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GP2Y0A/GP2Y0ATestmain.c

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+/* GP2Y0ATestmain.c
+ * Jonathan Valvano
+ * November 30, 2025
+ * Remove 3.3V J101 jumper to run RTOS sensor board or motor board
+ * A two-pin female header is required on the LaunchPad TP10(XDS_VCC) and TP9(!RSTN)
+
+ * Derived from adc12_single_conversion_vref_internal_LP_MSPM0G3507_nortos_ticlang
+ *              adc12_single_conversion_LP_MSPM0G3507_nortos_ticlang
+ */
+// IR analog distance sensors
+//   30 cm GP2Y0A41SK0F or 80 cm long range GP2Y0A21YK0F 
+//   PA26 Right  ADC0_1
+//   PA22 Left   ADC0_7
+//   PA24 Center ADC0_3
+//   PA27 Extra  ADC0_0
+
+// ****note to students****
+// the data sheet says the ADC does not work when clock is 80 MHz
+// however, the ADC seems to work on my boards at 80 MHz
+// I suggest you try 80MHz, but if it doesn't work, switch to 40MHz
+
+#include <ti/devices/msp/msp.h>
+#include "../inc/LaunchPad.h"
+#include "../inc/Clock.h"
+#include "../inc/ADC.h"
+//  PA0 is red LED1,   index 0 in IOMUX PINCM table
+// PB22 is BLUE LED2,  index 49 in IOMUX PINCM table
+// PB26 is RED LED2,   index 56 in IOMUX PINCM table
+// PB27 is GREEN LED2, index 57 in IOMUX PINCM table
+// PA18 is S2 positive logic switch,  index 39 in IOMUX PINCM table
+// PB21 is S3 negative logic switch,  index 48 in IOMUX PINCM table
+uint32_t Right,Left,Center;
+uint16_t volt; // voltage in mV
+int main1(void){
+  Clock_Init80MHz(0);
+  LaunchPad_Init();
+  ADC0_Init(3,ADCVREF_VDDA); // center (analog)
+  while(1){    /* toggle on sample */
+    Clock_Delay(10000000);
+    Center = ADC0_In();
+    volt = (Center*3300)>>12;
+    GPIOA->DOUT31_0 ^= RED1;
+  }
+}
+int main2(void){
+  Clock_Init80MHz(0);
+  LaunchPad_Init();
+  ADC_InitDual(ADC0,1,7,ADCVREF_VDDA); //Right and Left
+  while(1){    /* toggle on sample */
+    Clock_Delay(10000000);
+    ADC_InDual(ADC0,&Right,&Left);
+
+    GPIOA->DOUT31_0 ^= RED1;
+  }
+}
+
+int main(void){ // main3, test three sensors
+  Clock_Init80MHz(0);
+  LaunchPad_Init();
+  ADC_InitTriple(ADC0,1,3,7,ADCVREF_VDDA); //Right Center, and Left
+  
+  while(1){    /* toggle on sample */
+    Clock_Delay(10000000);
+    ADC_InTriple(ADC0,&Right,&Center,&Left);
+    GPIOA->DOUT31_0 ^= RED1;
+  }
+}
+
+
+uint32_t elapsed,n;
+#define SIZE 16
+uint32_t Histogram[SIZE]; // probability mass function
+int main4(void){uint32_t start,end,i;
+  int32_t d,Data;
+  Clock_Init80MHz(0);
+  
+  LaunchPad_Init();
+
+  ADC0_InitAve(3,0); // center (analog)
+  SysTick->CTRL = 0;           // 1) disable SysTick during setup
+  SysTick->LOAD = 0xFFFFFF;    // 2) max
+  SysTick->VAL = 0;            // 3) any write to current clears it
+  SysTick->CTRL = 0x00000005;  // 4) enable SysTick with core clock
+  while(1){    /* toggle on sample */
+    for(n=0; n<=7; n++){
+      ADC0_InitAve(7,n); //center (analog)
+      Center = ADC0_In();
+      Clock_Delay(1000);
+      start = SysTick->VAL;
+      Center = ADC0_In();
+      end = SysTick->VAL;
+      elapsed = ((start-end)&0xFFFFFF)-13;
+      for(i=0; i<SIZE; i++) Histogram[i] = 0; // clear
+      Center = 0;
+      for(i=0; i<1000; i++){
+        Clock_Delay(1000);
+        Center += ADC0_In();
+      }
+      Center = Center/1000;
+      for(i=0; i<1000; i++){
+        Clock_Delay(1000);
+        Data = ADC0_In();
+        if(Data<Center-SIZE/2){
+          Histogram[0]++;
+        }else if(Data>=Center+SIZE/2){
+          Histogram[SIZE-1]++;
+        }else{
+          d = Data-Center+SIZE/2;
+          Histogram[d]++;
+        }
+      }
+    GPIOA->DOUT31_0 ^= RED1;
+    }
+  }
+}