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pulipakaa24
2026-06-12 02:55:04 -07:00
commit 30406f4f49
2040 changed files with 571534 additions and 0 deletions
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RSLK/.DS_Store vendored Normal file
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RSLK/.clangd Normal file
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RSLK/Debug/.clangd/compile_commands.json Normal file
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"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RSLK\" -I\"/Users/adipu/lab-7-tweinstein-1/RSLK/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/RSLK/Debug/syscfg\" -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/inc/InputCapture.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RSLK/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RSLK\" -I\"/Users/adipu/lab-7-tweinstein-1/RSLK/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/RSLK/Debug/syscfg\" -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/inc/LaunchPad.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RSLK/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RSLK\" -I\"/Users/adipu/lab-7-tweinstein-1/RSLK/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/RSLK/Debug/syscfg\" -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/inc/Motor.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RSLK/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RSLK\" -I\"/Users/adipu/lab-7-tweinstein-1/RSLK/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/RSLK/Debug/syscfg\" -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/inc/PWM1.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RSLK/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RSLK\" -I\"/Users/adipu/lab-7-tweinstein-1/RSLK/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/RSLK/Debug/syscfg\" -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/RSLK/RSLKmain.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RSLK/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RSLK\" -I\"/Users/adipu/lab-7-tweinstein-1/RSLK/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/RSLK/Debug/syscfg\" -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/inc/SSD1306.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RSLK/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RSLK\" -I\"/Users/adipu/lab-7-tweinstein-1/RSLK/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/RSLK/Debug/syscfg\" -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/inc/Timer.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RSLK/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RSLK\" -I\"/Users/adipu/lab-7-tweinstein-1/RSLK/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/RSLK/Debug/syscfg\" -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/RSLK/ticlang/startup_mspm0g3507_ticlang.c"
}
]

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<!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"
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</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;">RSLK</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> &nbsp;<br>
This is a C language project that tests the Robot Systems Learning kit version 2.
</p>
<p class="PictureWide"><span lang="en-US"><img src="RSLK.jpg" width="400"></span></p>
</p>
<p>
Derived from Texas Instrument code
<ul>
<li>timx_timer_mode_pwm_edge_sleep_LP_MSPM0G3507_nortos_ticlang</li>
</ul>
</td>
</tr>
</table>
</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&trade; Development Kit (LP-MSPM0G3507)</li>
</ul>
<b><span style="font-size: 18pt;">Pin assignments</b></span>
<br>
<ul>
<li>ML+, IN3, Motor_PWML=PB4/TIMA1_C0; </li>
<li>MR+, IN1, Motor_PWMR=PB1/TIMA1_C1; </li>
<li>ML-, IN4, Motor_DIR_L = PB0; </li>
<li>Mr-, IN2, Motor_DIR_R= PB16</li>
<li>PB8 ELA TA0_C0</li>
<li>PB7 ERB TG8_C1/TG6_C1/TA1_C0N</li>
<li>PB6 ELB TG8_C0/TG6_C0</li>
<li>PB12 ERA TA0_C1</li>
<li>Bump 0=PA27, Left</li>
<li>Bump 1=PB15, Center Left</li>
<li>Bump 2=PA28, Center Right </li>
<li>Bump 3=PA31, Right </li>
<li>I2C SCL: PB2 is the SSD1306 SCL</li>
<li>I2C SDA: PB3 is the SSD1306 SDA</li>
<li>PA26 IR analog distance sensor, Right ADC0_1</li>
<li>PB24 IR analog distance sensor, Center ADC0_5</li>
<li>PA22 IR analog distance sensor, Left ADC0_3</li>
</ul>
<b><span style="font-size: 18pt;">LaunchPad Jumpers</b></span>
<br>
<ul>
<li>Remove +5V jumper from debugger to target</li>
<li>Remove J9: Disconnects thermistor from PB24</li>
<li>Remove J16 J17 J18: Disconnects light sensor from the microcontroller PA22 PA27 PA26</li>
<li>Insert J5: Connects PB22 to blue LED2</li>
<li>Insert J6: Connects PB26 to red LED2</li>
<li>Insert J7: Connects PB27 to green LED2</li>
</ul>
</p> </td>
</tr>
</tbody>
</table>
</body>
</html>
<p>
Simplified BSD License (FreeBSD License)
Copyright &copy; 2025, Jonathan Valvano, All rights reserved.<br>
&nbsp;<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>
&nbsp;<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> &nbsp;
</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>

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/* RSLKmain.c
* Jonathan Valvano
* v2.0.1
* July 19, 2025
*
*/
#include <ti/devices/msp/msp.h>
#include "../inc/LaunchPad.h"
#include "../inc/Clock.h"
#include "../inc/PWM1.h"
#include "../inc/Motor.h"
#include "../inc/Bump.h"
#include "../inc/SSD1306.h"
#include "../inc/ADC.h"
#include "../inc/InputCapture.h"
uint32_t Duty,Period,Change;
// Motor
// PB4 Motor_PWML=PB.4/TIMA1_C0;
// PB1 Motor_PWMR=PB.1/TIMA1_C1;
// PB0 Motor_DIR_L 1 means forward, 0 means backward
// PB16 Motor_DIR_R, ***change from 2.0.0***
// tachometer
// PB8 ELA TA0_C0
// PB7 ERB GPIO input TG8_C1/TG6_C1/TA1_C0N
// PB6 ELB GPIO input TG8_C0/TG6_C0
// PB12 ERA TA0_C1
// Negative Logic Bumper switches
// PA27 Left, Bump 0, ***change from 2.0.0***
// PB15 Center Left, Bump 1, ***change from 2.0.0***
// PA28 Center Right, Bump 2
// PA31 Right, Bump 3
// SSD1306 I2C OLED
// PB2 SCL I2C clock
// PB3 SDA I2C data
// IR analog distance sensors
// PA26 Right ADC0_1
// PB24 Center ADC0_5 (remove J9)
// PA22 Left ADC0_3
// TF Luna TOF distance sensor
// TM4C MSPM0
// PB1 PA8 TxD microcontroller sensor RxD pin 2
// PB0 PA9 RxD microcontroller sensor TxD pin 3
// LaunchPad pins
// PA0 red LED1
// PB22 BLUE LED2
// PB26 RED LED2
// PB27 GREEN LED2
// PA18 S1 positive logic switch
// PB21 S2 negative logic switch
// Remove +5V jumper from debugger to target
// Remove J9: Disconnects thermistor from PB24
// Remove J16 J17 J18: Disconnects light sensor from the microcontroller PA22 PA27 PA26
// Insert J5: Connects PB22 to blue LED2
// Insert J6: Connects PB26 to red LED2<
// Insert J7: Connects PB27 to green LED2
uint32_t bump;
int main0(void){ // use main0 to test bump switches
__disable_irq();
Clock_Init80MHz(0);
LaunchPad_Init();
Bump_Init();
__enable_irq();
while(1){
bump = Bump_In();
}
}
int main1(void){ // use main1 to test low level motor
uint32_t sw2,lasts2;
__disable_irq();
Clock_Init80MHz(0);
LaunchPad_Init();
__enable_irq();
// PWM_Init(PWMUSELFCLK,0,1000,250,750); // 32.768 Hz
// Duty = 100;
// Period = 1000;
// Change = 100;
PWM1_Init(PWMUSEBUSCLK,39,10000,2500,7500); // 100Hz
Duty = 1000;
Period = 10000;
Change = 1000;
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+Change;
if(Duty >= Period){
Duty = Change;
}
PWM1_SetDuty(Duty,Period-Duty);
}
lasts2 = sw2;
}
}
int main2(void){ // use main2 to test motors and OLED
uint32_t sw2,lasts2;
__disable_irq();
Clock_Init80MHz(0);
LaunchPad_Init();
SSD1306_Init(SSD1306_SWITCHCAPVCC);
SSD1306_SetCursor(0,0);
SSD1306_ClearBuffer();
SSD1306_OutBuffer();
SSD1306_OutString("RSLK 2");
Bump_Init();
__enable_irq();
// PWM_Init(PWMUSELFCLK,0,1000,250,750); // 32.768 Hz
// Duty = 100;
// Period = 1000;
// Change = 100;
Motor_Init(); // 100Hz
Duty = 1000;
Period = 10000;
Change = 1000;
lasts2 = (~(GPIOB->DIN31_0)) & S2;
SSD1306_SetCursor(0,1);
SSD1306_OutString("Period= ");
SSD1306_OutUDec(Period);
SSD1306_SetCursor(0,2);
SSD1306_OutString("Duty= ");
SSD1306_SetCursor(6,2);
SSD1306_OutUDec(Duty);
while(1){
Clock_Delay(100000); // debounce switch
if(Bump_In()){
Motor_Forward(4,4);
while(Bump_In()){};
Motor_Forward(Duty,Duty);
}
sw2 = (~(GPIOB->DIN31_0)) & S2;
if(sw2 && (lasts2==0)){ // touch s2
Duty = Duty+Change;
if(Duty >= Period){ // 10 20 30 ... 90%
Duty = Change;
}
Motor_Forward(Duty,Duty);
SSD1306_SetCursor(6,2);
SSD1306_OutUDec(Duty);
}
lasts2 = sw2;
}
}
uint32_t Left,Center,Right;
uint32_t Bump;
int main3(void){ // use main3 to test OLED and IR sensors
__disable_irq();
Clock_Init80MHz(0);
LaunchPad_Init();
SSD1306_Init(SSD1306_SWITCHCAPVCC);
SSD1306_SetCursor(0,0);
SSD1306_ClearBuffer();
SSD1306_OutBuffer();
SSD1306_OutString("RSLK 2");
SSD1306_SetCursor(0,1);
SSD1306_OutString("Left =");
SSD1306_SetCursor(0,2);
SSD1306_OutString("Center=");
SSD1306_SetCursor(0,3);
SSD1306_OutString("Right =");
SSD1306_SetCursor(0,4);
SSD1306_OutString("Bump =");
//PA26 IR analog distance sensor, Right ADC0_1
//PB24 IR analog distance sensor, Center ADC0_5
//PA22 IR analog distance sensor, Left ADC0_3
//ADC0_Init(5,ADCVREF_VDDA);
ADC_InitTriple(ADC0,1,5,3,ADCVREF_VDDA);
Bump_Init();
__enable_irq();
while(1){
Clock_Delay(100000); // slow down
Bump = Bump_In();
ADC_InTriple(ADC0,&Right,&Center,&Left);
SSD1306_SetCursor(7,1);
SSD1306_OutUDec(Left);
SSD1306_SetCursor(7,2);
SSD1306_OutUDec(Center);
SSD1306_SetCursor(7,3);
SSD1306_OutUDec(Right);
SSD1306_SetCursor(7,4);
SSD1306_OutUHex7(Bump);
}
}
uint32_t Count0=0,Count1=0,Time0,Time1,Last0,Last1,Period0,Period1;
uint32_t Data0[8],Data1[8];
int main(void){ // use main5 to test motors and tach
uint32_t sw2,lasts2;
__disable_irq();
Clock_Init80MHz(0);
LaunchPad_Init();
SSD1306_Init(SSD1306_SWITCHCAPVCC);
SSD1306_SetCursor(0,0);
SSD1306_ClearBuffer();
SSD1306_OutBuffer();
SSD1306_OutString("RSLK 2");
SSD1306_SetCursor(0,1);
SSD1306_OutString("Left = ");
SSD1306_SetCursor(0,2);
SSD1306_OutString("Right= ");
SSD1306_SetCursor(0,3);
SSD1306_OutString("Duty = ");
SSD1306_SetCursor(0,4);
SSD1306_OutString("Bump =");
Bump_Init();
__enable_irq();
Motor_Init(); // 100Hz
InputCapture_InitDual(INPUTCAPTUREUSEBUSCLK,79,1); // 1us resolution
Last0 = 0xFFFFFFFF; Last1 = 0xFFFFFFFF;
Count0=0; Count1=0;
Duty = 500;
Period = 10000;
Change = 1000;
lasts2 = (~(GPIOB->DIN31_0)) & S2;
while(1){
SSD1306_SetCursor(7,1);
SSD1306_OutUDec(Period0);
SSD1306_SetCursor(7,2);
SSD1306_OutUDec(Period1);
SSD1306_SetCursor(7,3);
SSD1306_OutUDec(Duty);
SSD1306_SetCursor(0,5);
SSD1306_OutUHex32(Bump_In());
if(Bump_In()){
Motor_Forward(4,4); // stop
SSD1306_SetCursor(0,5);
SSD1306_OutUHex32(Bump_In());
while(Bump_In()){Clock_Delay(80000);};
while(Bump_In()==0){Clock_Delay(80000);};
while(Bump_In()){Clock_Delay(80000);};
Motor_Forward(Duty,Duty); // turn left
}
sw2 = (~(GPIOB->DIN31_0)) & S2;
if(sw2 && (lasts2==0)){ // touch s2
Duty = Duty+Change;
if(Duty >= Period/2){ // 10 20 30 ... 90%
Duty = 500;
}
Motor_Forward(Duty,Duty); // turn left
}
lasts2 = sw2;
}
}
void TIMA0_IRQHandler(void){
uint32_t iidx = TIMA0->CPU_INT.IIDX;// this will acknowledge
if(iidx == 5){ // 5 means capture CCD0, PB8 ELA TA0_C0
Time0 = TIMA0->COUNTERREGS.CC_01[0]; // time now
Period0 = (Last0-Time0)&0xFFFF; // elapsed time since last
Last0 = Time0;
Data0[Count0&0x07] = Period0;
Count0++;
}
if(iidx == 6){ // 6 means capture CCD1=PB12 ERA TA0_C1
Time1 = TIMA0->COUNTERREGS.CC_01[1]; // time now
Period1 = (Last1-Time1)&0xFFFF; // elapsed time since last
Last1 = Time1;
Data1[Count1&0x07] = Period1;
Count1++;
}
}

67
RSLK/mspm0g3507.cmd Executable file
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/*****************************************************************************
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
RSLK/targetConfigs/MSPM0G3507.ccxml Normal file
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<?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
RSLK/targetConfigs/readme.txt Normal file
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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
RSLK/ticlang/startup_mspm0g3507_ticlang.c Normal file
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/*****************************************************************************
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
}
}