Project added for completion

common/rtos.c

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+#include <stdlib.h>
+
+#include "rtos.h"
+
+#include "clock.h"
+#include "cpu.h"
+#include "timer_a1.h"
+
+#include "inc/msp432p401r.h"
+
+#define THREADS 2
+#define PERIODIC_THREADS 2
+#define SIZE 100
+
+typedef struct Tcb {
+    int32_t *sp;        // stack pointer
+    struct Tcb *next;   // linked-list
+    int32_t *blocked;   // shows on which semaphore it is blocked
+} Tcb_t;
+
+PeriodicEvent_t periodic_event_threads[PERIODIC_THREADS];
+
+Tcb_t tcbs[THREADS];
+Tcb_t *run_pt;
+int32_t stacks[THREADS][SIZE];
+
+void RunPeriodicEvents(void);
+
+void __attribute__((naked))
+SysTick_Handler(void) {                 // 1) Saves R0-R3,R12,LR,PC,PSR
+    __asm(  // 2) Prevent interrupt during switch
+            // 3) Save remaining regs r4-11
+            // 4) R0=pointer to run_pt, old thread
+            // 5) Save SP into TCB
+            // 6) R1 = run_pt, new thread
+            // 7) new thread SP; SP = run_pt->sp;
+            // 8) restore regs r4-11
+            // 9) tasks run with interrupts enabled
+          );          // 10) restore R0-R3,R12,LR,PC,PSR
+}
+
+void __attribute__((naked))
+StartOS(void) {
+    __asm(// currently running thread
+          // R2 = value of run_pt
+          // new thread SP; SP = run_pt->sp;
+          // restore regs r4-11
+          // restore regs r0-3
+          // discard LR from initial stack
+          // start location
+          // discard PSR
+          // Enable interrupts at processor level
+          );          // start first thread
+}
+
+void SetInitialStack(int idx) {
+	// Write this code
+}
+
+// Initialize operating system, disable interrupts
+// Initialize OS controlled I/O: systick, bus clock as fast as possible
+void RoundRobinInit(void) {
+    CPU_cpsid();
+    ClockInit48MHz();
+    // Write TimerA1Init here 1000 Hz
+}
+
+void AddThreads(void (**threads)(void)) {
+    // Write this code
+}
+
+void AddPeriodicEventThreads(PeriodicEvent_t *periodic_events) {
+    // Write this code
+}
+
+void RoundRobinLaunch(uint32_t time_slice_cycles) {
+    SysTick->CTRL = 0;                      // 1) disable SysTick during setup
+    SysTick->LOAD = time_slice_cycles - 1;  // 2) reload value sets period
+    SysTick->VAL = 0;                       // 3) any write to current clears it
+    SCB->SHP[11] = 7 << 5;                  // set priority into top 3 bits of 8-bit register
+    SysTick->CTRL = 0x00000007;             // 4) enable SysTick with core clock and interrupts
+    StartOS();                              // start on the first task
+}
+
+void RunPeriodicEvents(void) {
+    // Write this code (no sleep decreasing)
+}
+
+void Scheduler(void) {
+    // Write this code (no sleep check)
+}
+
+void Suspend(void) {
+    SysTick->VAL = 0;       // any write to current clears it
+    SCB->ICSR |= SCB_ICSR_PENDSTSET_Msk;   // trigger SysTick
+}
+
+// Decrement semaphore
+void Wait(int32_t *sema_pt) {
+    // Write this code similar to RTOS3
+}
+
+// Increment semaphore
+void Signal(int32_t *sema_pt) {
+    // Write this code similar to RTOS3
+}

common/rtos.h

@@ -0,0 +1,18 @@
+#ifndef RTOS_H
+#define RTOS_H
+
+#include <stdint.h>
+
+typedef struct PeriodicEvent {
+	void (*event)(void);
+	uint32_t period_ms;
+} PeriodicEvent_t;
+
+void RoundRobinInit(void);
+void AddThreads(void (**threads)(void));
+void AddPeriodicEventThreads(PeriodicEvent_t *periodic_events);
+void RoundRobinLaunch(uint32_t time_slice_cycles);
+void Wait(int32_t *sema_pt);
+void Signal(int32_t *sema_pt);
+
+#endif /* RTOS_H */

project/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 ${ARMGCC_BIN}}/..
+endif
+
+# Search for source files that are not in this directory
+VPATH = ../common/
+
+OBJECTS = main.o rtos.o timer_a1.o bump.o reflectance.o delay.o motor.o pwm.o cpu.o clock.o system.o startup.o syscalls.o
+
+NAME = lab
+
+CFLAGS = -I.. -I../inc -I../common \
+    -D__MSP432P401R__ \
+    -DDeviceFamily_MSP432P401x \
+    -mcpu=cortex-m4 \
+    -march=armv7e-m \
+    -mthumb \
+    -std=c99 \
+    -mfloat-abi=hard \
+    -mfpu=fpv4-sp-d16 \
+    -ffunction-sections \
+    -fdata-sections \
+    -gstrict-dwarf \
+    -Wall \
+    -I$(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

project/main.c

@@ -0,0 +1,107 @@
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+
+#include "rtos.h"
+#include "pwm.h"
+#include "bump.h"
+#include "reflectance.h"
+#include "motor.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)
+
+// bit-banded address
+#define REDLED (*((volatile uint8_t *)(0x42098040)))
+
+// bit-banded addresses
+#define BLUEOUT  (*((volatile uint8_t *)(0x42098068)))
+#define GREENOUT (*((volatile uint8_t *)(0x42098064)))
+#define REDOUT   (*((volatile uint8_t *)(0x42098060)))
+
+#define START_REFLECTANCE 9
+
+int32_t bump_pressed; // semaphore
+
+uint8_t bump_data, reflectance_data;
+
+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 RedLEDInit(void) {
+    P1->SEL0 &= ~0x01;
+    P1->SEL1 &= ~0x01;   // 1) configure P1.0 as GPIO
+    P1->DIR |= 0x01;     // 2) make P1.0 out
+}
+
+void ColorLEDInit(void) {
+    P2->SEL0 &= ~0x07;
+    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 Task1(void) {
+    while (true) {
+        if (SW1IN && SW2IN) {
+            GREENOUT = 1;
+        } else {
+            GREENOUT = 0;
+        }
+        if (SW1IN || SW2IN) {
+            REDLED = 1;
+        } else {
+            REDLED = 0;
+        }
+        if (SW1IN) {
+            BLUEOUT = 1;
+        } else {
+            BLUEOUT = 0;
+        }
+        if (SW2IN) {
+            REDOUT = 1;
+        } else {
+            REDOUT = 0;
+        }
+    }
+}
+
+void Task2(void) {
+    while (true) {
+        // Motor goes forward and waits until bump is pressed
+        // When pressed, go backward for some time and turn left for some time
+    }
+}
+
+void Task3(void) {
+    // Read reflectance similar to Lab 3
+}
+
+void Task4(void) {
+    // Read bump and signal if any pressed
+}
+
+int main(void) {
+    BumpInit();
+    ReflectanceInit();
+    PWMInitMotor(?);
+    MotorInit();
+    RedLEDInit();
+    ColorLEDInit();
+    SwitchInit();
+    RoundRobinInit();
+    AddThreads((void (*[])(void)){Task1, Task2});
+    AddPeriodicEventThreads((PeriodicEvent_t []){{Task3, 1}, {Task4, 100}});
+    RoundRobinLaunch(48000); // 1ms
+    return 0;   // never executes
+}