lab5 done

common/bump.c

@@ -13,5 +13,5 @@ void BumpInit(void) {
 
 uint8_t BumpRead(void) {
     // write this as part of Lab 2
-    return P4->IN & BUMP_PINS;
+    return P4->IN;
 }

common/motor.c

@@ -53,14 +53,8 @@ void MotorInit(void) {
     P3->SEL1 &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);
     P3->DIR  |=  (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);           // Output direction
 
-    // P2.6 (Right EN), P2.7 (Left EN)
-    P2->SEL0 &= ~(LEFT_PWM_PIN | RIGHT_PWM_PIN);         // GPIO function
-    P2->SEL1 &= ~(LEFT_PWM_PIN | RIGHT_PWM_PIN);
-    P2->DIR  |=  (LEFT_PWM_PIN | RIGHT_PWM_PIN);           // Output direction
-
     // 2. Initial state: disable motors
     P3->OUT  &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);  // SLEEP pins low - DRV8838 disabled
-    P2->OUT  &= ~(LEFT_PWM_PIN | RIGHT_PWM_PIN);  // EN pins low
 }
 
 // Stop the motors, power down the drivers, and
@@ -78,7 +72,7 @@ void MotorStop(void) {
 void MotorForward(uint16_t left_duty, uint16_t right_duty) { 
     P5->OUT &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);     // set direction - PH low
     P3->OUT |=  (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
-    P2->OUT |= (LEFT_PWM_PIN | RIGHT_PWM_PIN);
+    // P2->OUT |= (LEFT_PWM_PIN | RIGHT_PWM_PIN);
 
     SetPWMDutyRightMotor(right_duty);
     SetPWMDutyLeftMotor(left_duty);
@@ -89,7 +83,7 @@ void MotorForward(uint16_t left_duty, uint16_t right_duty) {
 void MotorBackward(uint16_t left_duty, uint16_t right_duty) { 
     P5->OUT |=  (LEFT_DIR_PIN | RIGHT_DIR_PIN);     // set direction - PH high
     P3->OUT |=  (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
-    P2->OUT |= (LEFT_PWM_PIN | RIGHT_PWM_PIN);
+    // P2->OUT |= (LEFT_PWM_PIN | RIGHT_PWM_PIN);
 
     SetPWMDutyRightMotor(right_duty);
     SetPWMDutyLeftMotor(left_duty);
@@ -99,9 +93,9 @@ void MotorBackward(uint16_t left_duty, uint16_t right_duty) {
 // 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) { 
-    P5->OUT &= ~(LEFT_DIR_PIN);   // set direction
+    P5->OUT &= ~(RIGHT_DIR_PIN);     // set direction forward
-    P3->OUT |=  (LEFT_SLEEP_PIN); // wake up motor
+    P5->OUT |=   LEFT_DIR_PIN;       // set direction backward
-    P2->OUT |= (LEFT_PWM_PIN | RIGHT_PWM_PIN);
+    P3->OUT |=  (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
 
     SetPWMDutyRightMotor(right_duty);
     SetPWMDutyLeftMotor(left_duty);
@@ -110,9 +104,9 @@ void MotorLeft(uint16_t left_duty, uint16_t right_duty) {
 // 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) { 
-    P5->OUT &= ~(RIGHT_DIR_PIN);   // set direction - PH high
+    P5->OUT &= ~(LEFT_DIR_PIN);     // set direction forward
-    P3->OUT |=  (RIGHT_SLEEP_PIN); // wake up motors
+    P5->OUT |=   RIGHT_DIR_PIN;     // set direction backward
-    P2->OUT |= (LEFT_PWM_PIN | RIGHT_PWM_PIN);
+    P3->OUT |=  (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
 
     SetPWMDutyRightMotor(right_duty);
     SetPWMDutyLeftMotor(left_duty);

common/motor_simple.c

@@ -90,7 +90,7 @@ void MotorForward(uint16_t duty, uint32_t times_10ms) {
         SysTickWait1us(10000 - duty);
 
         uint8_t bump = BumpRead();
-        if (!(bump & BUMP_PINS)) break;
+        if ((~bump & BUMP_PINS)) break;
     }
 
     MotorStop();
@@ -112,7 +112,7 @@ void MotorBackward(uint16_t duty, uint32_t times_10ms) {
         SysTickWait1us(10000 - duty);
 
         uint8_t bump = BumpRead();
-        if (!(bump & BUMP_PINS)) break;
+        if ((~bump & BUMP_PINS)) break;
     }
     
     MotorStop();
@@ -135,7 +135,7 @@ void MotorLeft(uint16_t duty, uint32_t times_10ms) {
         SysTickWait1us(10000 - duty);
 
         uint8_t bump = BumpRead();
-        if (!(bump & BUMP_PINS)) break;
+        if ((~bump & BUMP_PINS)) break;
     }
     
     MotorStop();
@@ -158,7 +158,7 @@ void MotorRight(uint16_t duty, uint32_t times_10ms) {
         SysTickWait1us(10000 - duty);
         
         uint8_t bump = BumpRead();
-        if (!(bump & BUMP_PINS)) break;
+        if ((~bump & BUMP_PINS)) break;
     }
     
     MotorStop();

common/pwm.c

@@ -12,12 +12,16 @@ 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
 }
 

common/timer_a1.c

@@ -9,25 +9,24 @@ void (*timer_a1_task)(void); // user function
 void TimerA1Init(void (*task)(void), uint16_t period) {
     timer_a1_task = task;
 
-    // bits9-8=10, clock source to SMCLK
+    // Stop timer, SMCLK, /4 divider
-    // bits7-6=10, input clock divider
-    // bits5-4=00, stop mode
-    // bit2=0, set this bit to clear
-    // bit1=0, no interrupt on
     TIMER_A1->CTL = 0x0280;
 
-    // bits15-14=00, no capture mode
+    // Configure CCR0
-    // bit8=0, compare mode
+    TIMER_A1->CCTL[0] = 0x0010; // Compare mode, enable interrupt
-    // bit4=1, enable capture/compare interrupt on CCIFG
-    // bit2=0, output this value in output mode 0
-    TIMER_A1->CCTL[0] &= ~0x0001;
-
     TIMER_A1->CCR[0] = (period - 1);
-    TIMER_A1->EX0 = 0x0005;
+    
+    // Clock divider (EX0 register)
+    TIMER_A1->EX0 = 0x0005; // /6 divider (additional to the /4 above)
+    
+    // NVIC configuration
     NVIC->IP[3] = (NVIC->IP[3]&0xFFFFFF00)|0x00000040; // priority 2
     NVIC->ISER[0] = 0x00001000; // enable interrupt 12 in NVIC
-    TIMER_A1->CTL |= 0x0014; // reset and start Timer A in up mode
+    
-    TIMER_A1->CTL |= 0x0020; // Enable Timer A1 interrupts (TAIE)
+    // Enable timer interrupts and start in up mode
+    TIMER_A1->CTL |= 0x0014 | 0x0020; // reset, up mode, enable interrupts
+    
+    NVIC_EnableIRQ(TA1_0_IRQn);
 }
 
 void TA1_0_IRQHandler(void) {    

lab5/main.c

@@ -52,7 +52,7 @@ int main_f(void) {
     while (true) {}
 }
 
-int main(void) {
+int main_s(void) {
     ClockInit48MHz();
     SwitchInit();
     PWMInitMotor(7502);     // your function
@@ -69,15 +69,24 @@ int main(void) {
     }
 }
 
+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_final(void) {
+int main(void) {
     ClockInit48MHz();
-    // write code here
+    BumpInit();
+    PWMInitMotor(7502);
+    MotorInit();
+    MotorForward(1500, 1500);
+    TimerA1Init(checkBump, 15000);
     CPU_cpsie(); // Enable interrupts
-    while (true) {
+    
-        // write code here
+    while (true);
-    }
 }