lab3 finished

common/reflectance.c

@@ -4,21 +4,26 @@
 
 #include "inc/msp432p401r.h"
 
+#define BIT_2 (uint8_t)0x4
+#define BIT_3 (uint8_t)0x8
+
+#define ALL_BITS (uint8_t)0xff
+#define NONE_BITS (uint8_t)0x00
+
 void ReflectanceInit(void) {
-    P5->SEL0 &= ~0x08;
-    P5->SEL1 &= ~0x08; // configure P5.3 as GPIO
-    P5->DIR  |=  0x08; // make P5.3 output
-    P5->OUT  &= ~0x08; // set output low
+    P5->SEL0 &= ~BIT_3; // EVEN LEDs
+    P5->SEL1 &= ~BIT_3; // configure P5.3 as GPIO
+    P5->DIR  |=  BIT_3; // make P5.3 output
+    P5->OUT  &= ~BIT_3; // set output low
 
-    P9->SEL0 &= ~0x04;
-    P9->SEL1 &= ~0x04; // configure P9.2 as GPIO
-    P9->DIR  |=  0x04; // make P9.2 output
-    P9->OUT  &= ~0x04; // set output low
+    P9->SEL0 &= ~BIT_2; // ODD LEDs
+    P9->SEL1 &= ~BIT_2; // configure P9.2 as GPIO
+    P9->DIR  |=  BIT_2; // make P9.2 output
+    P9->OUT  &= ~BIT_2; // set output low
 
-    P7->SEL0 &= ~0x255;
-    P7->SEL1 &= ~0x255;  // configure P7.0-7 as GPIO
-    P7->DIR  &= ~0x255;  // make them input
-    // P7->REN  |=  0x255;  //? enable pull resistors
+    P7->SEL0 &= NONE_BITS;
+    P7->SEL1 &= NONE_BITS;  // configure P7.0-7 as GPIO
+    P7->DIR  &= NONE_BITS;  // make them input
 }
 
 // 0 -> while, 1 -> black
@@ -26,18 +31,18 @@ uint8_t ReflectanceRead(uint32_t time) {
     uint8_t input;
 
     // 1) Set P5.3 and P9.2 high (turn on IR LED)
-    P5->OUT  |= 0x08;
-    P9->OUT  |= 0x04;
+    P5->OUT  |= BIT_3;
+    P9->OUT  |= BIT_2;
 
     // 2) Make P7.7 – P7.0 outputs, and set them high (charging 8 capacitors)
-    P7->DIR  |= 0x255;
-    P7->OUT  |= 0x255;
+    P7->DIR  = ALL_BITS;
+    P7->OUT  = ALL_BITS;
 
     // 3) Wait 10 us, Delay1us(10);
     Delay1us(10);
 
     // 4) Make P7.7 – P7.0 input
-    P7->DIR  &= ~0x255;
+    P7->DIR  = NONE_BITS;
 
     // 5) Wait time us, Delay1us(time);
     Delay1us(time);
@@ -46,26 +51,26 @@ uint8_t ReflectanceRead(uint32_t time) {
     input = P7->IN;
 
     // 7) Set P5.3 and P9.2 low (turn off IR LED, saving power)
-    P5->OUT  &= ~0x08;
-    P9->OUT  &= ~0x04;
+    P5->OUT  &= ~BIT_3;
+    P9->OUT  &= ~BIT_2;
 
-    //P7->DIR  &= ~0x255;
-    //P7->OUT  &= ~0x255;
+    P7->DIR  = NONE_BITS;
+    P7->OUT  = NONE_BITS;
 
     // 8) Return 8-bit binary measured in step 6
     return input;
 }
 
 int32_t ReflectancePosition(uint8_t sensor_data) {
+    const int32_t W[] = {334, 238, 142, 48, -48, -142, -238, -334};
+
     // Data falls into four categories:
     // 1) <all 0’s> (off the line or on white surface)
+    if (!sensor_data) return 0; // off the line or on white surface
+
     // 2) <some 0’s, some 1’s>, e.g., 00000111 (off to the left)
     // 3) <some 0’s, some 1’s, some 0’s>, e.g., 00110000 (over the line)
     // 4) <some 1’s, some 0’s>, e.g., 11110000 (off to the right)
-    
-    int32_t W[] = {334, 238, 142, 48, -48, -142, -238, -334};
-    // if (!sensor_data) return 0; // off the line or on white surface
-
     int32_t i, up, down, b;
     for (up = down = i = 0; i < 8; ++i) {
         b = (sensor_data & (1 << i)) != 0;
@@ -79,20 +84,20 @@ int32_t ReflectancePosition(uint8_t sensor_data) {
 void ReflectanceStart(void) {
     // turn on 4 even IR LEDs
     // turn on 4 odd IR LEDs
-    P5->OUT  |= 0x08;
-    P9->OUT  |= 0x04;
+    P5->OUT  |= BIT_3;
+    P9->OUT  |= BIT_2;
 
     // make P7.7-P7.0 out
-    P7->DIR  |= 0x255;
+    P7->DIR  = ALL_BITS;
 
     // prime for measurement
-    P7->OUT  |= 0x255;
+    P7->OUT  = ALL_BITS;
 
     // wait 10 us
     Delay1us(10);
 
     // make P7.7-P7.0 in
-    P7->DIR  &= ~0x255;
+    P7->DIR = NONE_BITS;
 }
 
 uint8_t ReflectanceEnd(void) {
@@ -102,8 +107,8 @@ uint8_t ReflectanceEnd(void) {
 
     // turn off 4 even IR LEDs
     // turn off 4 odd IR LEDs
-    P5->OUT  &= ~0x08;
-    P9->OUT  &= ~0x04;
+    P5->OUT  &= ~BIT_3;
+    P9->OUT  &= ~BIT_2;
 
     return input;
 }

lab3/main.c

@@ -1,21 +1,21 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#include "bump.h"
-#include "delay.h"
-#include "clock.h"
-#include "reflectance.h"
-#include "cpu.h"
+#include "../common/bump.h"
+#include "../common/delay.h"
+#include "../common/clock.h"
+#include "../common/reflectance.h"
+#include "../common/cpu.h"
 
-#include "inc/msp432p401r.h"
+#include "../inc/msp432p401r.h"
 
-#define DUMP_SIZE 256
+#define DUMP_SIZE 16
 
 uint8_t bump_status;
 uint8_t bump_dump[DUMP_SIZE];
-uint8_t refl_dump[DUMP_SIZE];
+int32_t refl_dump[DUMP_SIZE];
 
-void DebugDump(uint8_t bump, uint8_t refl) {
+void DebugDump(uint8_t bump, int32_t refl) {
     static int idx = 0;
     idx = (idx + 1) % DUMP_SIZE;
 
@@ -39,18 +39,20 @@ void SysTickInit(uint32_t period, uint32_t priority) {
     SysTick->CTRL = 0x00000007;    // 4) enable SysTick with core clock and interrupts
 }
 
-volatile uint8_t reflectance = 0x255;
+volatile uint8_t reflectance = 0xff;
 int tick_count = 0;
 
 void SysTick_Handler(void) {  // every 1ms
     ++tick_count;
 
     if (1 == (tick_count % 10)) {
-        ReflectanceStart(); // every 10ms
+        //ReflectanceStart(); // every 10ms
     }
 
     if (2 == (tick_count % 10)) {
-        DebugDump( BumpRead(), ReflectanceEnd() );
+        uint8_t r = ReflectanceRead(1000);
+        DebugDump( BumpRead(), ReflectancePosition(r) );
+        return;
     }
 }