_t period0, period1; // (1/SMCLK) units = 83.3 ns units
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uint16_t first0, first1; // Timer A3 first edge, P10.4/.5
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bool done0, done1; // set each rising
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// max period is (2^16-1)*83.3 ns = 5.4612 ms
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// min period determined by time to run ISR, which is about 1 us
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void PeriodMeasure0(uint16_t time) {
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REDOUT ^= 1;
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period0 = time - first0; // 83.3 ns resolution
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first0 = time; // setup for next
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done0 = true;
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}
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// max period is (2^16-1)*83.3 ns = 5.4612 ms
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// min period determined by time to run ISR, which is about 1 us
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void PeriodMeasure1(uint16_t time) {
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REDLED ^= 1;
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period1 = time - first1; // 83.3 ns resolution
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first1 = time; // setup for next
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done1 = true;
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}
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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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CPU_cpsie(); // Enable interrupts
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while (true) {}
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void dummy() {
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volatile int i = 1;
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i = i + 2;
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return;
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}
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int main_s(void) {
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ClockInit48MHz();
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SwitchInit();
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PWMInitMotor(7502); // your function
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MotorInit(); // your function
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while (true) {
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TimedWaitTouchRelease(1000);
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MotorForward(1500, 1500); // your function
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TimedWaitTouchRelease(2000);
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MotorBackward(1500, 1500); // your function
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TimedWaitTouchRelease(2000);
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MotorLeft(1200, 1200); // your function
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TimedWaitTouchRelease(1000);
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MotorRight(1200, 1200); // your function
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}
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}
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void checkBump() {
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uint8_t bump = BumpRead();
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if (~bump & BUMP_PINS)
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MotorStop();
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}
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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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ClockInit48MHz();
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BumpInit();
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CPU_cpsid(); // Disable interrupts
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ClockInit48MHz(); // 48 MHz clock; 12 MHz Timer A clock
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RedLEDInit();
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ColorLEDInit();
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PWMInitMotor(7502);
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MotorInit();
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MotorForward(1500, 1500);
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TimerA1Init(checkBump, 15000);
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TimerA1Init(&dummy, 1000);
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TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
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// MotorForward(3751, 3751); // 50%
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// MotorForward(1000, 1000);
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CPU_cpsie(); // Enable interrupts
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while (true);
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CPU_wfi(); // Wait for interrupt
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return 0;
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}
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uint16_t speed_buf[500]; // RPM, radius 0.035m wheels
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uint32_t period_buf[500]; // 1/12MHz = 0.083 usec
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uint32_t duty; // 0 to 15000
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uint32_t time; // in 0.01 sec
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void Collect(void) {
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GREENOUT ^= 1;
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if (!done0) period0 = 0xFFFF - 1; // stopped
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if (!done1) period1 = 0xFFFF - 1;
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done0 = done1 = false; // set on subsequent
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switch (time) {
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case 0:
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duty = 1875; // 25%
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MotorForward(duty, duty);
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break;
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case 100:
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duty = 3751; // 50%
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MotorForward(duty, duty);
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break;
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case 200:
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duty = 5626; // 75%
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MotorForward(duty, duty);
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break;
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case 300:
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duty = 3751; // 50%
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MotorForward(duty, duty);
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break;
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case 400:
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duty = 1875; // 25%
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MotorForward(duty, duty);
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break;
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case 500:
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MotorStop();
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TIMER_A1->CTL &= ~0x30; // Halt timer A1
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break;
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default:
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speed_buf[time] = 2000000 / period0;
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period_buf[time] = period0;
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break;
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}
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++time;
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}
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int main_collect(void) {
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CPU_cpsid(); // Disable interrupts
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ClockInit48MHz(); // 48 MHz clock; 12 MHz Timer A clock
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RedLEDInit();
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ColorLEDInit();
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PWMInitMotor(7502);
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MotorInit();
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TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
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TimerA1Init(&Collect, 5000); // 100 Hz
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CPU_cpsie(); // Enable interrupts
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CPU_wfi(); // Wait for interrupt
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return 0;
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}
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int main_tach(void) {
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CPU_cpsid(); // Disable interrupts
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ClockInit48MHz();
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PWMInitMotor(7502);
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MotorInit();
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TachometerInit();
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MotorForward(2000, 2000); // confirm if rotating forward
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//MotorBackward(2000, 2000); // confirm if rotating backward
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CPU_cpsie(); // Enable interrupts
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CPU_wfi(); // Wait for interrupt
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return 0;
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}
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23
lab6/main.c
23
lab6/main.c
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@ -1,13 +1,13 @@
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#include <stdint.h>
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#include <stdbool.h>
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#include "cpu.h"
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#include "motor.h"
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#include "pwm.h"
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#include "clock.h"
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#include "input_capture.h"
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#include "timer_a1.h"
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#include "tachometer.h"
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#include "../common/cpu.h"
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#include "../common/motor.h"
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#include "../common/pwm.h"
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#include "../common/clock.h"
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#include "../common/input_capture.h"
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#include "../common/timer_a1.h"
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#include "../common/tachometer.h"
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#include "inc/msp432p401r.h"
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@ -56,8 +56,11 @@ void PeriodMeasure1(uint16_t time) {
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}
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void dummy() {
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int i = 1;
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volatile int i = 1;
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i = i + 2;
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return;
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}
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int main(void) {
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CPU_cpsid(); // Disable interrupts
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ClockInit48MHz(); // 48 MHz clock; 12 MHz Timer A clock
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@ -65,8 +68,8 @@ int main(void) {
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ColorLEDInit();
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PWMInitMotor(7502);
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MotorInit();
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TimerA1Init(&dummy, 1000);
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// TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
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// TimerA1Init(&dummy, 1000);
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TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
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// MotorForward(3751, 3751); // 50%
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// MotorForward(1000, 1000);
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CPU_cpsie(); // Enable interrupts
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