task6 finished

common/bump.c

@@ -2,8 +2,6 @@
 
 #include "inc/msp432p401r.h"
 
-#define BUMP_PINS 0b11101101
-
 void BumpInit(void) {
     // Port 4 pins 0, 2, 3, 5, 6, 7
     // and enables internal resistors
@@ -15,5 +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/bump.h

@@ -3,6 +3,7 @@
 
 #include <stdint.h>
 
+#define BUMP_PINS 0b11101101
 // Set port pins Port 4.0, 4.2, 4.3, 4.5, 4.6 and 4.7 and enable internal resistors as needed
 void BumpInit(void);
 

common/cpu.c

@@ -20,3 +20,33 @@ uint32_t __attribute__((naked)) CPU_cpsie(void)
     //
     return(ret);
 }
+
+uint32_t __attribute__((naked)) CPU_cpsid(void)
+{
+    uint32_t ret;
+
+    //
+    // Read PRIMASK and disable interrupts.
+    //
+    __asm("    mrs     r0, PRIMASK\n"
+            "    cpsid   i\n"
+            "    bx      lr\n"
+            : "=r" (ret));
+
+    //
+    // The return is handled in the inline assembly, but the compiler will
+    // still complain if there is not an explicit return here (despite the fact
+    // that this does not result in any code being produced because of the
+    // naked attribute).
+    //
+    return(ret);
+}
+
+void __attribute__((naked)) CPU_wfi(void)
+{
+    //
+    // Wait for the next interrupt.
+    //
+    __asm("    wfi\n"
+            "    bx      lr\n");
+}

common/cpu.h

@@ -4,5 +4,7 @@
 #include <stdint.h>
 
 uint32_t CPU_cpsie(void);
+uint32_t CPU_cpsid(void);
+void CPU_wfi(void);
 
 #endif /* CPU_H */

common/input_capture.c

@@ -0,0 +1,79 @@
+#include "input_capture.h"
+
+#include "inc/msp432p401r.h"
+
+void (*capture_task)(uint16_t time);
+
+// Initialize Timer A0 in edge time mode to request interrupts on
+// the rising edge of P7.3 (TA0CCP0). The interrupt service routine
+// acknowledges the interrupt and calls a user function.
+void TimerA0CaptureInit(void (*task)(uint16_t time)) {
+    capture_task = task;
+    P7->SEL0 |= 0x08;
+    P7->SEL1 &= ~0x08; // configure P7.3 as TA0CCP0
+    P7->DIR &= ~0x08;
+
+    TIMER_A0->CTL &= ~0x30; // halt Timer A0
+    TIMER_A0->CTL = 0x200; // SMCLK
+    TIMER_A0->CCTL[0] = 0x4910; // capture on rising edge, synchronous capture, capture mode, interrupt enabled
+    TIMER_A0->EX0 &= ~0x7; // input clock divider /1
+
+    NVIC->IP[2] = (NVIC->IP[2] & 0xFFFFFF00) | 0x00000002; // priority 2
+
+    // interrupts enabled in the main program after all devices initialized
+    NVIC->ISER[0] = 0x100; // enable interrupt 8 in NVIC
+
+    TIMER_A0->CTL |= 0x24;        // reset and start Timer A0 in continuous up mode
+}
+
+void TA0_0_IRQHandler(void) {
+    TIMER_A0->CCTL[0] &= ~0x1;      // acknowledge capture/compare interrupt
+    capture_task(TIMER_A0->CCR[0]); // execute user task
+}
+
+
+// Left Encoder A connected to P10.5 (J5)
+// Right Encoder A connected to P10.4 (J5)
+
+// user function, time is up-counting timer value when edge occurred in units of 0.083 usec
+// called when P10.4/.5 (TA3CCP0/1) edge occurs
+void (*capture_task0)(uint16_t time); 
+void (*capture_task1)(uint16_t time);
+
+// Initialize Timer A3 in edge time mode to request interrupts on
+// the rising edges of P10.4 (TA3CCP0) and P10.5 (TA3CCP1).
+// Interrupt service routines acknowledge the interrupt and call a user function.
+// Assumes: low-speed subsystem master clock is 12 MHz
+void TimerA3CaptureInit(void (*task0)(uint16_t time), 
+                        void (*task1)(uint16_t time)) {
+    capture_task0 = task0;
+    capture_task1 = task1;
+    P10->SEL0 |= 0x30;   // Set SEL0 for bits 4 and 5
+    P10->SEL1 &= ~0x30;  // Clear SEL1 for bits 4 and 5
+    P10->DIR &= ~0x30;   // Set as inputs
+
+    TIMER_A3->CTL &= ~0x30;        // halt Timer A3
+    TIMER_A3->CTL = 0x200;          // SMCLK
+    TIMER_A3->CCTL[0] = 0x4910;      // rising, sync, capture, interrupt
+    TIMER_A3->CCTL[1] = 0x4910;
+    TIMER_A3->EX0 &= ~0x7;        // input clock divider /1
+
+    NVIC->IP[3] = (NVIC->IP[3] & 0xFF0000FF) | 0x00020300; // priority 2 and 3
+
+    NVIC->ISER[0] = (1 << 14) | (1 << 15); // enable 14 and 15
+
+    // Start Timer A3 in continuous mode with clear
+    TIMER_A3->CTL |= 0x0024;         // TACLR | MC__CONTINUOUS
+}
+
+// The rising edge of P10.4 will cause an interrupt
+void TA3_0_IRQHandler(void) {
+    TIMER_A3->CCTL[0] &= ~0x0001;    // ack
+    capture_task0(TIMER_A3->CCR[0]);
+}
+
+// The rising edge of P10.5 will cause an interrupt
+void TA3_N_IRQHandler(void) {
+    TIMER_A3->CCTL[1] &= ~0x0001;  // ack
+    capture_task1(TIMER_A3->CCR[1]);
+}

common/input_capture.h

@@ -0,0 +1,9 @@
+#ifndef INPUT_CAPTURE_H
+#define INPUT_CAPTURE_H
+
+#include <stdint.h>
+
+void TimerA3CaptureInit(void (*task0)(uint16_t time), 
+                        void (*task1)(uint16_t time));
+
+#endif /* INPUT_CAPTURE */

common/motor.c

@@ -0,0 +1,113 @@
+#include "motor.h"
+#include "pwm.h"
+
+#include "inc/msp432p401r.h"
+
+#undef BIT0
+#undef BIT1
+#undef BIT2
+#undef BIT3
+#undef BIT4
+#undef BIT5
+#undef BIT6
+#undef BIT7
+
+#define BIT0 (uint8_t)(0x01)
+#define BIT1 (uint8_t)(0x02)
+#define BIT2 (uint8_t)(0x04)
+#define BIT3 (uint8_t)(0x08)
+#define BIT4 (uint8_t)(0x10)
+#define BIT5 (uint8_t)(0x20)
+#define BIT6 (uint8_t)(0x40)
+#define BIT7 (uint8_t)(0x80)
+
+// duty := H/(H+L) = H/10000
+// H+L is always 10 000 microsecond
+
+// Left motor (PH) direction connected to P5.4 (J3.29)
+#define LEFT_DIR_PIN     BIT4  // P5.4
+// Right motor (PH) direction connected to P5.5 (J3.30)
+#define RIGHT_DIR_PIN    BIT5  // P5.5
+
+// Left motor (EN) PWM connected to P2.7/TA0CCP4 (J4.40)
+#define LEFT_PWM_PIN     BIT7  // P2.7
+// Right motor (EN) PWM connected to P2.6/TA0CCP3 (J4.39)
+#define RIGHT_PWM_PIN    BIT6  // P2.6
+
+// Left motor (nSLEEP) enable connected to P3.7 (J4.31)
+#define LEFT_SLEEP_PIN   BIT7  // P3.7
+// Right motor (nSLEEP) enable connected to P3.6 (J2.11)
+#define RIGHT_SLEEP_PIN  BIT6  // P3.6
+
+
+// Initializes the 6 GPIO output lines and puts driver to sleep
+void MotorInit(void) {
+    // 1. Configure all motor control pins as outputs
+    // P5.4 (Left DIR), P5.5 (Right DIR)
+    P5->SEL0 &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);         // GPIO function
+    P5->SEL1 &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);
+    P5->DIR  |=  (LEFT_DIR_PIN | RIGHT_DIR_PIN);           // Output direction
+
+    // P3.6 (Right SLEEP), P3.7 (Left SLEEP)
+    P3->SEL0 &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);         // GPIO function
+    P3->SEL1 &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);
+    P3->DIR  |=  (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);           // Output direction
+
+    // 2. Initial state: disable motors
+    P3->OUT  &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);  // SLEEP pins low - DRV8838 disabled
+}
+
+// Stop the motors, power down the drivers, and
+// set the PWM speed control to 0% duty cycle.
+void MotorStop(void) {    
+    P3->OUT &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);  // SLEEP pins low
+    P2->OUT &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);  // EN pins low
+
+    SetPWMDutyLeftMotor(0);
+    SetPWMDutyRightMotor(0);
+}
+
+// Left and right wheels forward with the given duty cycles. 
+// Duty cycle is 0 to 14,998.
+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);
+
+    SetPWMDutyRightMotor(right_duty);
+    SetPWMDutyLeftMotor(left_duty);
+}
+
+// Left and right wheels backward with the given duty cycles.
+// Duty cycle is 0 to 14,998.
+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);
+
+    SetPWMDutyRightMotor(right_duty);
+    SetPWMDutyLeftMotor(left_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 &= ~(RIGHT_DIR_PIN);     // set direction forward
+    P5->OUT |=   LEFT_DIR_PIN;       // set direction backward
+    P3->OUT |=  (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
+
+    SetPWMDutyRightMotor(right_duty);
+    SetPWMDutyLeftMotor(left_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 &= ~(LEFT_DIR_PIN);     // set direction forward
+    P5->OUT |=   RIGHT_DIR_PIN;     // set direction backward
+    P3->OUT |=  (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
+
+    SetPWMDutyRightMotor(right_duty);
+    SetPWMDutyLeftMotor(left_duty);
+}

common/motor.h

@@ -0,0 +1,13 @@
+#ifndef MOTOR_H
+#define MOTOR_H
+
+#include <stdint.h>
+
+void MotorInit(void);
+void MotorStop(void);
+void MotorForward(uint16_t left_duty, uint16_t right_duty);
+void MotorBackward(uint16_t left_duty, uint16_t right_duty);
+void MotorLeft(uint16_t left_duty, uint16_t right_duty);
+void MotorRight(uint16_t left_duty, uint16_t right_duty);
+
+#endif /* MOTOR_H */

common/motor_hw_pwm.c

@@ -0,0 +1,145 @@
+#include <stdbool.h>
+#include "motor_simple.h"
+
+#include "bump.h"
+#include "systick.h"
+
+#include "inc/msp432p401r.h"
+
+
+#define BIT0 (uint8_t)(0x01)
+#define BIT1 (uint8_t)(0x02)
+#define BIT2 (uint8_t)(0x04)
+#define BIT3 (uint8_t)(0x08)
+#define BIT4 (uint8_t)(0x10)
+#define BIT5 (uint8_t)(0x20)
+#define BIT6 (uint8_t)(0x40)
+#define BIT7 (uint8_t)(0x80)
+
+
+// Left motor (PH) direction connected to P5.4 (J3.29)
+#define LEFT_DIR_PIN     BIT4  // P5.4
+// Right motor (PH) direction connected to P5.5 (J3.30)
+#define RIGHT_DIR_PIN    BIT5  // P5.5
+
+// Left motor (EN) PWM connected to P2.7/TA0CCP4 (J4.40)
+#define LEFT_PWM_PIN     BIT7  // P2.7
+// Right motor (EN) PWM connected to P2.6/TA0CCP3 (J4.39)
+#define RIGHT_PWM_PIN    BIT6  // P2.6
+
+// Left motor (nSLEEP) enable connected to P3.7 (J4.31)
+#define LEFT_SLEEP_PIN   BIT7  // P3.7
+// Right motor (nSLEEP) enable connected to P3.6 (J2.11)
+#define RIGHT_SLEEP_PIN  BIT6  // P3.6
+
+
+// Initializes the 6 GPIO output lines and puts driver to sleep
+void MotorInit(void) {
+    P5->SEL0 &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);    // GPIO enable
+    P5->SEL1 &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);
+    P5->DIR |=   (LEFT_DIR_PIN | RIGHT_DIR_PIN);    // Output direction
+    P5->OUT &=  ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);    // Initialize low
+    
+    // motor enable pins - P2.6 P2.7
+    P2->SEL0 |=  (LEFT_PWM_PIN | RIGHT_PWM_PIN);    // TimerA function
+    P2->SEL1 &= ~(LEFT_PWM_PIN | RIGHT_PWM_PIN);
+    P2->DIR |=   (LEFT_PWM_PIN | RIGHT_PWM_PIN);    // Output direction
+    
+    // motor sleep pins - P3.6 P3.7
+    P3->SEL0 &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);    // GPIO enable
+    P3->SEL1 &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);
+    P3->DIR |=   (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);    // Output direction
+    P3->OUT &=  ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);    // Initialize low (sleep mode)
+}
+
+// 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) {
+    // set direction - PH low
+    P5->OUT &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);
+
+    // wake up motors
+    P3->OUT |= (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);
+
+    // Set PWM duty cycle
+    TIMER_A0->CCR[3] = duty;  // Right motor (P2.6/TA0.3)
+    TIMER_A0->CCR[4] = duty;  // Left motor  (P2.7/TA0.4)
+
+    while(times_10ms--) {
+        Delay10ms(1);
+    }
+    
+    MotorStop();
+}
+
+// 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) {
+    // set direction - PH high
+    P5->OUT |= (LEFT_DIR_PIN | RIGHT_DIR_PIN);
+
+    // wake up motors
+    P3->OUT |= (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);
+
+    // Set PWM duty cycle
+    TIMER_A0->CCR[3] = duty;  // Right motor (P2.6/TA0.3)
+    TIMER_A0->CCR[4] = duty;  // Left motor  (P2.7/TA0.4)
+
+    while(times_10ms--) {
+        Delay10ms(1);
+    }
+    
+    MotorStop();
+}
+
+// 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) {
+    // set direction - PH low
+    P5->OUT &= ~LEFT_DIR_PIN;
+
+    // wake up motors
+    P3->OUT = (P3->OUT & ~RIGHT_SLEEP_PIN) | LEFT_SLEEP_PIN;
+
+    // Set PWM duty cycle
+    TIMER_A0->CCR[3] = 0;      // Right motor off
+    TIMER_A0->CCR[4] = duty;   // Left motor on
+
+    while(times_10ms--) {
+        Delay10ms(1);
+    }
+    
+    MotorStop();
+}
+
+// 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) {
+    // set direction - PH low
+    P5->OUT &= ~RIGHT_DIR_PIN;
+
+    // wake up motors
+    P3->OUT = (P3->OUT & ~LEFT_SLEEP_PIN) | RIGHT_SLEEP_PIN;
+
+    // Set PWM duty cycle
+    TIMER_A0->CCR[3] = duty;    // Right motor off
+    TIMER_A0->CCR[4] = 0;       // Left motor on
+
+    while(times_10ms--) {
+        Delay10ms(1);
+    }
+    
+    MotorStop();
+}

common/motor_simple.c

@@ -6,38 +6,116 @@
 
 #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)
+#undef BIT0
+#undef BIT1
+#undef BIT2
+#undef BIT3
+#undef BIT4
+#undef BIT5
+#undef BIT6
+#undef BIT7
 
+#define BIT0 (uint8_t)(0x01)
+#define BIT1 (uint8_t)(0x02)
+#define BIT2 (uint8_t)(0x04)
+#define BIT3 (uint8_t)(0x08)
+#define BIT4 (uint8_t)(0x10)
+#define BIT5 (uint8_t)(0x20)
+#define BIT6 (uint8_t)(0x40)
+#define BIT7 (uint8_t)(0x80)
+
+// duty := H/(H+L) = H/10000
+// H+L is always 10 000 microsecond
+
+// Left motor (PH) direction connected to P5.4 (J3.29)
+#define LEFT_DIR_PIN     BIT4  // P5.4
 // Right motor (PH) direction connected to P5.5 (J3.30)
+#define RIGHT_DIR_PIN    BIT5  // P5.5
+
+// Left motor (EN) PWM connected to P2.7/TA0CCP4 (J4.40)
+#define LEFT_PWM_PIN     BIT7  // P2.7
 // Right motor (EN) PWM connected to P2.6/TA0CCP3 (J4.39)
+#define RIGHT_PWM_PIN    BIT6  // P2.6
+
+// Left motor (nSLEEP) enable connected to P3.7 (J4.31)
+#define LEFT_SLEEP_PIN   BIT7  // P3.7
 // Right motor (nSLEEP) enable connected to P3.6 (J2.11)
+#define RIGHT_SLEEP_PIN  BIT6  // P3.6
 
 
 // Initializes the 6 GPIO output lines and puts driver to sleep
 void MotorInit(void) {
-    // write this code
+    // 1. Configure all motor control pins as outputs
+    // P5.4 (Left DIR), P5.5 (Right DIR)
+    P5->SEL0 &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);         // GPIO function
+    P5->SEL1 &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);
+    P5->DIR  |=  (LEFT_DIR_PIN | RIGHT_DIR_PIN);           // Output direction
+
+    // P3.6 (Right SLEEP), P3.7 (Left SLEEP)
+    P3->SEL0 &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);         // GPIO function
+    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
+
+    SysTickWait1us(1000);
 }
 
 // Stops both motors, puts driver to sleep
 void MotorStop(void) {
-    P2->OUT &= ~0xC0;   // off
-    P3->OUT &= ~0xC0;   // low current sleep mode
+    P3->OUT &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);  // SLEEP pins low
+    P2->OUT &= ~(LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN);  // EN pins low
 }
 
 // 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
+    P5->OUT &= ~(LEFT_DIR_PIN | RIGHT_DIR_PIN);     // set direction - PH low
+    P3->OUT |=  (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
+
+    uint32_t i;
+    for (i = 0; i < times_10ms; ++i) {
+        P2->OUT |= (LEFT_PWM_PIN | RIGHT_PWM_PIN);  // Enable both motors (EN high)
+        SysTickWait1us(duty);
+        
+        P2->OUT &= ~(LEFT_PWM_PIN | RIGHT_PWM_PIN); // Disable motors
+        SysTickWait1us(10000 - duty);
+
+        uint8_t bump = BumpRead();
+        if ((~bump & BUMP_PINS)) break;
+    }
+
+    MotorStop();
 }
 
 // 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
+    P5->OUT |=  (LEFT_DIR_PIN | RIGHT_DIR_PIN);     // set direction - PH high
+    P3->OUT |=  (LEFT_SLEEP_PIN | RIGHT_SLEEP_PIN); // wake up motors
+
+    uint32_t i;
+    for (i = 0; i < times_10ms; ++i) {
+        P2->OUT |= (LEFT_PWM_PIN | RIGHT_PWM_PIN);  // Enable both motors (EN high)
+        SysTickWait1us(duty);
+        
+        P2->OUT &= ~(LEFT_PWM_PIN | RIGHT_PWM_PIN); // Disable motors
+        SysTickWait1us(10000 - duty);
+
+        uint8_t bump = BumpRead();
+        if ((~bump & BUMP_PINS)) break;
+    }
+    
+    MotorStop();
 }
 
 // Drives just the left motor forward at duty (100 to 9900)
@@ -45,7 +123,22 @@ void MotorBackward(uint16_t duty, uint32_t times_10ms) {
 // 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
+    P5->OUT &= ~(LEFT_DIR_PIN);   // set direction
+    P3->OUT |=  (LEFT_SLEEP_PIN); // wake up motors
+
+    uint32_t i;
+    for (i = 0; i < times_10ms; ++i) {
+        P2->OUT |= (LEFT_PWM_PIN);  // Enable both motors (EN high)
+        SysTickWait1us(duty);
+        
+        P2->OUT &= ~(LEFT_PWM_PIN); // Disable motors
+        SysTickWait1us(10000 - duty);
+
+        uint8_t bump = BumpRead();
+        if ((~bump & BUMP_PINS)) break;
+    }
+    
+    MotorStop();
 }
 
 // Drives just the right motor forward at duty (100 to 9900)
@@ -53,5 +146,20 @@ void MotorLeft(uint16_t duty, uint32_t times_10ms) {
 // 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
+    P5->OUT &= ~(RIGHT_DIR_PIN);   // set direction - PH high
+    P3->OUT |=  (RIGHT_SLEEP_PIN); // wake up motors
+
+    uint32_t i;
+    for (i = 0; i < times_10ms; ++i) {
+        P2->OUT |= (RIGHT_PWM_PIN);  // Enable both motors (EN high)
+        SysTickWait1us(duty);
+        
+        P2->OUT &= ~(RIGHT_PWM_PIN); // Disable motors
+        SysTickWait1us(10000 - duty);
+        
+        uint8_t bump = BumpRead();
+        if ((~bump & BUMP_PINS)) break;
+    }
+    
+    MotorStop();
 }

common/pwm.c

@@ -0,0 +1,73 @@
+#include "pwm.h"
+
+#include "inc/msp432p401r.h"
+
+// PWM on P2.4/.5 using TimerA0 TA0.CCR1/2
+// period is 1.333us (1.333us = 2 * 666.7ns because of up/down)
+// SMCLK = 48MHz/4 = 12 MHz, 83.33ns
+// Let Timerclock period T = 8/12MHz = 666.7ns
+// P2.4/.5 = 1 when timer equals TA0CCR1/2 on way down, 
+// P2.4/.5 = 0 when timer equals TA0CCR1/2 on way up
+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
+}
+
+void SetPWMDutyP2_4(uint16_t duty) {
+    if (duty >= TIMER_A0->CCR[0]) return;
+    TIMER_A0->CCR[1] = duty;
+}
+
+void SetPWMDutyP2_5(uint16_t duty) {
+    if (duty >= TIMER_A0->CCR[0]) return;
+    TIMER_A0->CCR[2] = duty;
+}
+
+// PWM on P2.6/.7 using TimerA0 TA0.CCR3/4
+// SMCLK = 48MHz/4 = 12 MHz, 83.33ns
+// period is 1.333us
+// Let Timerclock period T = 8/12MHz = 666.7ns
+// P2.6/.7 = 1 when timer equals TA0CCR3/4 on way down, 
+// P2.6/.7 = 0 when timer equals TA0CCR3/4 on way up
+void PWMInitMotor(uint16_t period) {
+    P2->DIR  |=   BIT6 | BIT7;
+    P2->SEL0 |=   BIT6 | BIT7;
+    P2->SEL1 &= ~(BIT6 | BIT7);
+
+    TIMER_A0->CCR[0] = period;
+    TIMER_A0->EX0 = 0x00;
+
+    TIMER_A0->CCTL[3] = 0x40;
+    TIMER_A0->CCTL[4] = 0x40;
+
+    TIMER_A0->CCR[3] = 0;
+    TIMER_A0->CCR[4] = 0;
+
+    TIMER_A0->CTL = 0x02F0;
+
+    // ZKURVENA MRDKA
+}
+
+// right motor on P2.6 -> CCR3
+void SetPWMDutyRightMotor(uint16_t duty) {
+    if (duty >= TIMER_A0->CCR[0]) return;
+    TIMER_A0->CCR[3] = duty;
+}
+
+// left motor on P2.7 -> CCR4
+void SetPWMDutyLeftMotor(uint16_t duty) {
+    if (duty >= TIMER_A0->CCR[0]) return;
+    TIMER_A0->CCR[4] = duty;
+}

common/pwm.h

@@ -0,0 +1,10 @@
+#ifndef PWM_H
+#define PWM_H
+
+#include <stdint.h>
+
+void PWMInitMotor(uint16_t period);
+void SetPWMDutyRightMotor(uint16_t duty);
+void SetPWMDutyLeftMotor(uint16_t duty);
+
+#endif /* PWM_H */

common/systick.c

@@ -9,10 +9,24 @@ void SysTickInit(void) {
 
 // Assumes 48 MHz bus clock
 void SysTickWait(uint32_t delay_ticks) {
-    // write this code
+    // 1. Write a desired delay_ticks value into the SysTick->LOAD register and subtract 1 from it,
+    SysTick->LOAD = delay_ticks - 1;
+
+    // 2. Clear the SysTick->VAL counter value, which also clears the COUNT bit,
+    SysTick->VAL = 0;
+
+    // 3. Wait for the COUNT bit in the SysTick->CTRL register to be set.
+    while((SysTick->CTRL & 0x00010000) == 0); // wait for COUNTFLAG
+
     // any write to CVR clears it and COUNTFLAG in CSR
 }
 
 void SysTickWait1us(uint32_t times) {
-    // write this code
+    uint32_t count = (48 * times) / 0x00FFFFFF;
+    uint32_t rem   = (48 * times) % 0x00FFFFFF;
+    uint32_t i;
+    for (i = 0; i < count; ++i) {
+        SysTickWait(0x00FFFFFF); // wait max
+    }
+    SysTickWait(rem);
 }

common/tachometer.c

@@ -0,0 +1,67 @@
+#include "tachometer.h"
+
+#include "input_capture.h"
+
+#include "inc/msp432p401r.h"
+
+#define P5_0_IN (*((volatile uint8_t *)(0x42098800)))
+#define P5_2_IN (*((volatile uint8_t *)(0x42098808)))
+
+uint16_t tach_r_time1, tach_r_time2, tach_l_time1, tach_l_time2;
+
+// incremented with every step forward, decremented with every step backward
+int tach_r_steps, tach_l_steps;
+
+TachDirection_t tach_r_dir, tach_l_dir;
+
+// Right Encoder B connected to P5.0 (J2.13)
+// When high, increase r_steps and set dir forward
+// When low, decrease r_steps and set dir reverse
+void TachometerRightInt(uint16_t current_time) {
+    tach_r_time1 = tach_r_time2;
+    tach_r_time2 = current_time;
+    
+    tach_r_dir = (P5->IN & 0x01) ? Forward : Reverse;
+
+    // int delta = tach_r_time2 - tach_r_time1;
+    // int speed = 2000000 / delta;
+
+    if (tach_r_dir == Forward)
+        ++tach_r_steps;
+    else
+        --tach_r_steps;
+    return;
+}
+
+// Left Encoder B connected to P5.2 (J2.12)
+// When high, increase l_steps and set dir forward
+// When low, decrease l_steps and set dir reverse
+void TachometerLeftInt(uint16_t current_time) {
+    tach_l_time1 = tach_l_time2;
+    tach_l_time2 = current_time;
+    
+    tach_l_dir = (P5->IN & 0x04) ? Forward : Reverse;
+
+    // int delta = tach_l_time2 - tach_l_time1;
+    // int speed = 2000000 / delta;
+
+    if (tach_l_dir == Forward)
+        ++tach_l_steps;
+    else
+        --tach_l_steps;
+    return;
+}
+
+// Initialize P5.0 and P5.2 and make them GPIO inputs, 
+// which will be used to determine the direction of rotation.
+// Initialize the input capture interface, which
+// will be used to measure the speed of rotation.
+void TachometerInit(void) {
+    P5->SEL0 |= 0x05;   // Set SEL0 for bits 0 and 2
+    P5->SEL1 &= ~0x05;  // Clear SEL1 for bits 0 and 2
+    P5->DIR &= ~0x05;   // Set as inputs
+
+    tach_r_dir = tach_l_dir = Stopped;
+
+    TimerA3CaptureInit(&TachometerRightInt, &TachometerLeftInt);
+}

common/tachometer.h

@@ -0,0 +1,15 @@
+#ifndef TACHOMETER_H
+#define TACHOMETER_H
+
+#include <stdint.h>
+
+// Specifies the direction of the motor rotation, relative to the front of the robot
+typedef enum TachDirection {
+    Reverse = -1,
+    Stopped,
+    Forward,
+} TachDirection_t;
+
+void TachometerInit(void);
+
+#endif /* TACHOMETER_H */

common/timer_a1.c

@@ -0,0 +1,35 @@
+#include "timer_a1.h"
+
+#include "inc/msp432p401r.h"
+
+void (*timer_a1_task)(void); // user function
+
+// Activate Timer A1 interrupts to run user task periodically
+// 16 bits period in units (24/SMCLK, with SMCLK 12 MHz -> 2us)
+void TimerA1Init(void (*task)(void), uint16_t period) {
+    timer_a1_task = task;
+
+    // Stop timer, SMCLK, /4 divider
+    TIMER_A1->CTL = 0x0280;
+
+    // Configure CCR0
+    TIMER_A1->CCTL[0] = 0x0010; // Compare mode, enable interrupt
+    TIMER_A1->CCR[0] = (period - 1);
+    
+    // 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
+    
+    // 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) {    
+    TIMER_A1->CCTL[0] &= ~0x0001;
+    timer_a1_task();
+}

common/timer_a1.h

@@ -0,0 +1,9 @@
+#ifndef TIMER_A1_H
+#define TIMER_A1_H
+
+#include <stdint.h>
+
+void TimerA1Init(void (*task)(void), uint16_t period);
+void TimerA1Stop(void);
+
+#endif /* TIMER_A1_H */

lab3/main.c

@@ -46,11 +46,11 @@ void SysTick_Handler(void) {  // every 1ms
     ++tick_count;
 
     if (1 == (tick_count % 10)) {
-        //ReflectanceStart(); // every 10ms
+        ReflectanceStart(); // every 10ms
     }
 
     if (2 == (tick_count % 10)) {
-        uint8_t r = ReflectanceRead(1000);
+        uint8_t r = ReflectanceEnd();
         DebugDump( BumpRead(), ReflectancePosition(r) );
         return;
     }

lab4/main.c

@@ -44,16 +44,17 @@ void SwitchInit(void) {
 }
 
 void WaitTouchRelease(void) {
-    while(!(SW1IN || SW2IN)) {}  // wait for touch
-    while(SW1IN || SW2IN) {}     // wait for release
+    while(!(SW1IN || SW2IN));  // wait for touch
+    while(  SW1IN || SW2IN );  // wait for release
 }
 
-int main_test_systick(void) {
+int main_f(void) {
     ClockInit48MHz();
     SysTickInit();
     RedLEDInit();
-    uint32_t H = 7500;
+    uint32_t H =  5000;
     uint32_t L = 10000 - H;
+
     while (true) {
         P1->OUT |= 0x01;
         SysTickWait1us(H);
@@ -66,20 +67,37 @@ int main_test_systick(void) {
 // 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) { 
+int main_s(void) { 
+    uint32_t H;
+    uint32_t L;
+    uint32_t i = 0;
     ClockInit48MHz();
-    // write this code
+    SysTickInit();
+    RedLEDInit();
+
     while (true) {
-        // write this code
+        H = pulse_us[i];
+        L = 10000 - H;     // 2. calculate L 
+        P1->OUT |= 0x01;   // 3. set P1.0 high
+        SysTickWait1us(H); // 4. wait H us
+        P1->OUT &= ~0x01;  // 5. clear P1.0 low
+        SysTickWait1us(L); // 6. Wait L us
+        i = (i + 1) % 100;
     }
 }
 
-int main_test_wheels(void) {
+
+void MotorTestPulse(void);
+int main(void) {
     ClockInit48MHz();
     SysTickInit();
     SwitchInit();
     BumpInit();
     MotorInit(); // your function
+
+    // MotorForward(1500, 100);
+    // return 0;
+
     while (true) {
         WaitTouchRelease();
         MotorForward(1500, 100);  // your function

lab5/Makefile

@@ -0,0 +1,77 @@
+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 ${ARMGCC_BIN}}/..
+endif
+
+# Search for source files that are not in this directory
+VPATH = ../common/
+
+OBJECTS = main.o timer_a1.o delay.o motor.o pwm.o bump.o cpu.o clock.o system.o startup.o syscalls.o
+
+NAME = lab
+
+CFLAGS = -I.. -I../inc -I../common \
+    -D__MSP432P401R__ \
+    -DDeviceFamily_MSP432P401x \
+    -mcpu=cortex-m4 \
+    -march=armv7e-m \
+    -mthumb \
+    -std=c99 \
+    -mfloat-abi=hard \
+    -mfpu=fpv4-sp-d16 \
+    -ffunction-sections \
+    -fdata-sections \
+    -gstrict-dwarf \
+    -Wall \
+    -I$(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 $@
+
+cpu.o: ../common/cpu.c
+	@$(CC) $(CFLAGS) $< -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

lab5/main.c

@@ -0,0 +1,147 @@
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "../common/cpu.h"
+#include "../common/motor.h"
+#include "../common/pwm.h"
+#include "../common/clock.h"
+#include "../common/input_capture.h"
+#include "../common/timer_a1.h"
+#include "../common/tachometer.h"
+
+#include "inc/msp432p401r.h"
+
+void RedLEDInit(void) {
+    P1->SEL0 &= ~0x01;
+    P1->SEL1 &= ~0x01;   // 1) configure P1.0 as GPIO
+    P1->DIR |= 0x01;     // 2) make P1.0 out
+}
+
+// bit-banded address
+#define REDLED (*((volatile uint8_t *)(0x42098040)))
+
+void ColorLEDInit(void) {
+    P2->SEL0 &= ~0x07;
+    P2->SEL1 &= ~0x07;    // 1) configure P2.2-P2.0 as GPIO
+    P2->DIR |= 0x07;      // 2) make P2.2-P2.0 out
+    P2->DS |= 0x07;       // 3) activate increased drive strength
+    P2->OUT &= ~0x07;     //    all LEDs off
+}
+
+// bit-banded addresses
+#define BLUEOUT  (*((volatile uint8_t *)(0x42098068)))
+#define GREENOUT (*((volatile uint8_t *)(0x42098064)))
+#define REDOUT   (*((volatile uint8_t *)(0x42098060)))
+
+uint16_t period0, period1;  // (1/SMCLK) units = 83.3 ns units
+uint16_t first0, first1;   // Timer A3 first edge, P10.4/.5
+bool done0, done1;        // set each rising
+
+// max period is (2^16-1)*83.3 ns = 5.4612 ms
+// min period determined by time to run ISR, which is about 1 us
+void PeriodMeasure0(uint16_t time) {
+    REDOUT ^= 1;
+    period0 = time - first0;  // 83.3 ns resolution
+    first0 = time; // setup for next
+    done0 = true;
+}
+
+// max period is (2^16-1)*83.3 ns = 5.4612 ms
+// min period determined by time to run ISR, which is about 1 us
+void PeriodMeasure1(uint16_t time) {
+    REDLED ^= 1;
+    period1 = time - first1;  // 83.3 ns resolution
+    first1 = time; // setup for next
+    done1 = true;
+}
+
+void dummy() {
+    volatile int i = 1;
+    i = i + 2;
+    return;
+}
+int main(void) {
+    CPU_cpsid(); // Disable interrupts
+    ClockInit48MHz();  // 48 MHz clock; 12 MHz Timer A clock
+    RedLEDInit();
+    ColorLEDInit();
+    PWMInitMotor(7502);
+    MotorInit();
+    TimerA1Init(&dummy, 1000);
+    TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
+    // MotorForward(3751, 3751);  // 50%
+    // MotorForward(1000, 1000);
+    CPU_cpsie(); // Enable interrupts
+    CPU_wfi(); // Wait for interrupt
+    return 0;
+}
+
+uint16_t speed_buf[500];       // RPM, radius 0.035m wheels
+uint32_t period_buf[500];      // 1/12MHz = 0.083 usec
+uint32_t duty;                 // 0 to 15000
+uint32_t time;                 // in 0.01 sec
+
+void Collect(void) {
+    GREENOUT ^= 1;
+    if (!done0) period0 = 0xFFFF - 1;  // stopped
+    if (!done1) period1 = 0xFFFF - 1;
+    done0 = done1 = false; // set on subsequent
+    switch (time) {
+        case 0:
+            duty = 1875; // 25%
+            MotorForward(duty, duty);
+            break;
+        case 100:
+            duty = 3751; // 50%
+            MotorForward(duty, duty);
+            break;
+        case 200:
+            duty = 5626; // 75%
+            MotorForward(duty, duty);
+            break;
+        case 300:
+            duty = 3751; // 50%
+            MotorForward(duty, duty);
+            break;
+        case 400:
+            duty = 1875; // 25%
+            MotorForward(duty, duty);
+            break;
+        case 500:
+            MotorStop();
+            TIMER_A1->CTL &= ~0x30; // Halt timer A1
+            break;
+        default:
+            speed_buf[time] = 2000000 / period0;
+            period_buf[time] = period0;
+            break;
+    }
+    ++time;
+}
+
+int main_collect(void) {
+    CPU_cpsid(); // Disable interrupts
+    ClockInit48MHz();  // 48 MHz clock; 12 MHz Timer A clock
+    RedLEDInit();
+    ColorLEDInit();
+    PWMInitMotor(7502);
+    MotorInit();
+    TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
+    TimerA1Init(&Collect, 5000);  // 100 Hz
+    CPU_cpsie(); // Enable interrupts
+    CPU_wfi(); // Wait for interrupt
+    return 0;
+}
+
+int main_tach(void) {
+    CPU_cpsid(); // Disable interrupts
+    ClockInit48MHz();
+    PWMInitMotor(7502);
+    MotorInit();
+    TachometerInit();
+    MotorForward(2000, 2000); // confirm if rotating forward
+    //MotorBackward(2000, 2000); // confirm if rotating backward
+    CPU_cpsie(); // Enable interrupts
+    CPU_wfi(); // Wait for interrupt
+    return 0;
+}

lab6/Makefile

@@ -0,0 +1,77 @@
+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 ${ARMGCC_BIN}}/..
+endif
+
+# Search for source files that are not in this directory
+VPATH = ../common/
+
+OBJECTS = main.o timer_a1.o motor.o pwm.o input_capture.o tachometer.o cpu.o clock.o system.o startup.o syscalls.o
+
+NAME = lab
+
+CFLAGS = -I.. -I../inc -I../common \
+    -D__MSP432P401R__ \
+    -DDeviceFamily_MSP432P401x \
+    -mcpu=cortex-m4 \
+    -march=armv7e-m \
+    -mthumb \
+    -std=c99 \
+    -mfloat-abi=hard \
+    -mfpu=fpv4-sp-d16 \
+    -ffunction-sections \
+    -fdata-sections \
+    -gstrict-dwarf \
+    -Wall \
+    -I$(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 $@
+
+cpu.o: ../common/cpu.c
+	@$(CC) $(CFLAGS) $< -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

lab6/main.c

@@ -0,0 +1,149 @@
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "../common/cpu.h"
+#include "../common/motor.h"
+#include "../common/pwm.h"
+#include "../common/clock.h"
+#include "../common/input_capture.h"
+#include "../common/timer_a1.h"
+#include "../common/tachometer.h"
+
+#include "inc/msp432p401r.h"
+
+void RedLEDInit(void) {
+    P1->SEL0 &= ~0x01;
+    P1->SEL1 &= ~0x01;   // 1) configure P1.0 as GPIO
+    P1->DIR |= 0x01;     // 2) make P1.0 out
+}
+
+// bit-banded address
+#define REDLED (*((volatile uint8_t *)(0x42098040)))
+
+void ColorLEDInit(void) {
+    P2->SEL0 &= ~0x07;
+    P2->SEL1 &= ~0x07;    // 1) configure P2.2-P2.0 as GPIO
+    P2->DIR |= 0x07;      // 2) make P2.2-P2.0 out
+    P2->DS |= 0x07;       // 3) activate increased drive strength
+    P2->OUT &= ~0x07;     //    all LEDs off
+}
+
+// bit-banded addresses
+#define BLUEOUT  (*((volatile uint8_t *)(0x42098068)))
+#define GREENOUT (*((volatile uint8_t *)(0x42098064)))
+#define REDOUT   (*((volatile uint8_t *)(0x42098060)))
+
+uint16_t period0, period1;  // (1/SMCLK) units = 83.3 ns units
+uint16_t first0, first1;   // Timer A3 first edge, P10.4/.5
+bool done0, done1;        // set each rising
+
+// max period is (2^16-1)*83.3 ns = 5.4612 ms
+// min period determined by time to run ISR, which is about 1 us
+void PeriodMeasure0(uint16_t time) {
+    REDOUT ^= 1;
+    period0 = time - first0;  // 83.3 ns resolution
+    first0 = time; // setup for next
+    done0 = true;
+}
+
+// max period is (2^16-1)*83.3 ns = 5.4612 ms
+// min period determined by time to run ISR, which is about 1 us
+void PeriodMeasure1(uint16_t time) {
+    REDLED ^= 1;
+    period1 = time - first1;  // 83.3 ns resolution
+    first1 = time; // setup for next
+    done1 = true;
+}
+
+void dummy() {
+    volatile int i = 1;
+    i = i + 2;
+    return;
+}
+
+int main_f(void) {
+    CPU_cpsid(); // Disable interrupts
+    ClockInit48MHz();  // 48 MHz clock; 12 MHz Timer A clock
+    RedLEDInit();
+    ColorLEDInit();
+    PWMInitMotor(3751);
+    MotorInit();
+    // TimerA1Init(&dummy, 1000);
+    TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
+    // MotorForward(3751, 3751);  // 50%
+    // MotorForward(1000, 1000);
+    CPU_cpsie(); // Enable interrupts
+    CPU_wfi(); // Wait for interrupt
+    return 0;
+}
+
+uint16_t speed_buf[500];       // RPM, radius 0.035m wheels
+uint32_t period_buf[500];      // 1/12MHz = 0.083 usec
+uint32_t duty;                 // 0 to 15000
+uint32_t time;                 // in 0.01 sec
+
+void Collect(void) {
+    GREENOUT ^= 1;
+    if (!done0) period0 = 0xFFFF - 1;  // stopped
+    if (!done1) period1 = 0xFFFF - 1;
+    done0 = done1 = false; // set on subsequent
+    switch (time) {
+        case 0:
+            duty = 1875; // 25%
+            MotorForward(duty, duty);
+            break;
+        case 100:
+            duty = 3751; // 50%
+            MotorForward(duty, duty);
+            break;
+        case 200:
+            duty = 5626; // 75%
+            MotorForward(duty, duty);
+            break;
+        case 300:
+            duty = 3751; // 50%
+            MotorForward(duty, duty);
+            break;
+        case 400:
+            duty = 1875; // 25%
+            MotorForward(duty, duty);
+            break;
+        case 500:
+            MotorStop();
+            TIMER_A1->CTL &= ~0x30; // Halt timer A1
+            break;
+        default:
+            speed_buf[time] = 2000000 / period0;
+            period_buf[time] = period0;
+            break;
+    }
+    ++time;
+}
+
+int main_s(void) {
+    CPU_cpsid(); // Disable interrupts
+    ClockInit48MHz();  // 48 MHz clock; 12 MHz Timer A clock
+    RedLEDInit();
+    ColorLEDInit();
+    PWMInitMotor(3751);
+    MotorInit();
+    TimerA3CaptureInit(&PeriodMeasure0, &PeriodMeasure1);
+    TimerA1Init(&Collect, 5000);  // 100 Hz
+    CPU_cpsie(); // Enable interrupts
+    CPU_wfi(); // Wait for interrupt
+    return 0;
+}
+
+int main(void) {
+    CPU_cpsid(); // Disable interrupts
+    ClockInit48MHz();
+    PWMInitMotor(3751);
+    MotorInit();
+    TachometerInit();
+    // MotorForward(2000, 2000); // confirm if rotating forward
+    //MotorBackward(2000, 2000); // confirm if rotating backward
+    CPU_cpsie(); // Enable interrupts
+    // CPU_wfi(); // Wait for interrupt
+    while (1);
+    return 0;
+}