hladu357
/
Taltech_embedded
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

lab6 fixpoint

This commit is contained in:
Ondrej Hladuvka 2025-05-20 16:05:29 +03:00
parent 3b38f6bfc4
commit 7fb97bcab7
3 changed files with 174 additions and 129 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

89
common/input_capture.c
View File

@ -9,16 +9,13 @@ void (*capture_task)(uint16_t time);
// acknowledges the interrupt and calls a user function. // acknowledges the interrupt and calls a user function.
void TimerA0CaptureInit(void (*task)(uint16_t time)) { void TimerA0CaptureInit(void (*task)(uint16_t time)) {
capture_task = task; capture_task = task;
P7->SEL0 |= 0x08; P7->SEL0 |= 0x08;
P7->SEL1 &= ~0x08; // configure P7.3 as TA0CCP0 P7->SEL1 &= ~0x08; // configure P7.3 as TA0CCP0
P7->DIR &= ~0x08; P7->DIR &= ~0x08;
TIMER_A0->CTL &= ~0x30; // halt Timer A0 TIMER_A0->CTL &= ~0x30; // halt Timer A0
TIMER_A0->CTL = 0x200; // SMCLK TIMER_A0->CTL = 0x200; // SMCLK
TIMER_A0->CCTL[0] = 0x4910; // capture on rising edge, synchronous capture, capture mode, interrupt enabled TIMER_A0->CCTL[0] = 0x4910; // capture on rising edge, synchronous capture, capture mode, interrupt enabled
TIMER_A0->EX0 &= ~0x7; // input clock divider /1 TIMER_A0->EX0 &= ~0x7; // input clock divider /1
NVIC->IP[2] = (NVIC->IP[2] & 0xFFFFFF00) | 0x00000002; // priority 2 NVIC->IP[2] = (NVIC->IP[2] & 0xFFFFFF00) | 0x00000002; // priority 2
@ -51,69 +48,59 @@ void TimerA3CaptureInit(void (*task0)(uint16_t time),
void (*task1)(uint16_t time)) { void (*task1)(uint16_t time)) {
capture_task0 = task0; capture_task0 = task0;
capture_task1 = task1; 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->SEL0 |= 0x30; // Set SEL0 for bits 4 and 5
P10->SEL1 &= ~0x30; // Clear SEL1 for bits 4 and 5 P10->SEL1 &= ~0x30; // Clear SEL1 for bits 4 and 5
P10->DIR &= ~0x30; // Set as inputs P10->DIR &= ~0x30; // Set as inputs
// Halt Timer A3 and configure clock source TIMER_A3->CTL &= ~0x30; // halt Timer A3
TIMER_A3->CTL &= ~0x0030; // Halt Timer A3 TIMER_A3->CTL = 0x200; // SMCLK
TIMER_A3->CTL = 0x0200; // Use SMCLK (12 MHz) TIMER_A3->CCTL[0] = 0x4910; // rising, sync, capture, interrupt
TIMER_A3->CCTL[1] = 0x4910;
TIMER_A3->EX0 &= ~0x7; // input clock divider /1
// Configure capture compare channels 0 and 1 NVIC->IP[3] = (NVIC->IP[3] & 0xFF0000FF) | 0x00020300; // priority 2 and 3
TIMER_A3->CCTL[0] = 0x4910; // Rising edge, sync, capture, interrupt
TIMER_A3->CCTL[1] = 0x4910; // Same for channel 1 //? enabling something different??
NVIC->ISER[0] = (1 << 13) | (1 << 14); // enable 14 and 15
// 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 // Start Timer A3 in continuous mode with clear
TIMER_A3->CTL |= 0x0024; // TACLR | MC__CONTINUOUS 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; // ack
capture_task0(TIMER_A3->CCR[0]);
}
// The rising edge of P10.5 will cause an interrupt
void TA3_N_IRQHandler(void) {
TIMER_A3->CCTL[1] &= ~0x0001; // ack
capture_task1(TIMER_A3->CCR[1]);
}
// #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) { // void TA3_0_IRQHandler(void) {
// 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 // TIMER_A3->CCTL[0] &= ~0x0001; // Acknowledge interrupt
// capture_task0(TIMER_A3->CCR[0]); // Execute user task // 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) { // void TA3_N_IRQHandler(void) {
// if (TIMER_A3->CCTL[1] & 0x0001) { // Check if CCIFG1 is set // if (TIMER_A3->CCTL[1] & 0x0001) { // Check CCIFG1
// TIMER_A3->CCTL[1] &= ~0x0001; // Acknowledge interrupt // uint16_t current_capture = TIMER_A3->CCR[1];
// capture_task1(TIMER_A3->CCR[1]); // Execute task // 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
// } // }
// } // }
#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) {
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
}
// ISR for TA3 CCR1 (P10.5 rising edge)
void TA3_N_IRQHandler(void) {
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
}
}

191
lab5/main.c
View File

@ -1,92 +1,147 @@
#include <stdint.h> #include <stdint.h>
#include <stdbool.h> #include <stdbool.h>
#include "timer_a1.h" #include "../common/cpu.h"
#include "pwm.h" #include "../common/motor.h"
#include "motor.h" #include "../common/pwm.h"
#include "clock.h" #include "../common/clock.h"
#include "cpu.h" #include "../common/input_capture.h"
#include "bump.h" #include "../common/timer_a1.h"
#include "delay.h" #include "../common/tachometer.h"
#include "inc/msp432p401r.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) { void RedLEDInit(void) {
P1->SEL0 &= ~0x01; P1->SEL0 &= ~0x01;
P1->SEL1 &= ~0x01; // 1) configure P1.0 as GPIO P1->SEL1 &= ~0x01; // 1) configure P1.0 as GPIO
P1->DIR |= 0x01; // 2) make P1.0 out P1->DIR |= 0x01; // 2) make P1.0 out
} }
void SwitchInit(void) { // bit-banded address
P1->SEL0 &= ~0x12; #define REDLED (*((volatile uint8_t *)(0x42098040)))
P1->SEL1 &= ~0x12; // 1) configure P1.4 and P1.1 as GPIO
P1->DIR &= ~0x12; // 2) make P1.4 and P1.1 in void ColorLEDInit(void) {
P1->REN |= 0x12; // 3) enable pull resistors on P1.4 and P1.1 P2->SEL0 &= ~0x07;
P1->OUT |= 0x12; // P1.4 and P1.1 are pull-up P2->SEL1 &= ~0x07; // 1) configure P2.2-P2.0 as GPIO
P2->DIR |= 0x07; // 2) make P2.2-P2.0 out
P2->DS |= 0x07; // 3) activate increased drive strength
P2->OUT &= ~0x07; // all LEDs off
} }
void Task(void) { // bit-banded addresses
static uint32_t time; #define BLUEOUT (*((volatile uint8_t *)(0x42098068)))
++time; #define GREENOUT (*((volatile uint8_t *)(0x42098064)))
#define REDOUT (*((volatile uint8_t *)(0x42098060)))
uint16_t period0, period1; // (1/SMCLK) units = 83.3 ns units
uint16_t first0, first1; // Timer A3 first edge, P10.4/.5
bool done0, done1; // set each rising
// max period is (2^16-1)*83.3 ns = 5.4612 ms
// min period determined by time to run ISR, which is about 1 us
void PeriodMeasure0(uint16_t time) {
REDOUT ^= 1;
period0 = time - first0; // 83.3 ns resolution
first0 = time; // setup for next
done0 = true;
}
// max period is (2^16-1)*83.3 ns = 5.4612 ms
// min period determined by time to run ISR, which is about 1 us
void PeriodMeasure1(uint16_t time) {
REDLED ^= 1; REDLED ^= 1;
period1 = time - first1; // 83.3 ns resolution
first1 = time; // setup for next
done1 = true;
} }
int main_f(void) { void dummy() {
ClockInit48MHz(); volatile int i = 1;
RedLEDInit(); i = i + 2;
TimerA1Init(&Task, 500); // 1000 Hz return;
CPU_cpsie(); // Enable interrupts
while (true) {}
} }
int main_s(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
}
}
void checkBump() {
uint8_t bump = BumpRead();
if (~bump & BUMP_PINS)
MotorStop();
}
// 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) { int main(void) {
ClockInit48MHz(); CPU_cpsid(); // Disable interrupts
BumpInit(); ClockInit48MHz(); // 48 MHz clock; 12 MHz Timer A clock
RedLEDInit();
ColorLEDInit();
PWMInitMotor(7502); PWMInitMotor(7502);
MotorInit(); MotorInit();
MotorForward(1500, 1500); TimerA1Init(&dummy, 1000);
TimerA1Init(checkBump, 15000); TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
// MotorForward(3751, 3751); // 50%
// MotorForward(1000, 1000);
CPU_cpsie(); // Enable interrupts CPU_cpsie(); // Enable interrupts
CPU_wfi(); // Wait for interrupt
while (true); return 0;
} }
uint16_t speed_buf[500]; // RPM, radius 0.035m wheels
uint32_t period_buf[500]; // 1/12MHz = 0.083 usec
uint32_t duty; // 0 to 15000
uint32_t time; // in 0.01 sec
void Collect(void) {
GREENOUT ^= 1;
if (!done0) period0 = 0xFFFF - 1; // stopped
if (!done1) period1 = 0xFFFF - 1;
done0 = done1 = false; // set on subsequent
switch (time) {
case 0:
duty = 1875; // 25%
MotorForward(duty, duty);
break;
case 100:
duty = 3751; // 50%
MotorForward(duty, duty);
break;
case 200:
duty = 5626; // 75%
MotorForward(duty, duty);
break;
case 300:
duty = 3751; // 50%
MotorForward(duty, duty);
break;
case 400:
duty = 1875; // 25%
MotorForward(duty, duty);
break;
case 500:
MotorStop();
TIMER_A1->CTL &= ~0x30; // Halt timer A1
break;
default:
speed_buf[time] = 2000000 / period0;
period_buf[time] = period0;
break;
}
++time;
}
int main_collect(void) {
CPU_cpsid(); // Disable interrupts
ClockInit48MHz(); // 48 MHz clock; 12 MHz Timer A clock
RedLEDInit();
ColorLEDInit();
PWMInitMotor(7502);
MotorInit();
TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
TimerA1Init(&Collect, 5000); // 100 Hz
CPU_cpsie(); // Enable interrupts
CPU_wfi(); // Wait for interrupt
return 0;
}
int main_tach(void) {
CPU_cpsid(); // Disable interrupts
ClockInit48MHz();
PWMInitMotor(7502);
MotorInit();
TachometerInit();
MotorForward(2000, 2000); // confirm if rotating forward
//MotorBackward(2000, 2000); // confirm if rotating backward
CPU_cpsie(); // Enable interrupts
CPU_wfi(); // Wait for interrupt
return 0;
}

23
lab6/main.c
View File

@ -1,13 +1,13 @@
#include <stdint.h> #include <stdint.h>
#include <stdbool.h> #include <stdbool.h>
#include "cpu.h" #include "../common/cpu.h"
#include "motor.h" #include "../common/motor.h"
#include "pwm.h" #include "../common/pwm.h"
#include "clock.h" #include "../common/clock.h"
#include "input_capture.h" #include "../common/input_capture.h"
#include "timer_a1.h" #include "../common/timer_a1.h"
#include "tachometer.h" #include "../common/tachometer.h"
#include "inc/msp432p401r.h" #include "inc/msp432p401r.h"
@ -56,8 +56,11 @@ void PeriodMeasure1(uint16_t time) {
} }
void dummy() { void dummy() {
int i = 1; volatile int i = 1;
i = i + 2;
return;
} }
int main(void) { int main(void) {
CPU_cpsid(); // Disable interrupts CPU_cpsid(); // Disable interrupts
ClockInit48MHz(); // 48 MHz clock; 12 MHz Timer A clock ClockInit48MHz(); // 48 MHz clock; 12 MHz Timer A clock
@ -65,8 +68,8 @@ int main(void) {
ColorLEDInit(); ColorLEDInit();
PWMInitMotor(7502); PWMInitMotor(7502);
MotorInit(); MotorInit();
TimerA1Init(&dummy, 1000); // TimerA1Init(&dummy, 1000);
// TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1); TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
// MotorForward(3751, 3751); // 50% // MotorForward(3751, 3751); // 50%
// MotorForward(1000, 1000); // MotorForward(1000, 1000);
CPU_cpsie(); // Enable interrupts CPU_cpsie(); // Enable interrupts