94 lines
2.7 KiB
C
94 lines
2.7 KiB
C
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/* RTOS_TFLuna.c
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* Jonathan Valvano
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* Oct 22, 2025
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* Remove 3.3V J101 jumper to run RTOS sensor board or motor board
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* A two-pin female header is required on the LaunchPad TP10(XDS_VCC) and TP9(!RSTN)
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*/
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#include <ti/devices/msp/msp.h>
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#include "../inc/LaunchPad.h"
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#include "../inc/Clock.h"
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#include "../RTOS_Labs_common/TFLuna1.h"
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#include "../RTOS_Labs_common/TFLuna2.h"
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#include "../RTOS_Labs_common/TFLuna3.h"
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#include "../RTOS_Labs_common/SPI.h"
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#include "../RTOS_Labs_common/ST7735_SDC.h"
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#include <stdio.h>
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/* RTOS sensor board supported three TF-Luna sensors
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Serial TxD: PA17 is UART1 Tx (MSPM0 to TFLuna1)
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Serial RxD: PA18 is UART1 Rx (TFLuna1 to MSPM0)
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Serial TxD: PB17 is UART2 Tx (MSPM0 to TFLuna2)
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Serial RxD: PB18 is UART2 Rx (TFLuna2 to MSPM0)
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Serial TxD: PB12 is UART3 Tx (MSPM0 to TFLuna3), shared with LD19 Lidar
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Serial RxD: PB13 is UART3 Rx (TFLuna3 to MSPM0)
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UART3 is shared between LD19 and TFLuna3 (can have either but not both)
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overhead of TFLuna will be 17us/measurement at 100 measurements/sec
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*/
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uint32_t Dist1,Dist2,Dist3;
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uint32_t Count1,Count2,Count3;
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void Background1(uint32_t d){
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Dist1 = d;
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Count1++;
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}
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void Background2(uint32_t d){
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Dist2 = d;
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Count2++;
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}
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void Background3(uint32_t d){
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Dist3 = d;
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Count3++;
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}
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int main(void){
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__disable_irq();
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Clock_Init80MHz(0); // no clock out to pin
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LaunchPad_Init();
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SPI1_Init();
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ST7735_InitR(INITR_REDTAB); //INITR_REDTAB for AdaFruit, INITR_BLACKTAB for SPI HiLetgo ST7735R
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ST7735_FillScreen(ST7735_BLACK);
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ST7735_SetCursor(0, 0);
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ST7735_OutString("TF Luna test\n");
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ST7735_OutString("Dist1= \n");
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ST7735_OutString("Dist2= \n");
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ST7735_OutString("Dist3= \n");
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TFLuna1_Init(&Background1);
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TFLuna2_Init(&Background2);
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TFLuna3_Init(&Background3);
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Count1=Count2=Count3=0;
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__enable_irq();
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TFLuna1_Format_Standard_mm(); // format in mm
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TFLuna1_Frame_Rate(); // 100 samples/sec
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TFLuna1_SaveSettings(); // save format and rate
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TFLuna1_System_Reset(); // start measurements
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TFLuna2_Format_Standard_mm(); // format in mm
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TFLuna2_Frame_Rate(); // 100 samples/sec
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TFLuna2_SaveSettings(); // save format and rate
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TFLuna2_System_Reset(); // start measurements
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TFLuna3_Format_Standard_mm(); // format in mm
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TFLuna3_Frame_Rate(); // 100 samples/sec
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TFLuna3_SaveSettings(); // save format and rate
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TFLuna3_System_Reset(); // start measurements
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while(1){
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if(Count1){
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Count1 = 0;
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ST7735_SetCursor(7, 1);
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ST7735_OutUDec4(Dist1);
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}
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if(Count2){
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Count2 = 0;
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ST7735_SetCursor(7, 2);
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ST7735_OutUDec4(Dist2);
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}
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if(Count3){
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Count3 = 0;
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ST7735_SetCursor(7, 3);
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ST7735_OutUDec4(Dist3);
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}
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}
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}
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