From bccacd0a217d582930470a63d1eab3548e40225e Mon Sep 17 00:00:00 2001
From: AntonJ <antonjastsuk66@gmail.com>
Date: Tue, 4 Mar 2025 18:32:18 +0200
Subject: [PATCH 1/5] Fixed comments

---
 lab3/main.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/lab3/main.c b/lab3/main.c
index 14a1d18..30573f8 100644
--- a/lab3/main.c
+++ b/lab3/main.c
@@ -10,7 +10,7 @@
 #include "inc/msp432p401r.h"
 
 void DebugDump(uint8_t bump, uint8_t line) {
-    // write this as part of Lab 10
+    // write this as part of Lab 3
 }
 
 // **************SysTick_Init*********************
@@ -30,7 +30,7 @@ void SysTickInit(uint32_t period, uint32_t priority) {
 }
 
 void SysTick_Handler(void) {  // every 1ms
-    // write this as part of Lab 10
+    // write this as part of Lab 3
 }
 
 int main(void) {

From c41f3b0d5f097354fd82390d5a7c4e9c32ffc0c7 Mon Sep 17 00:00:00 2001
From: AntonJ <antonjastsuk66@gmail.com>
Date: Thu, 6 Mar 2025 15:59:11 +0200
Subject: [PATCH 2/5] Fixed Makefile dirname: missing operand and
 implementation warnings

---
 lab1/Makefile | 13 +++++++++++--
 lab2/Makefile | 13 +++++++++++--
 lab3/Makefile | 13 +++++++++++--
 syscalls.c    | 17 +++++++++++++++++
 4 files changed, 50 insertions(+), 6 deletions(-)
 create mode 100644 syscalls.c

diff --git a/lab1/Makefile b/lab1/Makefile
index 12a7431..9385d8e 100644
--- a/lab1/Makefile
+++ b/lab1/Makefile
@@ -3,9 +3,14 @@ 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_ROOT := ${shell dirname ${shell readlink ${shell which ${CC}}}}/..
+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
 
-OBJECTS = main.o system.o startup.o
+OBJECTS = main.o system.o startup.o syscalls.o
 
 NAME = lab
 
@@ -40,6 +45,7 @@ LFLAGS = -Wl,-T,../config.lds \
     --specs=nano.specs
 
 all: $(NAME).out
+	@echo "SUCCESS: Compilation completed successfully."
 
 main.o: main.c
 	@$(CC) $(CFLAGS) -g $< -c -o $@
@@ -50,6 +56,9 @@ system.o: ../system.c
 startup.o: ../startup.c
 	@$(CC) $(CFLAGS) $< -c -o $@
 
+syscalls.o: ../syscalls.c
+	@$(CC) $(CFLAGS) $< -c -o $@
+
 $(NAME).out: $(OBJECTS)
 	@$(CC) $(OBJECTS) $(LFLAGS) -o $(NAME).out
 
diff --git a/lab2/Makefile b/lab2/Makefile
index 06c5834..1a68222 100644
--- a/lab2/Makefile
+++ b/lab2/Makefile
@@ -3,9 +3,14 @@ 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_ROOT := ${shell dirname ${shell readlink ${shell which ${CC}}}}/..
+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
 
-OBJECTS = main.o bump.o delay.o clock.o system.o startup.o
+OBJECTS = main.o bump.o delay.o clock.o system.o startup.o syscalls.o
 
 NAME = lab
 
@@ -40,6 +45,7 @@ LFLAGS = -Wl,-T,../config.lds \
     --specs=nano.specs
 
 all: $(NAME).out
+	@echo "SUCCESS: Compilation completed successfully."
 
 main.o: main.c
 	@$(CC) $(CFLAGS) -g $< -c -o $@
@@ -59,6 +65,9 @@ system.o: ../system.c
 startup.o: ../startup.c
 	@$(CC) $(CFLAGS) $< -c -o $@
 
+syscalls.o: ../syscalls.c
+	@$(CC) $(CFLAGS) $< -c -o $@
+
 $(NAME).out: $(OBJECTS)
 	@$(CC) $(OBJECTS) $(LFLAGS) -o $(NAME).out
 
diff --git a/lab3/Makefile b/lab3/Makefile
index 8cd1e5a..7920501 100644
--- a/lab3/Makefile
+++ b/lab3/Makefile
@@ -3,9 +3,14 @@ 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_ROOT := ${shell dirname ${shell readlink ${shell which ${CC}}}}/..
+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
 
-OBJECTS = main.o bump.o delay.o clock.o reflectance.o cpu.o system.o startup.o
+OBJECTS = main.o bump.o delay.o clock.o reflectance.o cpu.o system.o startup.o syscalls.o
 
 NAME = lab
 
@@ -40,6 +45,7 @@ LFLAGS = -Wl,-T,../config.lds \
     --specs=nano.specs
 
 all: $(NAME).out
+	@echo "SUCCESS: Compilation completed successfully."
 
 main.o: main.c
 	@$(CC) $(CFLAGS) -g $< -c -o $@
@@ -65,6 +71,9 @@ system.o: ../system.c
 startup.o: ../startup.c
 	@$(CC) $(CFLAGS) $< -c -o $@
 
+syscalls.o: ../syscalls.c
+	@$(CC) $(CFLAGS) $< -c -o $@
+
 $(NAME).out: $(OBJECTS)
 	@$(CC) $(OBJECTS) $(LFLAGS) -o $(NAME).out
 
diff --git a/syscalls.c b/syscalls.c
new file mode 100644
index 0000000..34c0d46
--- /dev/null
+++ b/syscalls.c
@@ -0,0 +1,17 @@
+// Minimal implementations to supress the warnings
+
+int _close(int file) { 
+    return -1; 
+}
+
+int _lseek(int file, int ptr, int dir) {
+    return 0;
+}
+
+int _read(int file, char *ptr, int len) {
+    return 0;
+}
+
+int _write(int file, char *ptr, int len) {
+    return len;
+}

From 9aaca16baff25bc32fa87c175d7953f2027212e5 Mon Sep 17 00:00:00 2001
From: AntonJ <antonjastsuk66@gmail.com>
Date: Thu, 24 Apr 2025 14:07:19 +0300
Subject: [PATCH 3/5] Better makefile object build recipe

---
 lab1/Makefile |  5 ++++-
 lab2/Makefile | 11 ++++-------
 lab3/Makefile | 16 +++++-----------
 3 files changed, 13 insertions(+), 19 deletions(-)

diff --git a/lab1/Makefile b/lab1/Makefile
index 9385d8e..4b14d1a 100644
--- a/lab1/Makefile
+++ b/lab1/Makefile
@@ -10,6 +10,9 @@ else
     ARMGCC_ROOT := ${shell dirname ${ARMGCC_BIN}}/..
 endif
 
+# Search for source files that are not in this directory
+VPATH = ../common/
+
 OBJECTS = main.o system.o startup.o syscalls.o
 
 NAME = lab
@@ -47,7 +50,7 @@ LFLAGS = -Wl,-T,../config.lds \
 all: $(NAME).out
 	@echo "SUCCESS: Compilation completed successfully."
 
-main.o: main.c
+%.o: %.c
 	@$(CC) $(CFLAGS) -g $< -c -o $@
 
 system.o: ../system.c
diff --git a/lab2/Makefile b/lab2/Makefile
index 1a68222..26f9be7 100644
--- a/lab2/Makefile
+++ b/lab2/Makefile
@@ -10,6 +10,9 @@ else
     ARMGCC_ROOT := ${shell dirname ${ARMGCC_BIN}}/..
 endif
 
+# Search for source files that are not in this directory
+VPATH = ../common/
+
 OBJECTS = main.o bump.o delay.o clock.o system.o startup.o syscalls.o
 
 NAME = lab
@@ -47,13 +50,7 @@ LFLAGS = -Wl,-T,../config.lds \
 all: $(NAME).out
 	@echo "SUCCESS: Compilation completed successfully."
 
-main.o: main.c
-	@$(CC) $(CFLAGS) -g $< -c -o $@
-
-bump.o: ../common/bump.c
-	@$(CC) $(CFLAGS) -g $< -c -o $@
-
-delay.o: ../common/delay.c
+%.o: %.c
 	@$(CC) $(CFLAGS) -g $< -c -o $@
 
 clock.o: ../common/clock.c
diff --git a/lab3/Makefile b/lab3/Makefile
index 7920501..7bc71d4 100644
--- a/lab3/Makefile
+++ b/lab3/Makefile
@@ -10,7 +10,10 @@ else
     ARMGCC_ROOT := ${shell dirname ${ARMGCC_BIN}}/..
 endif
 
-OBJECTS = main.o bump.o delay.o clock.o reflectance.o cpu.o system.o startup.o syscalls.o
+# Search for source files that are not in this directory
+VPATH = ../common/
+
+OBJECTS = main.o bump.o delay.o reflectance.o clock.o cpu.o system.o startup.o syscalls.o
 
 NAME = lab
 
@@ -47,21 +50,12 @@ LFLAGS = -Wl,-T,../config.lds \
 all: $(NAME).out
 	@echo "SUCCESS: Compilation completed successfully."
 
-main.o: main.c
-	@$(CC) $(CFLAGS) -g $< -c -o $@
-
-bump.o: ../common/bump.c
-	@$(CC) $(CFLAGS) -g $< -c -o $@
-
-delay.o: ../common/delay.c
+%.o: %.c
 	@$(CC) $(CFLAGS) -g $< -c -o $@
 
 clock.o: ../common/clock.c
 	@$(CC) $(CFLAGS) $< -c -o $@
 
-reflectance.o: ../common/reflectance.c
-	@$(CC) $(CFLAGS) -g $< -c -o $@
-
 cpu.o: ../common/cpu.c
 	@$(CC) $(CFLAGS) $< -c -o $@
 

From 8f8b21f19ce34e3192bce9c29507d2e17002940f Mon Sep 17 00:00:00 2001
From: AntonJ <antonjastsuk66@gmail.com>
Date: Thu, 24 Apr 2025 14:10:52 +0300
Subject: [PATCH 4/5] Added Lab4 and necessary files in common/

---
 common/motor_simple.c | 57 ++++++++++++++++++++++++++
 common/motor_simple.h | 13 ++++++
 common/systick.c      | 18 +++++++++
 common/systick.h      | 10 +++++
 lab4/Makefile         | 74 ++++++++++++++++++++++++++++++++++
 lab4/main.c           | 93 +++++++++++++++++++++++++++++++++++++++++++
 6 files changed, 265 insertions(+)
 create mode 100644 common/motor_simple.c
 create mode 100644 common/motor_simple.h
 create mode 100644 common/systick.c
 create mode 100644 common/systick.h
 create mode 100644 lab4/Makefile
 create mode 100644 lab4/main.c

diff --git a/common/motor_simple.c b/common/motor_simple.c
new file mode 100644
index 0000000..c513e35
--- /dev/null
+++ b/common/motor_simple.c
@@ -0,0 +1,57 @@
+#include <stdbool.h>
+#include "motor_simple.h"
+
+#include "bump.h"
+#include "systick.h"
+
+#include "inc/msp432p401r.h"
+
+// Left motor (PH) direction connected to P5.4 (J3.29)
+// Left motor (EN) PWM connected to P2.7/TA0CCP4 (J4.40)
+// Left motor (nSLEEP) enable connected to P3.7 (J4.31)
+
+// Right motor (PH) direction connected to P5.5 (J3.30)
+// Right motor (EN) PWM connected to P2.6/TA0CCP3 (J4.39)
+// Right motor (nSLEEP) enable connected to P3.6 (J2.11)
+
+
+// Initializes the 6 GPIO output lines and puts driver to sleep
+void MotorInit(void) {
+    // write this code
+}
+
+// Stops both motors, puts driver to sleep
+void MotorStop(void) {
+    P2->OUT &= ~0xC0;   // off
+    P3->OUT &= ~0xC0;   // low current sleep mode
+}
+
+// Drives both motors forward at duty (100 to 9900)
+// Runs for time duration, and then stops
+// Stop the motors and return if any bumper switch is active
+void MotorForward(uint16_t duty, uint32_t times_10ms) {
+    // write this code
+}
+
+// Drives both motors backward at duty (100 to 9900)
+// Runs for time duration, and then stops
+// Runs even if any bumper switch is active
+void MotorBackward(uint16_t duty, uint32_t times_10ms) {
+    // write this code
+}
+
+// Drives just the left motor forward at duty (100 to 9900)
+// Right motor is stopped (sleeping)
+// Runs for time duration, and then stops
+// Stop the motor and return if any bumper switch is active
+void MotorLeft(uint16_t duty, uint32_t times_10ms) {
+    // write this code
+}
+
+// Drives just the right motor forward at duty (100 to 9900)
+// Left motor is stopped (sleeping)
+// Runs for time duration, and then stops
+// Stop the motor and return if any bumper switch is active
+void MotorRight(uint16_t duty, uint32_t times_10ms) {
+    // write this code
+}
\ No newline at end of file
diff --git a/common/motor_simple.h b/common/motor_simple.h
new file mode 100644
index 0000000..ae3be83
--- /dev/null
+++ b/common/motor_simple.h
@@ -0,0 +1,13 @@
+#ifndef MOTOR_SIMPLE_H
+#define MOTOR_SIMPLE_H
+
+#include <stdint.h>
+
+void MotorInit(void);
+void MotorStop(void);
+void MotorForward(uint16_t duty, uint32_t times_10ms);
+void MotorBackward(uint16_t duty, uint32_t times_10ms);
+void MotorLeft(uint16_t duty, uint32_t times_10ms);
+void MotorRight(uint16_t duty, uint32_t times_10ms);
+
+#endif /* MOTOR_SIMPLE_H */
\ No newline at end of file
diff --git a/common/systick.c b/common/systick.c
new file mode 100644
index 0000000..24a21c2
--- /dev/null
+++ b/common/systick.c
@@ -0,0 +1,18 @@
+#include "systick.h"
+
+#include "inc/msp432p401r.h"
+
+void SysTickInit(void) {
+    SysTick->LOAD = 0x00FFFFFF; // maximum reload value
+    SysTick->CTRL = 0x00000005; // enable SysTick with no interrupts
+}
+
+// Assumes 48 MHz bus clock
+void SysTickWait(uint32_t delay_ticks) {
+    // write this code
+    // any write to CVR clears it and COUNTFLAG in CSR
+}
+
+void SysTickWait1us(uint32_t times) {
+    // write this code
+}
\ No newline at end of file
diff --git a/common/systick.h b/common/systick.h
new file mode 100644
index 0000000..974c181
--- /dev/null
+++ b/common/systick.h
@@ -0,0 +1,10 @@
+#ifndef SYSTICK_H
+#define SYSTICK_H
+
+#include <stdint.h>
+
+void SysTickInit(void);
+void SysTickWait(uint32_t delay);
+void SysTickWait1us(uint32_t times);
+
+#endif /* SYSTICK_H */
\ No newline at end of file
diff --git a/lab4/Makefile b/lab4/Makefile
new file mode 100644
index 0000000..1ede360
--- /dev/null
+++ b/lab4/Makefile
@@ -0,0 +1,74 @@
+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 ${ARMGCC_BIN}}/..
+endif
+
+# Search for source files that are not in this directory
+VPATH = ../common/
+
+OBJECTS = main.o motor_simple.o systick.o bump.o clock.o system.o startup.o syscalls.o
+
+NAME = lab
+
+CFLAGS = -I.. -I../inc -I../common \
+    -D__MSP432P401R__ \
+    -DDeviceFamily_MSP432P401x \
+    -mcpu=cortex-m4 \
+    -march=armv7e-m \
+    -mthumb \
+    -std=c99 \
+    -mfloat-abi=hard \
+    -mfpu=fpv4-sp-d16 \
+    -ffunction-sections \
+    -fdata-sections \
+    -gstrict-dwarf \
+    -Wall \
+    -I$(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 $@
+
+clock.o: ../common/clock.c
+	@$(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
diff --git a/lab4/main.c b/lab4/main.c
new file mode 100644
index 0000000..00bdcd3
--- /dev/null
+++ b/lab4/main.c
@@ -0,0 +1,93 @@
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "bump.h"
+#include "systick.h"
+#include "motor_simple.h"
+#include "clock.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 SIZE 100
+
+// sinusoidal duty plot table
+const uint32_t pulse_us[SIZE] = {
+    5000, 5308, 5614, 5918, 6219, 6514, 6804, 7086, 7361, 7626,
+    7880, 8123, 8354, 8572, 8776, 8964, 9137, 9294, 9434, 9556,
+    9660, 9746, 9813, 9861, 9890, 9900, 9890, 9861, 9813, 9746,
+    9660, 9556, 9434, 9294, 9137, 8964, 8776, 8572, 8354, 8123,
+    7880, 7626, 7361, 7086, 6804, 6514, 6219, 5918, 5614, 5308,
+    5000, 4692, 4386, 4082, 3781, 3486, 3196, 2914, 2639, 2374,
+    2120, 1877, 1646, 1428, 1224, 1036,  863,  706,  566,  444,
+     340,  254,  187,  139,  110,  100,  110,  139,  187,  254,
+     340,  444,  566,  706,  863, 1036, 1224, 1428, 1646, 1877,
+    2120, 2374, 2639, 2914, 3196, 3486, 3781, 4082, 4386, 4692
+};
+
+void RedLEDInit(void) {
+    P1->SEL0 &= ~0x01;
+    P1->SEL1 &= ~0x01;   // 1) configure P1.0 as GPIO
+    P1->DIR |= 0x01;     // 2) make P1.0 out
+    P1->OUT &= ~0x01;
+}
+
+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 WaitTouchRelease(void) {
+    while(!(SW1IN || SW2IN)) {}  // wait for touch
+    while(SW1IN || SW2IN) {}     // wait for release
+}
+
+int main_test_systick(void) {
+    ClockInit48MHz();
+    SysTickInit();
+    RedLEDInit();
+    uint32_t H = 7500;
+    uint32_t L = 10000 - H;
+    while (true) {
+        P1->OUT |= 0x01;
+        SysTickWait1us(H);
+        P1->OUT &= ~0x01;
+        SysTickWait1us(L);
+    }
+}
+
+// The heartbeat starts when the operator pushes Button 1
+// The heartbeat stops when the operator pushes Button 2
+// When beating, the P1.0 LED oscillates at 100 Hz (too fast to see with the eye)
+// and the duty cycle is varied sinuosoidally once a second
+int main_heartbeat(void) { 
+    ClockInit48MHz();
+    // write this code
+    while (true) {
+        // write this code
+    }
+}
+
+int main_test_wheels(void) {
+    ClockInit48MHz();
+    SysTickInit();
+    SwitchInit();
+    BumpInit();
+    MotorInit(); // your function
+    while (true) {
+        WaitTouchRelease();
+        MotorForward(1500, 100);  // your function
+        WaitTouchRelease();
+        MotorBackward(1500, 100); // your function
+        WaitTouchRelease();
+        MotorLeft(1500, 100);     // your function
+        WaitTouchRelease();
+        MotorRight(1500, 100);    // your function
+    }
+}

From c279b684a30ef3c1a1007de19253d8142540d68e Mon Sep 17 00:00:00 2001
From: AntonJ <antonjastsuk66@gmail.com>
Date: Thu, 24 Apr 2025 14:11:16 +0300
Subject: [PATCH 5/5] Fixed older text in README

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 3751d9c..99f524f 100644
--- a/README.md
+++ b/README.md
@@ -5,7 +5,7 @@
 In this repository you will find all of the labs that are required for Robot Kit using MSP432 completion during the IAS0330 course in TalTech.
 
 ## Requirements
-Linux (or WSL), VS Code, openOCD, ARM compilers (arm-none-eabi), Cortex Debug VS Code extension is required to run and debug these labs. Place the whole labs catalogue folder under simplelink_msp432p4_VERSION/. For additional information go to the [Moodle wiki](https://moodle.taltech.ee/mod/wiki/view.php?id=696448).
+Linux (or WSL), VS Code, openOCD, ARM compilers (arm-none-eabi), Cortex Debug VS Code extension is required to run and debug these labs. For additional information go to the [Moodle wiki](https://moodle.taltech.ee/mod/wiki/view.php?id=696448).
 
 ## Usage
 Open the folder of any lab in VS Code. Open the terminal and type: