Merge branch 'main' into dev

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:  

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
+}

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 */

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
+}

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 */

lab1/Makefile

@@ -4,9 +4,18 @@ CC = arm-none-eabi-gcc
 # ARMGCC_ROOT is used by some makefiles that need to know where the compiler
 # is installed.
 ARMGCC_ROOT := /usr/arm-none-eabi
-# ${shell dirname ${shell readlink ${shell which ${CC}}}}/..
+# 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
+# Search for source files that are not in this directory
+VPATH = ../common/
+
+OBJECTS = main.o system.o startup.o syscalls.o
 
 NAME = lab
 
@@ -41,8 +50,9 @@ LFLAGS = -Wl,-T,../config.lds \
     --specs=nano.specs
 
 all: $(NAME).out
+	@echo "SUCCESS: Compilation completed successfully."
 
-main.o: main.c
+%.o: %.c
 	@$(CC) $(CFLAGS) -g $< -c -o $@
 
 system.o: ../system.c
@@ -51,6 +61,9 @@ 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
 

lab2/Makefile

@@ -3,9 +3,17 @@ 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
+# 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
 
@@ -40,14 +48,9 @@ LFLAGS = -Wl,-T,../config.lds \
     --specs=nano.specs
 
 all: $(NAME).out
+	@echo "SUCCESS: Compilation completed successfully."
 
-main.o: main.c
+%.o: %.c
-	@$(CC) $(CFLAGS) -g $< -c -o $@
-
-bump.o: ../common/bump.c
-	@$(CC) $(CFLAGS) -g $< -c -o $@
-
-delay.o: ../common/delay.c
 	@$(CC) $(CFLAGS) -g $< -c -o $@
 
 clock.o: ../common/clock.c
@@ -59,6 +62,9 @@ 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
 

lab3/Makefile

@@ -3,9 +3,17 @@ 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
+# 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
 
@@ -40,22 +48,14 @@ LFLAGS = -Wl,-T,../config.lds \
     --specs=nano.specs
 
 all: $(NAME).out
+	@echo "SUCCESS: Compilation completed successfully."
 
-main.o: main.c
+%.o: %.c
-	@$(CC) $(CFLAGS) -g $< -c -o $@
-
-bump.o: ../common/bump.c
-	@$(CC) $(CFLAGS) -g $< -c -o $@
-
-delay.o: ../common/delay.c
 	@$(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 $@
 
@@ -65,6 +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
 

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

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
+    }
+}

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;
+}