Merge branch 'main' into dev
This commit is contained in:
commit
c4d769003c
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@ -5,7 +5,7 @@
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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.
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## Requirements
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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).
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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).
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## Usage
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Open the folder of any lab in VS Code. Open the terminal and type:
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@ -0,0 +1,57 @@
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#include <stdbool.h>
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#include "motor_simple.h"
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#include "bump.h"
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#include "systick.h"
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#include "inc/msp432p401r.h"
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// Left motor (PH) direction connected to P5.4 (J3.29)
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// Left motor (EN) PWM connected to P2.7/TA0CCP4 (J4.40)
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// Left motor (nSLEEP) enable connected to P3.7 (J4.31)
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// Right motor (PH) direction connected to P5.5 (J3.30)
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// Right motor (EN) PWM connected to P2.6/TA0CCP3 (J4.39)
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// Right motor (nSLEEP) enable connected to P3.6 (J2.11)
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// Initializes the 6 GPIO output lines and puts driver to sleep
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void MotorInit(void) {
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// write this code
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}
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// Stops both motors, puts driver to sleep
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void MotorStop(void) {
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P2->OUT &= ~0xC0; // off
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P3->OUT &= ~0xC0; // low current sleep mode
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}
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// Drives both motors forward at duty (100 to 9900)
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// Runs for time duration, and then stops
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// Stop the motors and return if any bumper switch is active
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void MotorForward(uint16_t duty, uint32_t times_10ms) {
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// write this code
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}
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// Drives both motors backward at duty (100 to 9900)
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// Runs for time duration, and then stops
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// Runs even if any bumper switch is active
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void MotorBackward(uint16_t duty, uint32_t times_10ms) {
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// write this code
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}
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// Drives just the left motor forward at duty (100 to 9900)
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// Right motor is stopped (sleeping)
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// Runs for time duration, and then stops
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// Stop the motor and return if any bumper switch is active
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void MotorLeft(uint16_t duty, uint32_t times_10ms) {
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// write this code
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}
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// Drives just the right motor forward at duty (100 to 9900)
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// Left motor is stopped (sleeping)
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// Runs for time duration, and then stops
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// Stop the motor and return if any bumper switch is active
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void MotorRight(uint16_t duty, uint32_t times_10ms) {
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// write this code
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}
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@ -0,0 +1,13 @@
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#ifndef MOTOR_SIMPLE_H
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#define MOTOR_SIMPLE_H
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#include <stdint.h>
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void MotorInit(void);
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void MotorStop(void);
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void MotorForward(uint16_t duty, uint32_t times_10ms);
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void MotorBackward(uint16_t duty, uint32_t times_10ms);
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void MotorLeft(uint16_t duty, uint32_t times_10ms);
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void MotorRight(uint16_t duty, uint32_t times_10ms);
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#endif /* MOTOR_SIMPLE_H */
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@ -0,0 +1,18 @@
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#include "systick.h"
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#include "inc/msp432p401r.h"
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void SysTickInit(void) {
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SysTick->LOAD = 0x00FFFFFF; // maximum reload value
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SysTick->CTRL = 0x00000005; // enable SysTick with no interrupts
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}
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// Assumes 48 MHz bus clock
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void SysTickWait(uint32_t delay_ticks) {
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// write this code
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// any write to CVR clears it and COUNTFLAG in CSR
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}
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void SysTickWait1us(uint32_t times) {
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// write this code
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}
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#ifndef SYSTICK_H
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#define SYSTICK_H
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#include <stdint.h>
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void SysTickInit(void);
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void SysTickWait(uint32_t delay);
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void SysTickWait1us(uint32_t times);
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#endif /* SYSTICK_H */
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@ -4,9 +4,18 @@ CC = arm-none-eabi-gcc
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# ARMGCC_ROOT is used by some makefiles that need to know where the compiler
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# is installed.
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ARMGCC_ROOT := /usr/arm-none-eabi
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# ${shell dirname ${shell readlink ${shell which ${CC}}}}/..
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# ARMGCC_ROOT := ${shell dirname ${shell readlink ${shell which ${CC}}}}/..
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ARMGCC_BIN := ${shell which ${CC}}
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ifeq (${shell test -h ${ARMGCC_BIN} && echo "true" || echo "false"}, true)
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ARMGCC_ROOT := ${shell dirname ${shell readlink ${ARMGCC_BIN}}}/..
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else
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ARMGCC_ROOT := ${shell dirname ${ARMGCC_BIN}}/..
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endif
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OBJECTS = main.o system.o startup.o
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# Search for source files that are not in this directory
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VPATH = ../common/
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OBJECTS = main.o system.o startup.o syscalls.o
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NAME = lab
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@ -41,8 +50,9 @@ LFLAGS = -Wl,-T,../config.lds \
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--specs=nano.specs
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all: $(NAME).out
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@echo "SUCCESS: Compilation completed successfully."
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main.o: main.c
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%.o: %.c
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@$(CC) $(CFLAGS) -g $< -c -o $@
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system.o: ../system.c
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@ -51,6 +61,9 @@ system.o: ../system.c
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startup.o: ../startup.c
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@$(CC) $(CFLAGS) $< -c -o $@
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syscalls.o: ../syscalls.c
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@$(CC) $(CFLAGS) $< -c -o $@
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$(NAME).out: $(OBJECTS)
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@$(CC) $(OBJECTS) $(LFLAGS) -o $(NAME).out
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@ -3,9 +3,17 @@ CC = arm-none-eabi-gcc
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# The location of the C compiler
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# ARMGCC_ROOT is used by some makefiles that need to know where the compiler
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# is installed.
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ARMGCC_ROOT := ${shell dirname ${shell readlink ${shell which ${CC}}}}/..
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ARMGCC_BIN := ${shell which ${CC}}
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ifeq (${shell test -h ${ARMGCC_BIN} && echo "true" || echo "false"}, true)
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ARMGCC_ROOT := ${shell dirname ${shell readlink ${ARMGCC_BIN}}}/..
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else
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ARMGCC_ROOT := ${shell dirname ${ARMGCC_BIN}}/..
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endif
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OBJECTS = main.o bump.o delay.o clock.o system.o startup.o
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# Search for source files that are not in this directory
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VPATH = ../common/
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OBJECTS = main.o bump.o delay.o clock.o system.o startup.o syscalls.o
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NAME = lab
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@ -40,14 +48,9 @@ LFLAGS = -Wl,-T,../config.lds \
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--specs=nano.specs
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all: $(NAME).out
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@echo "SUCCESS: Compilation completed successfully."
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main.o: main.c
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@$(CC) $(CFLAGS) -g $< -c -o $@
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bump.o: ../common/bump.c
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@$(CC) $(CFLAGS) -g $< -c -o $@
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delay.o: ../common/delay.c
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%.o: %.c
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@$(CC) $(CFLAGS) -g $< -c -o $@
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clock.o: ../common/clock.c
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@ -59,6 +62,9 @@ system.o: ../system.c
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startup.o: ../startup.c
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@$(CC) $(CFLAGS) $< -c -o $@
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syscalls.o: ../syscalls.c
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@$(CC) $(CFLAGS) $< -c -o $@
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$(NAME).out: $(OBJECTS)
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@$(CC) $(OBJECTS) $(LFLAGS) -o $(NAME).out
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|
|
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@ -3,9 +3,17 @@ CC = arm-none-eabi-gcc
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# The location of the C compiler
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# ARMGCC_ROOT is used by some makefiles that need to know where the compiler
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# is installed.
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ARMGCC_ROOT := ${shell dirname ${shell readlink ${shell which ${CC}}}}/..
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ARMGCC_BIN := ${shell which ${CC}}
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ifeq (${shell test -h ${ARMGCC_BIN} && echo "true" || echo "false"}, true)
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ARMGCC_ROOT := ${shell dirname ${shell readlink ${ARMGCC_BIN}}}/..
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else
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ARMGCC_ROOT := ${shell dirname ${ARMGCC_BIN}}/..
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endif
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OBJECTS = main.o bump.o delay.o clock.o reflectance.o cpu.o system.o startup.o
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# Search for source files that are not in this directory
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VPATH = ../common/
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OBJECTS = main.o bump.o delay.o reflectance.o clock.o cpu.o system.o startup.o syscalls.o
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NAME = lab
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@ -40,22 +48,14 @@ LFLAGS = -Wl,-T,../config.lds \
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--specs=nano.specs
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all: $(NAME).out
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@echo "SUCCESS: Compilation completed successfully."
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main.o: main.c
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@$(CC) $(CFLAGS) -g $< -c -o $@
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bump.o: ../common/bump.c
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@$(CC) $(CFLAGS) -g $< -c -o $@
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delay.o: ../common/delay.c
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%.o: %.c
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@$(CC) $(CFLAGS) -g $< -c -o $@
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clock.o: ../common/clock.c
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@$(CC) $(CFLAGS) $< -c -o $@
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reflectance.o: ../common/reflectance.c
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@$(CC) $(CFLAGS) -g $< -c -o $@
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cpu.o: ../common/cpu.c
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@$(CC) $(CFLAGS) $< -c -o $@
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@ -65,6 +65,9 @@ system.o: ../system.c
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startup.o: ../startup.c
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@$(CC) $(CFLAGS) $< -c -o $@
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syscalls.o: ../syscalls.c
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@$(CC) $(CFLAGS) $< -c -o $@
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$(NAME).out: $(OBJECTS)
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@$(CC) $(OBJECTS) $(LFLAGS) -o $(NAME).out
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|
|
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|
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@ -0,0 +1,74 @@
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CC = arm-none-eabi-gcc
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# The location of the C compiler
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# ARMGCC_ROOT is used by some makefiles that need to know where the compiler
|
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# is installed.
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ARMGCC_BIN := ${shell which ${CC}}
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ifeq (${shell test -h ${ARMGCC_BIN} && echo "true" || echo "false"}, true)
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ARMGCC_ROOT := ${shell dirname ${shell readlink ${ARMGCC_BIN}}}/..
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else
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ARMGCC_ROOT := ${shell dirname ${ARMGCC_BIN}}/..
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endif
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# Search for source files that are not in this directory
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VPATH = ../common/
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OBJECTS = main.o motor_simple.o systick.o bump.o clock.o system.o startup.o syscalls.o
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NAME = lab
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CFLAGS = -I.. -I../inc -I../common \
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-D__MSP432P401R__ \
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-DDeviceFamily_MSP432P401x \
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-mcpu=cortex-m4 \
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-march=armv7e-m \
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-mthumb \
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-std=c99 \
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-mfloat-abi=hard \
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-mfpu=fpv4-sp-d16 \
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-ffunction-sections \
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-fdata-sections \
|
||||
-gstrict-dwarf \
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-Wall \
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-I$(ARMGCC_ROOT)/arm-none-eabi/include/newlib-nano \
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-I$(ARMGCC_ROOT)/arm-none-eabi/include
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|
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LFLAGS = -Wl,-T,../config.lds \
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-Wl,-Map,$(NAME).map \
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-march=armv7e-m \
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-mthumb \
|
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-mfloat-abi=hard \
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-mfpu=fpv4-sp-d16 \
|
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-static \
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-Wl,--gc-sections \
|
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-lgcc \
|
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-lc \
|
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-lm \
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-lnosys \
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--specs=nano.specs
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|
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all: $(NAME).out
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||||
@echo "SUCCESS: Compilation completed successfully."
|
||||
|
||||
%.o: %.c
|
||||
@$(CC) $(CFLAGS) -g $< -c -o $@
|
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|
||||
clock.o: ../common/clock.c
|
||||
@$(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
|
||||
|
|
@ -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
|
||||
}
|
||||
}
|
||||
|
|
@ -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;
|
||||
}
|
||||
Loading…
Reference in New Issue