all

2026-06-12 02:55:04 -07:00
commit 30406f4f49
2040 changed files with 571534 additions and 0 deletions
--- a/LD19Tester/RTOS_LD19.c
+++ b/LD19Tester/RTOS_LD19.c
@@ -0,0 +1,138 @@
+/* RTOS_LD19.c
+ * Jonathan Valvano
+ * Nov 5, 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)
+*/
+
+#include <ti/devices/msp/msp.h>
+#include "../RTOS_Labs_common/LaunchPad.h"
+#include "../inc/Clock.h"
+#include "../RTOS_Labs_common/LD19.h"
+#include "../RTOS_Labs_common/SPI.h"
+#include "../RTOS_Labs_common/ST7735_SDC.h"
+#include "../RTOS_Labs_common/fixed.h"
+#include <stdio.h>
+uint16_t Data[540];
+
+int main1(void){
+  __disable_irq();
+  Clock_Init80MHz(0); // no clock out to pin
+  LaunchPad_Init();
+  
+  LD19_Init(Data);
+   __enable_irq();
+  while(1){
+  }
+}
+#define SCALE 1000 //(3 meters)
+#define IMIN 270
+#define IMAX 540
+const uint32_t Colors[8]={
+  ST7735_CYAN, ST7735_MAGENTA, ST7735_YELLOW, ST7735_WHITE,   
+  ((228 & 0xF8) << 8) | ((228 & 0xFC) << 3) | (228 >> 3), // light grey
+  ST7735_GREEN, 
+  ((255 & 0xF8) << 8) | ((102 & 0xFC) << 3) | (0 >> 3), // orange
+  ((106 & 0xF8) << 8) | ((13 & 0xFC) << 3) | (173 >> 3) // purple
+};
+int main2(void){
+  __disable_irq();
+  Clock_Init80MHz(0); // no clock out to pin
+  LaunchPad_Init();
+  SPI1_Init();
+  ST7735_InitR(INITR_REDTAB); //INITR_REDTAB for AdaFruit, INITR_BLACKTAB for SPI HiLetgo ST7735R
+  ST7735_FillScreen(ST7735_BLACK);
+  ST7735_SetCursor(0, 0);
+  ST7735_OutString("LD19 test\n");
+  
+  LD19_Init(Data);
+
+   __enable_irq();
+  while(1){
+    for(int j=0; j<8; j++){
+      for(int i=IMIN; i<IMAX; i++){
+        uint32_t d = Data[i]; // mm
+        if(d > SCALE) d = SCALE;
+        uint32_t y = 191-(128*d)/SCALE;
+        uint32_t x = (128*(i-IMIN))/(IMAX-IMIN);
+        ST7735_DrawPixel(x, y,Colors[j]);
+      }
+    }
+    if(LaunchPad_InS1()||LaunchPad_InS2()){
+      ST7735_FillScreen(ST7735_BLACK);
+      ST7735_SetCursor(0, 0);
+      ST7735_OutString("LD19 test\n");
+      while(LaunchPad_InS1()||LaunchPad_InS2()){
+        Clock_Delay1ms(10);
+      }
+    }
+  }
+}
+
+// plots 0 to 128
+// plots 32 to 159
+int main(void){
+  __disable_irq();
+  Clock_Init80MHz(0); // no clock out to pin
+  LaunchPad_Init();
+  SPI1_Init();
+  ST7735_InitR(INITR_REDTAB); //INITR_REDTAB for AdaFruit, INITR_BLACKTAB for SPI HiLetgo ST7735R
+  ST7735_FillScreen(ST7735_BLACK);
+  ST7735_SetCursor(0, 0);
+  ST7735_OutString("LD19 test\n");
+  
+  LD19_Init(Data);
+
+   __enable_irq();
+  while(1){
+    for(int j=0; j<8; j++){
+      for(int i=IMIN; i<IMAX; i++){
+        int32_t d = Data[i]; // mm
+        // 270 < i <539
+        // -SCALE < d < +SCALE
+        // sine cosine return -65536 to +65536
+        int32_t y=(sin540(i)*d)>>16; // -SCALE < y < 0 because 270 < i <539
+        int32_t x=(cos540(i)*d)>>16; // -SCALE < x < +SCALE
+        int32_t ix = 64+(64*x)/SCALE; // 0 to 127
+        if(ix<0)ix=0; if(ix>127) ix=127;
+        int32_t iy = 32-(128*y)/SCALE;
+        if(iy<32)iy=32; if(iy>159) iy=159;
+        ST7735_DrawPixel(ix, iy,Colors[j]);
+              }
+    }
+    if(LaunchPad_InS1()||LaunchPad_InS2()){
+      ST7735_FillScreen(ST7735_BLACK);
+      ST7735_SetCursor(0, 0);
+      ST7735_OutString("LD19 test\n");
+      while(LaunchPad_InS1()||LaunchPad_InS2()){
+        Clock_Delay1ms(10);
+      }
+    }
+  }
+}
+int main4(void){ // sin cos test
+  __disable_irq();
+  Clock_Init80MHz(0); // no clock out to pin
+  LaunchPad_Init();
+  SPI1_Init();
+  ST7735_InitR(INITR_REDTAB); //INITR_REDTAB for AdaFruit, INITR_BLACKTAB for SPI HiLetgo ST7735R
+  ST7735_FillScreen(ST7735_BLACK);
+  ST7735_SetCursor(0, 0);
+  ST7735_OutString("LD19 test\n");
+  int32_t d = 900; // mm
+  for(int i=IMIN; i<IMAX; i++){
+ //       if(d > SCALE) d = SCALE;
+        // 270 < i <539
+        // -SCALE < d < +SCALE
+        // sine cosine return -65536 to +65536
+        int32_t y=(sin540(i)*d)>>16; // -SCALE < y < 0 because 270 < i <539
+        int32_t x=(cos540(i)*d)>>16; // -SCALE < x < +SCALE
+        int32_t ix = 64+(64*x)/SCALE; // 0 to 127
+        if(ix<0)ix=0; if(ix>127) ix=127;
+        int32_t iy = 32-(128*y)/SCALE;
+        if(iy<32)iy=32; if(iy>159) iy=159;
+        ST7735_DrawPixel(ix, iy,Colors[0]);
+  }
+  while(1){};
+}
+