all
This commit is contained in:
BIN
MotorTest/.DS_Store
vendored
Normal file
BIN
MotorTest/.DS_Store
vendored
Normal file
Binary file not shown.
21
MotorTest/.ccsproject
Normal file
21
MotorTest/.ccsproject
Normal file
@@ -0,0 +1,21 @@
|
||||
<?xml version="1.0" encoding="UTF-8" ?>
|
||||
<?ccsproject version="1.0"?>
|
||||
<projectOptions>
|
||||
<ccsVersion value="12.3.0"/>
|
||||
<deviceVariant value="Cortex M.MSPM0G3507"/>
|
||||
<deviceFamily value="TMS470"/>
|
||||
<deviceEndianness value="little"/>
|
||||
<codegenToolVersion value="TICLANG_2.1.3.LTS"/>
|
||||
<isElfFormat value="true"/>
|
||||
<connection value="common/targetdb/connections/TIXDS110_Connection.xml"/>
|
||||
<rts value=""/>
|
||||
<createSlaveProjects value=""/>
|
||||
<ignoreDefaultDeviceSettings value="true"/>
|
||||
<ignoreDefaultCCSSettings value="true"/>
|
||||
<templateProperties value="id=gpio_toggle_output_LP_MSPM0G3507_nortos_ticlang.projectspec.gpio_toggle_output_LP_MSPM0G3507_nortos_ticlang,buildProfile=release,isHybrid=true"/>
|
||||
<sourceLookupPath value="${COM_TI_MSPM0_SDK_INSTALL_DIR}/source/ti/driverlib"/>
|
||||
<origin value="C:\ti\mspm0_sdk_1_00_01_03\examples\nortos\LP_MSPM0G3507\driverlib\gpio_toggle_output\ticlang\gpio_toggle_output_LP_MSPM0G3507_nortos_ticlang.projectspec"/>
|
||||
<filesToOpen value="gpio_toggle_output.syscfg,README.md"/>
|
||||
<isTargetManual value="false"/>
|
||||
<activeTargetConfiguration value="targetConfigs/MSPM0G3507.ccxml"/>
|
||||
</projectOptions>
|
||||
11
MotorTest/.clangd
Normal file
11
MotorTest/.clangd
Normal file
@@ -0,0 +1,11 @@
|
||||
# This is an auto-generated file - do not add it to source-control
|
||||
|
||||
CompileFlags:
|
||||
CompilationDatabase: Debug/.clangd
|
||||
|
||||
Diagnostics:
|
||||
Suppress: '*'
|
||||
|
||||
InlayHints:
|
||||
Enabled: No
|
||||
|
||||
104
MotorTest/.cproject
Normal file
104
MotorTest/.cproject
Normal file
@@ -0,0 +1,104 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
|
||||
<storageModule moduleId="org.eclipse.cdt.core.settings">
|
||||
<cconfiguration id="com.ti.ccstudio.buildDefinitions.TMS470.Debug.1353749893">
|
||||
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="com.ti.ccstudio.buildDefinitions.TMS470.Debug.1353749893" moduleId="org.eclipse.cdt.core.settings" name="Debug">
|
||||
<externalSettings/>
|
||||
<extensions>
|
||||
<extension id="com.ti.ccstudio.binaryparser.CoffParser" point="org.eclipse.cdt.core.BinaryParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="com.ti.ccs.project.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="com.ti.ccs.project.ErrorParser"/>
|
||||
<extension id="com.ti.ccs.errorparser.SysConfigErrorParser" point="com.ti.ccs.project.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="com.ti.ccs.project.ErrorParser"/>
|
||||
<extension id="com.ti.ccs.errorparser.CompilerErrorParser_TI" point="com.ti.ccs.project.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="com.ti.ccstudio.errorparser.CoffErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="com.ti.ccstudio.errorparser.SysConfigErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration artifactExtension="out" artifactName="${ProjName}" buildProperties="" cleanCommand="${CG_CLEAN_CMD}" description="" id="com.ti.ccstudio.buildDefinitions.TMS470.Debug.1353749893" name="Debug" parent="com.ti.ccstudio.buildDefinitions.TMS470.Debug">
|
||||
<folderInfo id="com.ti.ccstudio.buildDefinitions.TMS470.Debug.1353749893." name="/" resourcePath="">
|
||||
<toolChain id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.exe.DebugToolchain.2111510753" name="TI Build Tools" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.exe.DebugToolchain" targetTool="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.exe.linkerDebug.427192575">
|
||||
<option id="com.ti.ccstudio.buildDefinitions.core.OPT_TAGS.2140467260" superClass="com.ti.ccstudio.buildDefinitions.core.OPT_TAGS" valueType="stringList">
|
||||
<listOptionValue value="DEVICE_CONFIGURATION_ID=Cortex M.MSPM0G3507"/>
|
||||
<listOptionValue value="DEVICE_CORE_ID=CORTEX_M0P"/>
|
||||
<listOptionValue value="DEVICE_ENDIANNESS=little"/>
|
||||
<listOptionValue value="OUTPUT_FORMAT=ELF"/>
|
||||
<listOptionValue value="LINKER_COMMAND_FILE=mspm0g3507.cmd"/>
|
||||
<listOptionValue value="RUNTIME_SUPPORT_LIBRARY="/>
|
||||
<listOptionValue value="CCS_MBS_VERSION=6.1.3"/>
|
||||
<listOptionValue value="PRODUCTS=MSPM0-SDK:2.9.0.01;sysconfig:1.26.0;"/>
|
||||
<listOptionValue value="PRODUCT_MACRO_IMPORTS={"MSPM0-SDK":["${COM_TI_MSPM0_SDK_INCLUDE_PATH}","${COM_TI_MSPM0_SDK_LIBRARY_PATH}","${COM_TI_MSPM0_SDK_LIBRARIES}","${COM_TI_MSPM0_SDK_SYMBOLS}","${COM_TI_MSPM0_SDK_SYSCONFIG_MANIFEST}"],"sysconfig":["${SYSCONFIG_TOOL_INCLUDE_PATH}","${SYSCONFIG_TOOL_LIBRARY_PATH}","${SYSCONFIG_TOOL_LIBRARIES}","${SYSCONFIG_TOOL_SYMBOLS}","${SYSCONFIG_TOOL_SYSCONFIG_MANIFEST}"]}"/>
|
||||
<listOptionValue value="OUTPUT_TYPE=executable"/>
|
||||
</option>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.core.OPT_CODEGEN_VERSION.145506700" superClass="com.ti.ccstudio.buildDefinitions.core.OPT_CODEGEN_VERSION" value="TICLANG_4.0.4.LTS" valueType="string"/>
|
||||
<targetPlatform id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.exe.targetPlatformDebug.1292494491" name="Platform" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.exe.targetPlatformDebug"/>
|
||||
<builder buildPath="${BuildDirectory}" id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.exe.builderDebug.1190098160" name="GNU Make.Debug" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.exe.builderDebug"/>
|
||||
<tool id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.exe.compilerDebug.1380793458" name="Arm Compiler" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.exe.compilerDebug">
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.MARCH.1885824264" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.MARCH" value="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.MARCH.thumbv6m" valueType="enumerated"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.MCPU.1744192981" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.MCPU" value="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.MCPU.cortex-m0plus" valueType="enumerated"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.MFLOAT_ABI.641909583" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.MFLOAT_ABI" value="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.MFLOAT_ABI.soft" valueType="enumerated"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.ENDIAN_NESS__BIG_LITTLE.1934095163" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.ENDIAN_NESS__BIG_LITTLE" value="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.ENDIAN_NESS__BIG_LITTLE.MLITTLE_ENDIAN" valueType="enumerated"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.SELECT_PROCESSOR_MODE__ARM_THUMB.237296468" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.SELECT_PROCESSOR_MODE__ARM_THUMB" value="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.SELECT_PROCESSOR_MODE__ARM_THUMB.MTHUMB" valueType="enumerated"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.OPT_LEVEL.310395369" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.OPT_LEVEL" value="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.OPT_LEVEL.0" valueType="enumerated"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.INCLUDE_PATH.2089647463" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.INCLUDE_PATH" valueType="includePath">
|
||||
<listOptionValue value="${COM_TI_MSPM0_SDK_INCLUDE_PATH}"/>
|
||||
<listOptionValue value="${SYSCONFIG_TOOL_INCLUDE_PATH}"/>
|
||||
<listOptionValue value="${PROJECT_ROOT}"/>
|
||||
<listOptionValue value="${PROJECT_ROOT}/${ConfigName}"/>
|
||||
<listOptionValue value="${COM_TI_MSPM0_SDK_INSTALL_DIR}/source/third_party/CMSIS/Core/Include"/>
|
||||
<listOptionValue value="${COM_TI_MSPM0_SDK_INSTALL_DIR}/source"/>
|
||||
</option>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.DEFINE.2052181685" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.DEFINE" valueType="definedSymbols">
|
||||
<listOptionValue value="${COM_TI_MSPM0_SDK_SYMBOLS}"/>
|
||||
<listOptionValue value="${SYSCONFIG_TOOL_SYMBOLS}"/>
|
||||
<listOptionValue value="__MSPM0G3507__"/>
|
||||
</option>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.GENERATE_DWARF_DEBUG.1143214896" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.GENERATE_DWARF_DEBUG" value="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.compilerID.GENERATE_DWARF_DEBUG.GDWARF_3" valueType="enumerated"/>
|
||||
</tool>
|
||||
<tool id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.exe.linkerDebug.427192575" name="Arm Linker" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.exe.linkerDebug">
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.MAP_FILE.386699306" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.MAP_FILE" value="${ProjName}.map" valueType="string"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.OUTPUT_FILE.1881555615" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.OUTPUT_FILE" value="${ProjName}.out" valueType="string"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.STACK_SIZE.560549963" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.STACK_SIZE" value="512" valueType="string"/>
|
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<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.LIBRARY.1519378460" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.LIBRARY" valueType="libs">
|
||||
<listOptionValue value="${COM_TI_MSPM0_SDK_LIBRARIES}"/>
|
||||
<listOptionValue value="${SYSCONFIG_TOOL_LIBRARIES}"/>
|
||||
<listOptionValue value="${COM_TI_MSPM0_SDK_INSTALL_DIR}/source/ti/driverlib/lib/ticlang/m0p/mspm0g1x0x_g3x0x/driverlib.a"/>
|
||||
<listOptionValue value="libc.a"/>
|
||||
</option>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.SEARCH_PATH.1039782328" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.SEARCH_PATH" valueType="libPaths">
|
||||
<listOptionValue value="${COM_TI_MSPM0_SDK_LIBRARY_PATH}"/>
|
||||
<listOptionValue value="${SYSCONFIG_TOOL_LIBRARY_PATH}"/>
|
||||
<listOptionValue value="${PROJECT_BUILD_DIR}/syscfg"/>
|
||||
<listOptionValue value="${CG_TOOL_ROOT}/lib"/>
|
||||
</option>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.REREAD_LIBS.557393403" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.REREAD_LIBS" value="false" valueType="boolean"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.DIAG_WRAP.1020040451" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.DIAG_WRAP" value="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.DIAG_WRAP.off" valueType="enumerated"/>
|
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<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.DISPLAY_ERROR_NUMBER.465176440" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.DISPLAY_ERROR_NUMBER" value="true" valueType="boolean"/>
|
||||
<option id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.XML_LINK_INFO.737566477" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.linkerID.XML_LINK_INFO" value="${ProjName}_linkInfo.xml" valueType="string"/>
|
||||
</tool>
|
||||
<tool id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.hex.2144841688" name="Arm Hex Utility" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.hex"/>
|
||||
<tool id="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.objcopy.1420694489" name="Arm Objcopy Utility" superClass="com.ti.ccstudio.buildDefinitions.TMS470_TICLANG_4.0.objcopy"/>
|
||||
<tool id="com.ti.ccstudio.buildDefinitions.sysConfig.1672148812" name="SysConfig" superClass="com.ti.ccstudio.buildDefinitions.sysConfig">
|
||||
<option id="com.ti.ccstudio.buildDefinitions.sysConfig.PRODUCTS.264769148" superClass="com.ti.ccstudio.buildDefinitions.sysConfig.PRODUCTS" valueType="stringList">
|
||||
<listOptionValue value="${COM_TI_MSPM0_SDK_SYSCONFIG_MANIFEST}"/>
|
||||
<listOptionValue value="${SYSCONFIG_TOOL_SYSCONFIG_MANIFEST}"/>
|
||||
</option>
|
||||
</tool>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<project id="gpio_toggle_output_LP_MSPM0G3507_nortos_ticlang.com.ti.ccstudio.buildDefinitions.TMS470.ProjectType.348798676" name="TMS470" projectType="com.ti.ccstudio.buildDefinitions.TMS470.ProjectType"/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="scannerConfiguration"/>
|
||||
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
|
||||
</cproject>
|
||||
64
MotorTest/.project
Normal file
64
MotorTest/.project
Normal file
@@ -0,0 +1,64 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>MotorTest</name>
|
||||
<comment></comment>
|
||||
<projects>
|
||||
</projects>
|
||||
<buildSpec>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
|
||||
<triggers>full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
</buildSpec>
|
||||
<natures>
|
||||
<nature>com.ti.ccstudio.core.ccsNature</nature>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
</natures>
|
||||
<linkedResources>
|
||||
<link>
|
||||
<name>PWMA0.c</name>
|
||||
<type>1</type>
|
||||
<locationURI>PARENT-1-PROJECT_LOC/RTOS_Labs_common/PWMA0.c</locationURI>
|
||||
</link>
|
||||
<link>
|
||||
<name>PWMA1.c</name>
|
||||
<type>1</type>
|
||||
<locationURI>PARENT-1-PROJECT_LOC/RTOS_Labs_common/PWMA1.c</locationURI>
|
||||
</link>
|
||||
<link>
|
||||
<name>PWMG6.c</name>
|
||||
<type>1</type>
|
||||
<locationURI>PARENT-1-PROJECT_LOC/RTOS_Labs_common/PWMG6.c</locationURI>
|
||||
</link>
|
||||
<link>
|
||||
<name>Clock.c</name>
|
||||
<type>1</type>
|
||||
<locationURI>PARENT-1-PROJECT_LOC/inc/Clock.c</locationURI>
|
||||
</link>
|
||||
<link>
|
||||
<name>I2C.c</name>
|
||||
<type>1</type>
|
||||
<locationURI>PARENT-1-PROJECT_LOC/inc/I2C.c</locationURI>
|
||||
</link>
|
||||
<link>
|
||||
<name>SSD1306.c</name>
|
||||
<type>1</type>
|
||||
<locationURI>PARENT-1-PROJECT_LOC/inc/SSD1306.c</locationURI>
|
||||
</link>
|
||||
<link>
|
||||
<name>LaunchPad.c</name>
|
||||
<type>1</type>
|
||||
<locationURI>PARENT-1-PROJECT_LOC/RTOS_Labs_common/LaunchPad.c</locationURI>
|
||||
</link>
|
||||
</linkedResources>
|
||||
</projectDescription>
|
||||
3
MotorTest/.settings/org.eclipse.cdt.codan.core.prefs
Normal file
3
MotorTest/.settings/org.eclipse.cdt.codan.core.prefs
Normal file
@@ -0,0 +1,3 @@
|
||||
eclipse.preferences.version=1
|
||||
inEditor=false
|
||||
onBuild=false
|
||||
47
MotorTest/Debug/.clangd/compile_commands.json
Normal file
47
MotorTest/Debug/.clangd/compile_commands.json
Normal file
@@ -0,0 +1,47 @@
|
||||
[
|
||||
{
|
||||
"directory" : "/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug",
|
||||
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source/third_party/CMSIS/Core/Include\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source\" -D__MSPM0G3507__ -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/armv7em-ti-none-eabihf/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/lib/clang/18/include\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug/syscfg\" -xc",
|
||||
"file" : "/Users/adipu/lab-7-tweinstein-1/inc/Clock.c"
|
||||
},
|
||||
{
|
||||
"directory" : "/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug",
|
||||
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source/third_party/CMSIS/Core/Include\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source\" -D__MSPM0G3507__ -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/armv7em-ti-none-eabihf/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/lib/clang/18/include\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug/syscfg\" -xc",
|
||||
"file" : "/Users/adipu/lab-7-tweinstein-1/inc/I2C.c"
|
||||
},
|
||||
{
|
||||
"directory" : "/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug",
|
||||
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source/third_party/CMSIS/Core/Include\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source\" -D__MSPM0G3507__ -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/armv7em-ti-none-eabihf/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/lib/clang/18/include\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug/syscfg\" -xc",
|
||||
"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/LaunchPad.c"
|
||||
},
|
||||
{
|
||||
"directory" : "/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug",
|
||||
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source/third_party/CMSIS/Core/Include\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source\" -D__MSPM0G3507__ -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/armv7em-ti-none-eabihf/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/lib/clang/18/include\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug/syscfg\" -xc",
|
||||
"file" : "/Users/adipu/lab-7-tweinstein-1/MotorTest/MotorTestmain.c"
|
||||
},
|
||||
{
|
||||
"directory" : "/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug",
|
||||
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source/third_party/CMSIS/Core/Include\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source\" -D__MSPM0G3507__ -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/armv7em-ti-none-eabihf/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/lib/clang/18/include\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug/syscfg\" -xc",
|
||||
"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/PWMA0.c"
|
||||
},
|
||||
{
|
||||
"directory" : "/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug",
|
||||
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source/third_party/CMSIS/Core/Include\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source\" -D__MSPM0G3507__ -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/armv7em-ti-none-eabihf/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/lib/clang/18/include\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug/syscfg\" -xc",
|
||||
"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/PWMA1.c"
|
||||
},
|
||||
{
|
||||
"directory" : "/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug",
|
||||
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source/third_party/CMSIS/Core/Include\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source\" -D__MSPM0G3507__ -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/armv7em-ti-none-eabihf/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/lib/clang/18/include\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug/syscfg\" -xc",
|
||||
"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/PWMG6.c"
|
||||
},
|
||||
{
|
||||
"directory" : "/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug",
|
||||
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source/third_party/CMSIS/Core/Include\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source\" -D__MSPM0G3507__ -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/armv7em-ti-none-eabihf/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/lib/clang/18/include\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug/syscfg\" -xc",
|
||||
"file" : "/Users/adipu/lab-7-tweinstein-1/inc/SSD1306.c"
|
||||
},
|
||||
{
|
||||
"directory" : "/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug",
|
||||
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source/third_party/CMSIS/Core/Include\" -I\"/Applications/ti/mspm0_sdk_2_09_00_01/source\" -D__MSPM0G3507__ -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/armv7em-ti-none-eabihf/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c++/v1\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/lib/clang/18/include\" -isystem\"/Applications/ti/ccs2040/ccs/tools/compiler/ti-cgt-armllvm_4.0.4.LTS/include/c\" -I\"/Users/adipu/lab-7-tweinstein-1/MotorTest/Debug/syscfg\" -xc",
|
||||
"file" : "/Users/adipu/lab-7-tweinstein-1/MotorTest/ticlang/startup_mspm0g3507_ticlang.c"
|
||||
}
|
||||
]
|
||||
246
MotorTest/MotorTestmain.c
Normal file
246
MotorTest/MotorTestmain.c
Normal file
@@ -0,0 +1,246 @@
|
||||
/* MotorTestmain.c
|
||||
* Jonathan Valvano
|
||||
* Feb 10, 2026
|
||||
* 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)
|
||||
|
||||
|
||||
PINCM Pin Mode Timer Usage
|
||||
17 PB4 Mode4 TIMA1_C0 Left Motor, IN2, PWM low for forward, GPIO high for reverse
|
||||
13 PB1 Mode4 TIMA1_C1 Left Motor, IN1, GPIO high for forward, PWM low for reverse
|
||||
|
||||
25 PB8 Mode4 TIMA0_C0 Right Motor, IN2, PWM low for forward, GPIO high for reverse
|
||||
26 PB9 Mode4 TIMA0_C1 Right Motor, IN1, GPIO high for forward, PWM low for reverse
|
||||
|
||||
23 PB6 Mode7 TIMG6_C0 Steering Servo PWM high 20ms period,
|
||||
*/
|
||||
|
||||
|
||||
#include <ti/devices/msp/msp.h>
|
||||
#include "../RTOS_Labs_common/LaunchPad.h"
|
||||
#include "../inc/Clock.h"
|
||||
#include "../inc/SSD1306.h"
|
||||
#include "../RTOS_Labs_common/PWMA0.h"
|
||||
#include "../RTOS_Labs_common/PWMA1.h"
|
||||
#include "../RTOS_Labs_common/PWMG6.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 S1 positive logic switch, index 39 in IOMUX PINCM table
|
||||
// PB21 is S2 negative logic switch, index 48 in IOMUX PINCM table
|
||||
// On reset
|
||||
// Release S2 to RunForward
|
||||
// Touch S2 to RunBackward
|
||||
// while running
|
||||
// touch S2 to change motor duty cycle
|
||||
// touch S1 to change servo duty cycle
|
||||
uint32_t Duty;
|
||||
#define MOTORPERIOD 10000 // 200Hz
|
||||
#define MOTORCHANGE 1000 // 10%
|
||||
#define MOTORMIN 1000 // 10%
|
||||
#define MOTORMAX 9000 // 90%
|
||||
uint32_t ServoDuty; // 2000,2250,2500,2750,3000,3250,3500,3750,4000
|
||||
#define SERVOMIN 2000 // 1ms
|
||||
#define SERVOMAX 4000 // 2ms
|
||||
#define SERVOINIT 3000 // 1.5ms
|
||||
#define SERVOPERIOD 40000 // 20ms
|
||||
#define SERVOCHANGE 250 // 0.125ms
|
||||
void SSD1306_Display(void){
|
||||
SSD1306_SetCursor(0,3);
|
||||
if(Duty == 0){
|
||||
SSD1306_OutString("Motor break ");
|
||||
SSD1306_SetCursor(0,4);
|
||||
SSD1306_OutString(" ");
|
||||
}else{
|
||||
SSD1306_OutString("Motor Period= ");
|
||||
SSD1306_SetCursor(13,3);SSD1306_OutUDec(MOTORPERIOD);
|
||||
SSD1306_SetCursor(0,4);
|
||||
SSD1306_OutString("Motor Duty = ");
|
||||
SSD1306_SetCursor(13,4);SSD1306_OutUDec(Duty);
|
||||
}
|
||||
SSD1306_SetCursor(0,5);
|
||||
SSD1306_OutString("Servo Period= ");
|
||||
SSD1306_SetCursor(13,5);SSD1306_OutUDec(SERVOPERIOD);
|
||||
SSD1306_SetCursor(0,6);
|
||||
SSD1306_OutString("Servo Duty = ");
|
||||
SSD1306_SetCursor(13,6);SSD1306_OutUDec(ServoDuty);
|
||||
}
|
||||
|
||||
// scope on PB1 PB4, run without motors
|
||||
// PB4 is Duty, PB1 is Period-Duty
|
||||
int main0(void){ uint32_t sw2,lasts2;
|
||||
Clock_Init80MHz(0);
|
||||
LaunchPad_Init();
|
||||
PWMA1_Init(PWMUSEBUSCLK,39,MOTORPERIOD,2500,7500); // 200Hz
|
||||
PWMA1_Coast(); // low low, sleep mode
|
||||
Duty = MOTORMIN;
|
||||
lasts2 = (~(GPIOB->DIN31_0)) & S2;
|
||||
while(1){
|
||||
Clock_Delay(1000000); // debounce switch
|
||||
sw2 = (~(GPIOB->DIN31_0)) & S2;
|
||||
if(sw2 && (lasts2==0)){ // touch s2
|
||||
Duty = Duty+MOTORCHANGE;
|
||||
if(Duty > MOTORMAX){
|
||||
Duty = MOTORMIN;
|
||||
}
|
||||
SSD1306_Display();
|
||||
PWMA1_SetDuty(Duty,MOTORPERIOD-Duty);
|
||||
}
|
||||
lasts2 = sw2;
|
||||
|
||||
}
|
||||
}
|
||||
// scope on PB1 PB4, spins with left motor forward
|
||||
// PB4 is Duty (time low), PB1 is high
|
||||
// scope on PB8,PB9, spins with right motor forward
|
||||
// PB8 is Duty (time low), PB9 is high
|
||||
// PB6 1ms to 2ms pulse high, 20ms period
|
||||
int RunForward(void){ uint32_t sw2,lasts2;
|
||||
uint32_t sw1,lasts1;
|
||||
PWMA0_Init(PWMUSEBUSCLK,39,MOTORPERIOD,2500,7500); // 200Hz
|
||||
PWMA0_Break(); // high, high, break mode
|
||||
PWMA1_Init(PWMUSEBUSCLK,39,MOTORPERIOD,2500,7500); // 200Hz
|
||||
PWMA1_Break(); // high, high, break mode
|
||||
Duty = MOTORMIN;
|
||||
lasts2 = (~(GPIOB->DIN31_0)) & S2;
|
||||
while(1){
|
||||
Clock_Delay(1000000); // debounce switch
|
||||
sw2 = (~(GPIOB->DIN31_0)) & S2;
|
||||
sw1 = GPIOA->DIN31_0 & S1;
|
||||
if(sw2 && (lasts2==0)){ // touch s2
|
||||
Duty = Duty+MOTORCHANGE;
|
||||
if(Duty > MOTORMAX){
|
||||
Duty = MOTORMIN;
|
||||
}
|
||||
SSD1306_Display();
|
||||
PWMA0_Backward(Duty);
|
||||
PWMA1_Forward(Duty);
|
||||
}
|
||||
if(sw1 && (lasts1==0)){ // touch s1
|
||||
ServoDuty = ServoDuty+SERVOCHANGE;
|
||||
if(ServoDuty > SERVOMAX){ // 2000,2250,2500,2750,3000,3250,3500,3750,4000
|
||||
ServoDuty = SERVOMIN;
|
||||
}
|
||||
SSD1306_Display();
|
||||
PWMG6_SetDuty(ServoDuty);
|
||||
}
|
||||
lasts2 = sw2;
|
||||
lasts1 = sw1;
|
||||
}
|
||||
}
|
||||
|
||||
// scope on PB1 PB4, spins with left motor backward
|
||||
// PB4 is high , PB1 is Duty (time low)
|
||||
// scope on PB8 PB9, spins with right motor backward
|
||||
// PB8 is high , PB9 is Duty (time low)
|
||||
// PB6 1ms to 2ms pulse high, 20ms period
|
||||
int RunBackward(void){ uint32_t sw2,lasts2;
|
||||
uint32_t sw1,lasts1;
|
||||
PWMA0_Init(PWMUSEBUSCLK,39,MOTORPERIOD,2500,7500); // 200Hz
|
||||
PWMA0_Break(); // high, high, break mode
|
||||
PWMA1_Init(PWMUSEBUSCLK,39,MOTORPERIOD,2500,7500); // 200Hz
|
||||
PWMA1_Break(); // high, high, break mode
|
||||
Duty = MOTORMIN;
|
||||
lasts2 = (~(GPIOB->DIN31_0)) & S2;
|
||||
while(1){
|
||||
Clock_Delay(1000000); // debounce switch
|
||||
sw1 = GPIOA->DIN31_0 & S1;
|
||||
sw2 = (~(GPIOB->DIN31_0)) & S2;
|
||||
if(sw2 && (lasts2==0)){ // touch s2
|
||||
Duty = Duty+MOTORCHANGE;
|
||||
if(Duty > MOTORMAX){
|
||||
Duty = MOTORMIN;
|
||||
}
|
||||
SSD1306_Display();
|
||||
PWMA0_Forward(Duty);
|
||||
PWMA1_Backward(Duty);
|
||||
}
|
||||
if(sw1 && (lasts1==0)){ // touch s1
|
||||
ServoDuty = ServoDuty+SERVOCHANGE;
|
||||
if(ServoDuty > SERVOMAX){ // 2000,2250,2500,2750,3000,3250,3500,3750,4000
|
||||
ServoDuty = SERVOMIN;
|
||||
}
|
||||
SSD1306_Display();
|
||||
PWMG6_SetDuty(ServoDuty);
|
||||
}
|
||||
lasts2 = sw2;
|
||||
lasts1 = sw1;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
// PB6 0.9ms to 2.1ms pulse high, 20ms period
|
||||
// 1ms is 2000
|
||||
// 2ms is 4000
|
||||
int main10(void){ uint32_t sw2,lasts2;
|
||||
ServoDuty = SERVOINIT; // 1.5ms
|
||||
PWMG6_Init(PWMUSEBUSCLK,39,SERVOPERIOD,SERVOINIT); // 50Hz, 1.5ms
|
||||
lasts2 = (~(GPIOB->DIN31_0)) & S2;
|
||||
while(1){
|
||||
Clock_Delay(1000000); // debounce switch
|
||||
sw2 = (~(GPIOB->DIN31_0)) & S2;
|
||||
if(sw2 && (lasts2==0)){ // touch s2
|
||||
ServoDuty = ServoDuty+SERVOCHANGE;
|
||||
if(ServoDuty > SERVOMAX){ // 2000,2250,2500,2750,3000,3250,3500,3750,4000
|
||||
ServoDuty = SERVOMIN;
|
||||
}
|
||||
SSD1306_Display();
|
||||
PWMG6_SetDuty(ServoDuty);
|
||||
}
|
||||
lasts2 = sw2;
|
||||
|
||||
}
|
||||
}
|
||||
int main(void){
|
||||
Clock_Init80MHz(0);
|
||||
LaunchPad_Init();
|
||||
SSD1306_Init(SSD1306_SWITCHCAPVCC);
|
||||
SSD1306_SetCursor(0,0);
|
||||
uint32_t sw2 = (~(GPIOB->DIN31_0)) & S2;
|
||||
SSD1306_SetCursor(0,0);
|
||||
SSD1306_OutString("ECE445M motor test\n");
|
||||
ServoDuty = SERVOINIT; // 1.5ms
|
||||
// period is 20ms
|
||||
// change is 0.125ms
|
||||
PWMG6_Init(PWMUSEBUSCLK,39,SERVOPERIOD,SERVOINIT); // 50Hz, 1.5ms
|
||||
|
||||
SSD1306_Display();
|
||||
SSD1306_SetCursor(0,1);
|
||||
SSD1306_OutString("Forward test\n");
|
||||
RunForward(); // forward
|
||||
if(sw2){
|
||||
|
||||
SSD1306_OutString("Backward test\n");
|
||||
RunBackward(); // back
|
||||
}
|
||||
|
||||
while(1){};
|
||||
}
|
||||
int main67(void){
|
||||
Clock_Init80MHz(0);
|
||||
LaunchPad_Init();
|
||||
SSD1306_Init(SSD1306_SWITCHCAPVCC);
|
||||
|
||||
// Initialize servo
|
||||
ServoDuty = SERVOINIT;
|
||||
PWMG6_Init(PWMUSEBUSCLK,39,SERVOPERIOD,3000);
|
||||
|
||||
// Initialize BOTH motor PWMs
|
||||
PWMA0_Init(PWMUSEBUSCLK,39,MOTORPERIOD,2500,7500);
|
||||
PWMA1_Init(PWMUSEBUSCLK,39,MOTORPERIOD,2500,7500);
|
||||
|
||||
// Set a fixed duty cycle and run forward
|
||||
Duty = 3000; // 30% duty cycle - start low for safety
|
||||
PWMA0_Forward(Duty); // Right motor
|
||||
PWMA1_Forward(Duty); // Left motor
|
||||
|
||||
SSD1306_SetCursor(0,0);
|
||||
SSD1306_OutString("Motor Test Running");
|
||||
|
||||
// Just spin forever
|
||||
while(1){
|
||||
// Motors should be running now
|
||||
}
|
||||
}
|
||||
135
MotorTest/README.html
Normal file
135
MotorTest/README.html
Normal file
@@ -0,0 +1,135 @@
|
||||
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
|
||||
<html xmlns:v="urn:schemas-microsoft-com:vml"
|
||||
xmlns:o="urn:schemas-microsoft-com:office:office"
|
||||
xmlns:w="urn:schemas-microsoft-com:office:word"
|
||||
xmlns:m="http://schemas.microsoft.com/office/2004/12/omml"
|
||||
xmlns:st1="urn:schemas-microsoft-com:office:smarttags"
|
||||
xmlns="http://www.w3.org/TR/REC-html40">
|
||||
<head>
|
||||
<meta http-equiv="Content-Type"
|
||||
content="text/html; charset=windows-1252">
|
||||
<meta name="ProgId" content="Word.Document">
|
||||
<meta name="Generator" content="Microsoft Word 14">
|
||||
<meta name="Originator" content="Microsoft Word 14">
|
||||
<base target="_parent">
|
||||
<link rel="Edit-Time-Data" href="index_files/editdata.mso">
|
||||
<title>Motor Test</title>
|
||||
<o:smarttagtype
|
||||
namespaceuri="urn:schemas-microsoft-com:office:smarttags" name="place"></o:smarttagtype><o:smarttagtype
|
||||
namespaceuri="urn:schemas-microsoft-com:office:smarttags"
|
||||
name="PlaceName"></o:smarttagtype>
|
||||
<o:smarttagtype
|
||||
namespaceuri="urn:schemas-microsoft-com:office:smarttags"
|
||||
name="PlaceType"></o:smarttagtype>
|
||||
<link rel="themeData" href="index_files/themedata.thmx">
|
||||
<link rel="colorSchemeMapping"
|
||||
href="index_files/colorschememapping.xml">
|
||||
<style>
|
||||
</style>
|
||||
</head>
|
||||
<body style="background-color: white;" alink="#0000ff" lang="EN-US"
|
||||
link="blue" vlink="#c40026">
|
||||
<div class="WordSection1">
|
||||
<p style="text-align: center;" align="center"><span
|
||||
style="font-size: 18pt;">Motor Test</span><br>
|
||||
<table class="MsoNormalTable"
|
||||
style="border: 3pt outset ; background: rgb(255, 204, 153) none repeat scroll 0% 50%; -moz-background-clip: initial; -moz-background-origin: initial; -moz-background-inline-policy: initial; width: 100%;"
|
||||
border="1" cellpadding="0" width="100%">
|
||||
<tr>
|
||||
<td>
|
||||
<p><b><span style="font-size: 18pt;">Readme</b></span>
|
||||
<br> <br>
|
||||
This is a C language project that demonstrates the RTOS robot motors.
|
||||
<br> <br>
|
||||
Derived from Texas Instrument code
|
||||
<ul>
|
||||
<li>timx_timer_mode_pwm_edge_sleep_LP_MSPM0G3507_nortos_ticlang</li>
|
||||
</ul>
|
||||
|
||||
</td>
|
||||
|
||||
</tr>
|
||||
</table>
|
||||
</p>
|
||||
<p class="PictureWide"><span lang="en-US"><img src="../RTOS_Labs_common/Servo_G6.png" width="500"
|
||||
></span></p>
|
||||
<table class="MsoNormalTable"
|
||||
style="border: 3pt outset ; background: rgb(252, 243, 144) none repeat scroll 0% 50%; -moz-background-clip: initial; -moz-background-origin: initial; -moz-background-inline-policy: initial; width: 100%;"
|
||||
border="1" cellpadding="0" width="100%">
|
||||
<tbody>
|
||||
<tr>
|
||||
<td>
|
||||
<p><b><span style="font-size: 18pt;">Hardware Required</b></span>
|
||||
<br>
|
||||
<ul>
|
||||
<li>MSPM0G3507 LaunchPad™ Development Kit (LP-MSPM0G3507)</li>
|
||||
<li>ECE445M Robot Motor board</li>
|
||||
</ul>
|
||||
<b><span style="font-size: 18pt;">Pin assignments</b></span>
|
||||
<br>
|
||||
<ul>
|
||||
<li>Output: PB4 Mode4 TIMA1_C0 Left Motor, IN2, PWM low for forward, GPIO high for reverse</li>
|
||||
<li>Output: PB1 Mode4 TIMA1_C1 Left Motor, IN1, GPIO high for forward, PWM low for reverse</li>
|
||||
<li>Output: PB8 Mode4 TIMA0_C0 Right Motor, IN2, PWM low for forward, GPIO high for reverse</li>
|
||||
<li>Output: PB9 Mode4 TIMA0_C1 Right Motor, IN1, GPIO high for forward, PWM low for reverse</li>
|
||||
<li>Output: PB6 Mode7 TIMG6_C0 Steering Servo PWM high 20ms period</li>
|
||||
<li>Output: PA0 is red LED1, index 0 in IOMUX PINCM table</li>
|
||||
<li>Output: PB22 is blue LED2, index 49 in IOMUX PINCM table</li>
|
||||
<li>Output: PB26 is red LED2, index 56 in IOMUX PINCM table</li>
|
||||
<li>Output: PB27 is green LED2, index 57 in IOMUX PINCM table</li>
|
||||
<li>Input: PA18 is S2 positive logic switch, index 39 in IOMUX PINCM table</li>
|
||||
<li>Input: PB21 is S3 negative logic switch, index 48 in IOMUX PINCM table</li>
|
||||
</ul>
|
||||
<b><span style="font-size: 18pt;">LaunchPad Jumpers</b></span>
|
||||
<br>
|
||||
<ul>
|
||||
<li>Remove 3.3V J101 jumper to run RTOS motor board</li>
|
||||
<li>A two-pin female header is required on the LaunchPad TP10(XDS_VCC) and TP9(!RSTN)</li>
|
||||
<li>Remove J16 J17 J18: Disconnects light sensor from the microcontroller PA22 PA27 PA26</li>
|
||||
<li>J4: Connects PA0 to red LED</li>
|
||||
<li>J5: Connects PB22 to blue LED2</li>
|
||||
<li>J6: Connects PB26 to red LED2</li>
|
||||
<li>J7: Connects PB27 to green LED2</li>
|
||||
</ul>
|
||||
</p> </td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
|
||||
</body>
|
||||
</html>
|
||||
<p>
|
||||
Simplified BSD License (FreeBSD License)
|
||||
Copyright © 2026, Jonathan Valvano, All rights reserved.<br>
|
||||
<br>
|
||||
Redistribution and use in source and binary forms, with or without modification,
|
||||
are permitted provided that the following conditions are met:<br>
|
||||
<ol>
|
||||
<li>Redistributions of source code must retain the above copyright notice,
|
||||
this list of conditions and the following disclaimer.</li>
|
||||
<li>Redistributions in binary form must reproduce the above copyright notice,
|
||||
this list of conditions and the following disclaimer in the documentation
|
||||
and/or other materials provided with the distribution.</li></ol>
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
|
||||
USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.<br>
|
||||
<br>
|
||||
The views and conclusions contained in the software and documentation are
|
||||
those of the authors and should not be interpreted as representing official
|
||||
policies, either expressed or implied, of the FreeBSD Project.
|
||||
<br>
|
||||
</p>
|
||||
<p>For more information, see <a href="http://users.ece.utexas.edu/~valvano/">
|
||||
http://users.ece.utexas.edu/~valvano/</a>.
|
||||
</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
67
MotorTest/mspm0g3507.cmd
Normal file
67
MotorTest/mspm0g3507.cmd
Normal file
@@ -0,0 +1,67 @@
|
||||
/*****************************************************************************
|
||||
|
||||
Copyright (C) 2023 Texas Instruments Incorporated - http://www.ti.com/
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions
|
||||
are met:
|
||||
|
||||
Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
|
||||
Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the
|
||||
distribution.
|
||||
|
||||
Neither the name of Texas Instruments Incorporated nor the names of
|
||||
its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
||||
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
||||
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||||
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
||||
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
||||
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
|
||||
*****************************************************************************/
|
||||
-uinterruptVectors
|
||||
|
||||
MEMORY
|
||||
{
|
||||
FLASH (RX) : origin = 0x00000000, length = 0x00020000
|
||||
SRAM (RWX) : origin = 0x20200000, length = 0x00008000
|
||||
BCR_CONFIG (R) : origin = 0x41C00000, length = 0x00000080
|
||||
BSL_CONFIG (R) : origin = 0x41C00100, length = 0x00000080
|
||||
|
||||
}
|
||||
|
||||
SECTIONS
|
||||
{
|
||||
.intvecs: > 0x00000000
|
||||
.text : palign(8) {} > FLASH
|
||||
.const : palign(8) {} > FLASH
|
||||
.cinit : palign(8) {} > FLASH
|
||||
.pinit : palign(8) {} > FLASH
|
||||
.rodata : palign(8) {} > FLASH
|
||||
.ARM.exidx : palign(8) {} > FLASH
|
||||
.init_array : palign(8) {} > FLASH
|
||||
.binit : palign(8) {} > FLASH
|
||||
.TI.ramfunc : load = FLASH, palign(8), run=SRAM, table(BINIT)
|
||||
|
||||
.vtable : > SRAM
|
||||
.args : > SRAM
|
||||
.data : > SRAM
|
||||
.bss : > SRAM
|
||||
.sysmem : > SRAM
|
||||
.stack : > SRAM (HIGH)
|
||||
|
||||
.BCRConfig : {} > BCR_CONFIG
|
||||
.BSLConfig : {} > BSL_CONFIG
|
||||
}
|
||||
102
MotorTest/targetConfigs/MSPM0G3507.ccxml
Normal file
102
MotorTest/targetConfigs/MSPM0G3507.ccxml
Normal file
@@ -0,0 +1,102 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<configurations XML_version="1.2" id="configurations_0">
|
||||
|
||||
|
||||
|
||||
|
||||
<configuration XML_version="1.2" id="configuration_0">
|
||||
|
||||
|
||||
|
||||
|
||||
<instance XML_version="1.2" desc="Texas Instruments XDS110 USB Debug Probe" href="connections/TIXDS110_Connection.xml" id="Texas Instruments XDS110 USB Debug Probe" xml="TIXDS110_Connection.xml" xmlpath="connections"/>
|
||||
|
||||
|
||||
|
||||
|
||||
<connection XML_version="1.2" id="Texas Instruments XDS110 USB Debug Probe">
|
||||
|
||||
|
||||
|
||||
|
||||
<instance XML_version="1.2" href="drivers/tixds510cs_dap.xml" id="drivers" xml="tixds510cs_dap.xml" xmlpath="drivers"/>
|
||||
|
||||
|
||||
|
||||
|
||||
<instance XML_version="1.2" href="drivers/tixds510cortexM0.xml" id="drivers" xml="tixds510cortexM0.xml" xmlpath="drivers"/>
|
||||
|
||||
|
||||
|
||||
|
||||
<instance XML_version="1.2" href="drivers/tixds510sec_ap.xml" id="drivers" xml="tixds510sec_ap.xml" xmlpath="drivers"/>
|
||||
|
||||
|
||||
|
||||
|
||||
<property Type="choicelist" Value="1" id="The JTAG TCLK Frequency (MHz)">
|
||||
|
||||
|
||||
|
||||
|
||||
<choice Name="Fixed with user specified value" value="SPECIFIC">
|
||||
|
||||
|
||||
|
||||
|
||||
<property Type="stringfield" Value="1MHz" id="-- Enter a value from 100.0kHz to 2.5MHz"/>
|
||||
|
||||
|
||||
|
||||
|
||||
</choice>
|
||||
|
||||
|
||||
|
||||
|
||||
</property>
|
||||
|
||||
|
||||
|
||||
|
||||
<property Type="choicelist" Value="2" id="SWD Mode Settings">
|
||||
|
||||
|
||||
|
||||
|
||||
<choice Name="SWD Mode - Aux COM port is target TDO pin" value="nothing"/>
|
||||
|
||||
|
||||
|
||||
|
||||
</property>
|
||||
|
||||
|
||||
|
||||
|
||||
<platform XML_version="1.2" id="platform_0">
|
||||
|
||||
|
||||
|
||||
|
||||
<instance XML_version="1.2" desc="MSPM0G3507" href="devices/MSPM0G3507.xml" id="MSPM0G3507" xml="MSPM0G3507.xml" xmlpath="devices"/>
|
||||
|
||||
|
||||
|
||||
|
||||
</platform>
|
||||
|
||||
|
||||
|
||||
|
||||
</connection>
|
||||
|
||||
|
||||
|
||||
|
||||
</configuration>
|
||||
|
||||
|
||||
|
||||
|
||||
</configurations>
|
||||
9
MotorTest/targetConfigs/readme.txt
Normal file
9
MotorTest/targetConfigs/readme.txt
Normal file
@@ -0,0 +1,9 @@
|
||||
The 'targetConfigs' folder contains target-configuration (.ccxml) files, automatically generated based
|
||||
on the device and connection settings specified in your project on the Properties > General page.
|
||||
|
||||
Please note that in automatic target-configuration management, changes to the project's device and/or
|
||||
connection settings will either modify an existing or generate a new target-configuration file. Thus,
|
||||
if you manually edit these auto-generated files, you may need to re-apply your changes. Alternatively,
|
||||
you may create your own target-configuration file for this project and manage it manually. You can
|
||||
always switch back to automatic target-configuration management by checking the "Manage the project's
|
||||
target-configuration automatically" checkbox on the project's Properties > General page.
|
||||
200
MotorTest/ticlang/startup_mspm0g3507_ticlang.c
Normal file
200
MotorTest/ticlang/startup_mspm0g3507_ticlang.c
Normal file
@@ -0,0 +1,200 @@
|
||||
/*****************************************************************************
|
||||
Special MSPM0_ValvanoWare version with Hardfault handler implemented
|
||||
Jonathan Valvano 12/19/2024
|
||||
|
||||
Copyright (C) 2023 Texas Instruments Incorporated - http://www.ti.com/
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
modification, are permitted provided that the following conditions
|
||||
are met:
|
||||
|
||||
Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
|
||||
Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the
|
||||
distribution.
|
||||
|
||||
Neither the name of Texas Instruments Incorporated nor the names of
|
||||
its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
||||
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
||||
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
||||
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
||||
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
||||
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
||||
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
|
||||
*****************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <ti/devices/msp/msp.h>
|
||||
|
||||
/* Linker variable that marks the top of the stack. */
|
||||
extern unsigned long __STACK_END;
|
||||
|
||||
/* External declaration for the reset handler that is to be called when the */
|
||||
/* processor is started */
|
||||
extern __NO_RETURN void __PROGRAM_START(void);
|
||||
|
||||
/* Forward declaration of the default fault handlers. */
|
||||
void Default_Handler (void) __attribute__((weak));
|
||||
void HardFault_Handler (void) __attribute__((weak));
|
||||
extern void Reset_Handler (void) __attribute__((weak));
|
||||
|
||||
/* Processor Exceptions */
|
||||
extern void NMI_Handler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void SVC_Handler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void PendSV_Handler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void SysTick_Handler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
|
||||
/* Device Specific Interrupt Handlers */
|
||||
extern void GROUP0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void GROUP1_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void TIMG8_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void UART3_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void ADC0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void ADC1_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void CANFD0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void DAC0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void SPI0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void SPI1_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void UART1_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void UART2_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void UART0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void TIMG0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void TIMG6_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void TIMA0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void TIMA1_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void TIMG7_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void TIMG12_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void I2C0_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void I2C1_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void AES_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void RTC_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
extern void DMA_IRQHandler (void) __attribute__((weak, alias("Default_Handler")));
|
||||
|
||||
|
||||
/* Interrupt vector table. Note that the proper constructs must be placed on this to */
|
||||
/* ensure that it ends up at physical address 0x0000.0000 or at the start of */
|
||||
/* the program if located at a start address other than 0. */
|
||||
#if defined (__ARM_ARCH) && (__ARM_ARCH != 0)
|
||||
void (* const interruptVectors[])(void) __attribute((used)) __attribute__((section (".intvecs"))) =
|
||||
#elif defined (__TI_ARM__)
|
||||
#pragma RETAIN(interruptVectors)
|
||||
#pragma DATA_SECTION(interruptVectors, ".intvecs")
|
||||
void (* const interruptVectors[])(void) =
|
||||
#else
|
||||
#error "Compiler not supported"
|
||||
#endif
|
||||
{
|
||||
(void (*)(void))((uint32_t)&__STACK_END),
|
||||
/* The initial stack pointer */
|
||||
Reset_Handler, /* The reset handler */
|
||||
NMI_Handler, /* The NMI handler */
|
||||
HardFault_Handler, /* The hard fault handler */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
SVC_Handler, /* SVCall handler */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
PendSV_Handler, /* The PendSV handler */
|
||||
SysTick_Handler, /* SysTick handler */
|
||||
GROUP0_IRQHandler, /* GROUP0 interrupt handler */
|
||||
GROUP1_IRQHandler, /* GROUP1 interrupt handler */
|
||||
TIMG8_IRQHandler, /* TIMG8 interrupt handler */
|
||||
UART3_IRQHandler, /* UART3 interrupt handler */
|
||||
ADC0_IRQHandler, /* ADC0 interrupt handler */
|
||||
ADC1_IRQHandler, /* ADC1 interrupt handler */
|
||||
CANFD0_IRQHandler, /* CANFD0 interrupt handler */
|
||||
DAC0_IRQHandler, /* DAC0 interrupt handler */
|
||||
0, /* Reserved */
|
||||
SPI0_IRQHandler, /* SPI0 interrupt handler */
|
||||
SPI1_IRQHandler, /* SPI1 interrupt handler */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
UART1_IRQHandler, /* UART1 interrupt handler */
|
||||
UART2_IRQHandler, /* UART2 interrupt handler */
|
||||
UART0_IRQHandler, /* UART0 interrupt handler */
|
||||
TIMG0_IRQHandler, /* TIMG0 interrupt handler */
|
||||
TIMG6_IRQHandler, /* TIMG6 interrupt handler */
|
||||
TIMA0_IRQHandler, /* TIMA0 interrupt handler */
|
||||
TIMA1_IRQHandler, /* TIMA1 interrupt handler */
|
||||
TIMG7_IRQHandler, /* TIMG7 interrupt handler */
|
||||
TIMG12_IRQHandler, /* TIMG12 interrupt handler */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
I2C0_IRQHandler, /* I2C0 interrupt handler */
|
||||
I2C1_IRQHandler, /* I2C1 interrupt handler */
|
||||
0, /* Reserved */
|
||||
0, /* Reserved */
|
||||
AES_IRQHandler, /* AES interrupt handler */
|
||||
0, /* Reserved */
|
||||
RTC_IRQHandler, /* RTC interrupt handler */
|
||||
DMA_IRQHandler, /* DMA interrupt handler */
|
||||
|
||||
};
|
||||
|
||||
/* Forward declaration of the default fault handlers. */
|
||||
/* This is the code that gets called when the processor first starts execution */
|
||||
/* following a reset event. Only the absolutely necessary set is performed, */
|
||||
/* after which the application supplied entry() routine is called. Any fancy */
|
||||
/* actions (such as making decisions based on the reset cause register, and */
|
||||
/* resetting the bits in that register) are left solely in the hands of the */
|
||||
/* application. */
|
||||
void Reset_Handler(void)
|
||||
{
|
||||
/* Jump to the ticlang C Initialization Routine. */
|
||||
__asm(" .global _c_int00\n"
|
||||
" b _c_int00");
|
||||
}
|
||||
// fetch the PC that triggered the hard fault
|
||||
void HardFault_Handler(void) {
|
||||
__asm(" MOV R7,SP\n" // this code prevents a hardfault within the hardfault handler
|
||||
" LDR R4,=0x20200000\n" // start of RAM
|
||||
" CMP R7,R4\n"
|
||||
" BLO fault\n" // skip if bad SP
|
||||
" LDR R5,=0x20207FE0\n" // end of RAM-32
|
||||
" CMP R7,R5\n"
|
||||
" BHI fault\n" // skip if bad SP
|
||||
" LDR R6,[SP,#24]\n" // R6=previous PC
|
||||
"fault:");
|
||||
while (1) {
|
||||
// option 1) if SP points to valid RAM (0x20200000 to 0x20207FFC)
|
||||
// then R6 has PC that caused the fault
|
||||
// option 2) if SP is not 0x20200000 to 0x20207FFC then there was a stack overflow
|
||||
// if you're here, you had a hardfault
|
||||
}
|
||||
}
|
||||
/* This is the code that gets called when the processor receives an unexpected */
|
||||
/* interrupt. This simply enters an infinite loop, preserving the system state */
|
||||
/* for examination by a debugger. */
|
||||
void Default_Handler(void)
|
||||
{
|
||||
__asm(" MOV R7,SP\n"
|
||||
" LDR R4,=0x20200000\n"
|
||||
" CMP R7,R4\n"
|
||||
" BLO dfault\n" // bad SP
|
||||
" LDR R5,=0x20207FE0\n"
|
||||
" CMP R7,R5\n"
|
||||
" BHI fault\n" // bad SP
|
||||
" LDR R6,[SP,#24]\n" // previous PC
|
||||
"dfault:");
|
||||
/* Enter an infinite loop. */
|
||||
while(1){
|
||||
// R6 has value of the PC when the interrupt was triggered
|
||||
// you are here probably because you armed an interrupt, but mistyped the ISR name
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user