146 lines
4.0 KiB
C
146 lines
4.0 KiB
C
#include <stdint.h>
|
|
#include <stdbool.h>
|
|
|
|
#include "cpu.h"
|
|
#include "motor.h"
|
|
#include "pwm.h"
|
|
#include "clock.h"
|
|
#include "input_capture.h"
|
|
#include "timer_a1.h"
|
|
#include "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() {
|
|
int i = 1;
|
|
}
|
|
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;
|
|
}
|