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pulipakaa24
2026-06-12 02:55:04 -07:00
commit 30406f4f49
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RTOS_Lab2_RTOSkernel/.DS_Store vendored Normal file
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RTOS_Lab2_RTOSkernel/.ccsproject Normal file
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RTOS_Lab2_RTOSkernel/.clangd Normal file
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RTOS_Lab2_RTOSkernel/.cproject Normal file
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RTOS_Lab2_RTOSkernel/Debug/.clangd/compile_commands.json Normal file
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"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/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/RTOS_Lab2_RTOSkernel/Debug/syscfg\" -std=c99 -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/inc/Clock.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/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/RTOS_Lab2_RTOSkernel/Debug/syscfg\" -std=c99 -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/DFT16.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/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/RTOS_Lab2_RTOSkernel/Debug/syscfg\" -std=c99 -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/IRDistance.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/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/RTOS_Lab2_RTOSkernel/Debug/syscfg\" -std=c99 -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/Interpreter.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/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/RTOS_Lab2_RTOSkernel/Debug/syscfg\" -std=c99 -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/LPF.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/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/RTOS_Lab2_RTOSkernel/Debug/syscfg\" -std=c99 -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/LaunchPad.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/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/RTOS_Lab2_RTOSkernel/Debug/syscfg\" -std=c99 -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/OS.c"
},
{
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"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/RTOS_FIFO.c"
},
{
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"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/RTOS_Lab2.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/Debug",
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"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/RTOS_UART.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/Debug",
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"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/RTOS_UARTints.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/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/RTOS_Lab2_RTOSkernel/Debug/syscfg\" -std=c99 -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/SPI.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/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/RTOS_Lab2_RTOSkernel/Debug/syscfg\" -std=c99 -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/ST7735_SDC.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/Debug",
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"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Labs_common/TFLuna2.c"
},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/Debug",
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},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/Debug",
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},
{
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},
{
"directory" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/Debug",
"command" : "clang++ -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel\" -I\"/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/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/RTOS_Lab2_RTOSkernel/Debug/syscfg\" -std=c99 -xc",
"file" : "/Users/adipu/lab-7-tweinstein-1/RTOS_Lab2_RTOSkernel/ticlang/startup_mspm0g3507_ticlang.c"
}
]

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<p style="text-align: center;" align="center"><span
style="font-size: 18pt;">RTOS_Lab2_RTOSkernel</span><br>
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<tr>
<td>
<p><b><span style="font-size: 18pt;">Readme</b></span>
<br> &nbsp;<br>
This is the starter project for ECE445M Lab 2. For more information
see <a href="https://users.ece.utexas.edu/~valvano/EE445M/" target="_blank">ECE445M class web page</a> <br>&nbsp;<br>
</td>
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<td>
<p><b><span style="font-size: 18pt;">Hardware Required</b></span>
<br>
<ul>
<li>MSPM0G3507 LaunchPad&trade; Development Kit (LP-MSPM0G3507)</li>
<li>ECE445M Sensor board</li>
<li>One TFLuna</li>
<li>One analog distance sensor GP2Y0A41SK0F or GP2Y0A21YK0F</li>
</ul>
<p class="PictureWide"><span lang="en-US"><img src="../RTOS_Labs_common/SensorBoard.png" width="500"
></span></p>
<p class="PictureWide"><span lang="en-US"><img src="../RTOS_Labs_common/RobotSensors.png" width="500"
></span></p>
<b><span style="font-size: 18pt;">Pin assignments</b></span>
<br>
<ul>
<li>Serial TxD: PA10 is UART0 Tx (MSPM0 to PC), used for intepreter</li>
<li>Serial RxD: PA11 is UART0 Rx (PC to MSPM0), used for intepreter</li>
<li>SPI1: PB7, MISO from ST7735 to SPI1 POCI </li>
<li>SPI1: PB9, SCK from SPI1 to ST7735 SCLK</li>
<li>SPI1: PB8, MOSI from SPI1 to ST7735 PICO</li>
<li>GPIO Output: PB6, from MSPM0 to ST7735 TFT_CS </li>
<li>GPIO Output: PB0, from MSPM0 to ST7735 CARD_CS </li>
<li>GPIO Output: PB16, from MSPM0 to ST7735 Data/Command </li>
<li>GPIO Output: PB15, from MSPM0 to ST7735 RESET </li>
<li>GPIO Output: PA8, used for profiling user code</li>
<li>GPIO Output: PA9, used for profiling user code</li>
<li>GPIO Output: PA16, used for profiling user code</li>
<li>GPIO Output: PB4, used for profiling user code</li>
<li>GPIO Output: PB1, used for profiling user code</li>
<li>GPIO Output: PB20, used for profiling user code</li>
<li>GPIO Output: PA0 is red LED1, could be used for debugging</li>
<li>GPIO Output: PB22 is BLUE LED2, used for debugging OS</li>
<li>GPIO Output: PB26 is RED LED2, used for debugging OS</li>
<li>GPIO Output: PB27 is GREEN LED2, used for debugging OS</li>
<li>GPIO Input: PB21 is S2 negative logic switch, used for aperiodic task</li>
<li>Analog Input: PA24 ADC0_3, IR analog distance sensor GP2Y0A41SK0F or GP2Y0A21YK0F</li>
<li>Serial TxD: PB17 is UART2 Tx (MSPM0 to TFLuna2), used in Labs 1,2,3,4</li>
<li>Serial RxD: PB18 is UART2 Rx (TFLuna2 to MSPM0), used in Labs 1,2,3,4</li>
</ul>
<b><span style="font-size: 18pt;">LaunchPad Jumpers</b></span>
<br>
<ul>
<li>Remove J16 J17 J18: Disconnects light sensor from the microcontroller PA22 PA27 PA26</li>
<li>J4: Connects PA0 to red LED</li>
<li>J21: Connects PA10 to XDS_UART</li>
<li>J22: Connects PA11 to XDS_UART</li>
<li>J14: SW1 to select PA9</li>
<li>J15: SW2 to select PA16</li>
<li>J16,J17,J18: remove to disconnect light sensor</li>
</ul>
</p> </td>
</tr>
</tbody>
</table>
</body>
</html>
<p>
Simplified BSD License (FreeBSD License)
Copyright &copy; 2026, 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>
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/* RTOS_Lab2.c
* Jonathan Valvano
* December 227, 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 "../inc/LaunchPad.h"
#include "../RTOS_Labs_common/ADC.h"
#include "../inc/Clock.h"
#include "../RTOS_Labs_common/ST7735_SDC.h"
#include "../RTOS_Labs_common/RTOS_UART.h"
#include "../RTOS_Labs_common/Interpreter.h"
#include "../RTOS_Labs_common/IRDistance.h"
#include "../RTOS_Labs_common/LPF.h"
#include "../RTOS_Labs_common/DFT16.h"
#include "../RTOS_Labs_common/TFLuna2.h"
#include "../RTOS_Labs_common/OS.h"
#include <stdio.h>
// PA10 is UART0 Tx index 20 in IOMUX PINCM table
// PA11 is UART0 Rx index 21 in IOMUX PINCM table
// Insert jumper J21: Connects PA10 to XDS_UART
// Insert jumper J22: Connects PA11 to XDS_UART
// Insert jumper J14 SW1 to select PA9
// Insert jumper J15 SW2 to select PA16
// Remove jumps J16,J17,J18: disconnect light sensor
// PA0 is red LED1, index 0 in IOMUX PINCM table, negative logic
// 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, conflict with TFLuna1, so S1 will not be used
// PB21 is S2 negative logic switch, used for aperiodic task
// IR analog distance sensors
// 30 cm GP2Y0A41SK0F or 80 cm long range GP2Y0A21YK0F
// PA26 Right ADC0_1
// PA24 Center ADC0_3, used in Labs 1,2,3,4
// PA22 Left ADC0_7
// PA27 Extra ADC0_0
// RTOS sensor board supported three TF-Luna sensors
// Serial TxD: PA17 is UART1 Tx (MSPM0 to TFLuna1)
// Serial RxD: PA18 is UART1 Rx (TFLuna1 to MSPM0), conflict with LaunchPad S1
// Serial TxD: PB17 is UART2 Tx (MSPM0 to TFLuna2), used in Labs 1,2,3,4
// Serial RxD: PB18 is UART2 Rx (TFLuna2 to MSPM0), used in Labs 1,2,3,4
// Serial TxD: PB12 is UART3 Tx (MSPM0 to TFLuna3),
// Serial RxD: PB13 is UART3 Rx (TFLuna3 to MSPM0), shared with LD19 Lidar
//UART3 is shared between LD19 and TFLuna3 (can have either but not both)
uint32_t NumCreated; // number of foreground threads created
// 10-sec finite time experiment duration
Sema4_t LCDFree; // SDC and LCD sharing
//---------------------User debugging-----------------------
// Performance Measurements
int32_t MaxJitter; // largest time jitter between interrupts in 12.5ns
#define JITTERSIZE 256
uint32_t const JitterSize=JITTERSIZE;
uint32_t JitterHistogram[JITTERSIZE]={0,};
void Jitter_Init(void){
for(int i=0;i<JitterSize;i++){
JitterHistogram[i] = 0;
}
MaxJitter = 0;
}
// Unused sensor board pins, made outputs for debugging
// Jumper J14 select PA9
// Jumper J15 select PA16
void Logic_Init(void){
IOMUX->SECCFG.PINCM[PA8INDEX] = (uint32_t) 0x00000081;
IOMUX->SECCFG.PINCM[PA9INDEX] = (uint32_t) 0x00000081;
IOMUX->SECCFG.PINCM[PA16INDEX] = (uint32_t) 0x00000081;
IOMUX->SECCFG.PINCM[PB4INDEX] = (uint32_t) 0x00000081;
IOMUX->SECCFG.PINCM[PB1INDEX] = (uint32_t) 0x00000081;
IOMUX->SECCFG.PINCM[PB20INDEX] = (uint32_t) 0x00000081;
GPIOA->DOE31_0 |= (1<<8)|(1<<9)|(1<<16);
GPIOB->DOE31_0 |= (1<<4)|(1<<1)|(1<<20);
}
#define TogglePA8() (GPIOA->DOUTTGL31_0 = (1<<8))
#define TogglePA9() (GPIOA->DOUTTGL31_0 = (1<<9))
#define TogglePA16() (GPIOA->DOUTTGL31_0 = (1<<16))
#define TogglePB4() (GPIOB->DOUTTGL31_0 = (1<<4))
#define TogglePB1() (GPIOB->DOUTTGL31_0 = (1<<1))
#define TogglePB20() (GPIOB->DOUTTGL31_0 = (1<<20))
uint32_t Checks; // number of times virus checking has run
uint32_t ChecksWork; // number of checks in 10 second
//------------------Task 1--------------------------------
// Fixed bandwidth
// real-time sampling ADC0 channel 3, using software start trigger
// 60-Hz notch high-Q, IIR filter, assuming fs=1000 Hz
// y(n) = (256x(n) -476x(n-1) + 256x(n-2) + 471y(n-1)-251y(n-2))/256 (1k sampling)
#define PERIOD TIME_1MS // DAS 1kHz sampling period in system time units
#define FS 1000 // DAS sampling
#define RUNLENGTH (10000) // display results and quit when FilterWork==RUNLENGTH
uint32_t FilterOutput,Distance;
uint32_t FilterWork;
//******** DAS ***************
// background thread, calculates 60Hz notch filter
// runs 1000 times/sec
// samples PA24 Center ADC0_3, calculates Distance
// inputs: none
// outputs: none
void DAS(void){
uint32_t input;
static uint32_t LastTime; // time at previous ADC sample, 12.5 ns
uint32_t thisTime; // time at current ADC sample, 12.5 ns
uint32_t jitter; // time between measured and expected, 12.5 ns
TogglePA8(); // toggle PA8
input = ADC0_In(); // channel 3 set when calling ADC0_Init
TogglePA8(); // toggle PA8
thisTime = OS_Time(); // current time, 12.5 ns
FilterOutput = Filter(input);
Distance = IRDistance_Convert(FilterOutput,0); // in mm
if(FilterWork < RUNLENGTH){ // finite time run
FilterWork++; // calculation finished
if(FilterWork>1){ // ignore timing of first interrupt
uint32_t diff = OS_TimeDifference(LastTime,thisTime);
if(diff>PERIOD){
jitter = (diff-PERIOD); // in 12.5 ns
}else{
jitter = (PERIOD-diff); // in 12.5 ns
}
if(jitter > MaxJitter){
MaxJitter = jitter; // in 12.5 ns
} // jitter should be 0
if(jitter >= JitterSize){
jitter = JitterSize-1;
}
JitterHistogram[jitter]++;
}
ChecksWork = Checks;
LastTime = thisTime;
}
TogglePA8(); // toggle PA8
}
//--------------end of Task 1-----------------------------
//------------------Task 2--------------------------------
// I/O Bound
// background thread executes with S2 button
// S2 negative logic switch on PB21
// one foreground task created with each button push
// foreground treads run for about 500ms and dies
uint32_t DataLost; // data sent by Producer, but not received by Consumer
// ***********ButtonWork*************
void ButtonWork(void){
uint32_t myId = OS_Id();
ST7735_Message(1,0,"myID =",myId);
OS_Sleep(500); // set this to sleep for 500msec
ST7735_Message(1,1,"Distance(mm)=",Distance);
ST7735_Message(1,2,"Checks =",Checks);
ST7735_Message(1,3,"DataLost =",DataLost);
ST7735_Message(1,4,"Jitter (cyc)=",MaxJitter);
ST7735_Message(1,5,"NumCreated =",NumCreated);
OS_Kill(); // done, OS does not return from a Kill
}
//************S2Push*************
// Called when S2 Button PB21 pushed
// Adds another foreground task
// background threads execute once and return
void S2Push(void){
TogglePA9(); // toggle PA9
TogglePA9(); // toggle PA9
if(OS_MsTime() > 20){ // debounce
if(OS_AddThread(&ButtonWork,100,0)){
NumCreated++;
}
OS_ClearMsTime(); // at least 20ms between touches
}
TogglePA9(); // toggle PA9
}
//--------------end of Task 2-----------------------------
//------------------Task 3--------------------------------
// I/O Bound
// hardware-triggered TFLuna distance sampling at 100Hz
// Producer runs as part of UART2 ISR
// Producer uses fifo to transmit 100 distance samples/sec to Consumer
// every 64 samples, Consumer calculates FFT
// every 2.5ms*64 = 160 ms (6.25 Hz), consumer sends data to Display via mailbox
// Display thread updates LCD with measurement
uint32_t DataLost; // data sent by Producer, but not received by Consumer
uint32_t Distance2; // mm
int32_t x[16],ReX[16],ImX[16]; // input and output arrays for FFT
//******** Producer ***************
// The Producer in this lab will be called from the UART2 ISR
// The TFLuna2 samples distance at about 100 Hz
// sends data to the consumer, runs periodically at 100Hz
void Producer(uint32_t data){ uint32_t dist2; // mm
if(FilterWork < RUNLENGTH){ // finite time run
TogglePA16(); // toggle PA16
dist2 = Median5((int32_t) data);
TogglePA16(); // toggle PA16
if(OS_Fifo_Put(dist2) == 0){ // send to consumer
DataLost++;
}
TogglePA16(); // toggle PA16
}
}
//******** Consumer ***************
// foreground thread, accepts data from producer
// calculates FFT, sends DC component to Display
// inputs: none
// outputs: none
void Display(void);
void Consumer(void){
uint32_t data,DCcomponent; // 12-bit raw ADC sample, 0 to 4095
uint32_t t; // time in 2.5 ms
LPF_Init7(500,7);
TFLuna2_Init(&Producer);
TFLuna2_Format_Standard_mm(); // format in mm
TFLuna2_Frame_Rate(); // 100 samples/sec
TFLuna2_SaveSettings(); // save format and rate
TFLuna2_System_Reset(); // start measurements
NumCreated += OS_AddThread(&Display,128,0);
while(FilterWork < RUNLENGTH) {
for(t = 0; t < 16; t++){ // collect 64 ADC samples
data = OS_Fifo_Get(); // get from producer, mm
x[t] = data; // real part is 0 to 4095, imaginary part is 0
}
TogglePB4(); // toggle PB4
DFT16(x,ReX,ImX); // complex FFT of last 16 distance values
TogglePB4(); // toggle PB4
DCcomponent = ReX[0]&0xFFFF; // Real part at frequency 0, imaginary part should be zero
OS_MailBox_Send(DCcomponent); // called every 10ms*16 = 160ms
}
OS_Kill(); // done
}
//******** Display ***************
// foreground thread, accepts data from consumer
// displays calculated results on the LCD
// inputs: none
// outputs: none
void Display(void){
uint32_t data,voltage,distance;
uint32_t myId = OS_Id();
ST7735_Message(0,1,"Run length = ",(RUNLENGTH)/FS); // top half used for Display
while(FilterWork < RUNLENGTH) {
TogglePB1(); // toggle PB1
data = OS_MailBox_Recv();
voltage = 3000*data/4095; // calibrate your device so voltage is in mV
distance = IRDistance_Convert(data,1); // you will calibrate this in Lab 6
TogglePB1(); // toggle PB1
ST7735_Message(0,2,"v(mV) =",voltage);
ST7735_Message(0,3,"d(mm) =",distance);
TogglePB1(); // toggle PB1
}
ST7735_Message(0,4,"Num samples =",FilterWork);
OS_Kill(); // done
}
//--------------end of Task 3-----------------------------
//------------------Task 4--------------------------------
// CPU Bound
// foreground thread that runs without waiting or sleeping
// it executes a virus detector
uint32_t Check(uint32_t start, uint32_t end){
uint32_t sum=0;
uint32_t *pt; pt = (uint32_t *)start;
while((uint32_t)pt < end){
sum += *pt++;
}
return sum;
}
//******** Virus Detector ***************
// foreground thread, performs a checksum of all ROM
// never blocks, never sleeps, never dies
// inputs: none
// outputs: none
uint32_t Checksum; // sum of data stored in ROM
uint32_t ChecksumOriginal; // sum of data stored in ROM
uint32_t ChecksumErrors;
void VirusDetector(void){
Checks = ChecksumErrors = 0;
ChecksumOriginal = Check(0,0x20000);
while(1) {
TogglePB20(); // toggle PB20
Checksum = Check(0,0x20000);
Checks++;
if(Checksum != ChecksumOriginal){
ChecksumErrors++;
}
}
}
//--------------end of Task 4-----------------------------
//------------------Task 5--------------------------------
// I/O Bound
// UART0 background ISR performs serial input/output
// Two software fifos are used to pass I/O data to foreground
// The interpreter runs as a foreground thread
// The UART0 driver should call OS_Wait(&RxDataAvailable) when foreground tries to receive
// The UART0 ISR should call OS_Signal(&RxDataAvailable) when it receives data from Rx
// Similarly, the transmit channel waits on a semaphore in the foreground
// and the UART0 ISR signals this semaphore (TxRoomLeft) when getting data from fifo
//******** Interpreter ***************
// Modify your intepreter from Lab 1, adding commands to help debug
// Interpreter is a foreground thread, accepts input from serial port, outputs to serial port
// inputs: none
// outputs: none
void Interpreter(void); // just a prototype, link to your interpreter
// add the following commands, leave other commands, if they make sense
// 1) print performance measures
// time-jitter, number of data points lost, number of calculations performed
// i.e., NumCreated, MaxJitter, DataLost, FilterWork, Check
// 2) print debugging parameters
// i.e., Checks, ChecksumErrors
// Call these from your interpreter
void Lab2(void){int i;
UART_OutString("\r\nLab 2 performance data");
UART_OutString("\r\nFilterWork = "); UART_OutUDec(FilterWork);
UART_OutString("\r\nNumCreated = "); UART_OutUDec(NumCreated);
UART_OutString("\r\nChecksWork = "); UART_OutUDec(ChecksWork);
UART_OutString("\r\nDataLost = "); UART_OutUDec(DataLost);
UART_OutString("\r\nMaxJitter(cyc)= "); UART_OutUDec(MaxJitter);
}
void Lab2_device(int device){int i;
UART_OutString("\r\nLab 2 performance data");
ST7735_Message(device, 0, "FilterWork = ", FilterWork);
ST7735_Message(device, 1, "NumCreated = ", NumCreated);
ST7735_Message(device, 2, "ChecksWork = ", ChecksWork);
ST7735_Message(device, 3, "DataLost = ", DataLost);
ST7735_Message(device, 4, "MaxJitter(cyc)= ", MaxJitter);
UART_OutString("\r\nFilterWork = "); UART_OutUDec(FilterWork);
UART_OutString("\r\nNumCreated = "); UART_OutUDec(NumCreated);
UART_OutString("\r\nChecksWork = "); UART_OutUDec(ChecksWork);
UART_OutString("\r\nDataLost = "); UART_OutUDec(DataLost);
UART_OutString("\r\nMaxJitter(cyc)= "); UART_OutUDec(MaxJitter);
}
void DFT(void){ int i; int32_t real,imag,mag;
UART_OutString("\r\nLab 2/3/4 DFT data");
UART_OutString("\r\nInput, Output Real, Output Imaginary, Magnitude");
for(i=0; i<8; i++){
real = ReX[i];
imag = ImX[i];
mag = sqrt2(real*real+imag*imag);
UART_OutString("\r\n"); UART_OutUDec(x[i]); UART_OutChar(' '); UART_OutSDec(real); UART_OutChar(' '); UART_OutSDec(imag);
UART_OutChar(' '); UART_OutSDec(mag);
}
}
void Jitter(void){ int i;
UART_OutString("\r\nLab 2 Real-time sampling jitter (12.5ns)");
UART_OutString("\r\nTime, Frequency");
for(i=0; i<JitterSize; i++){
if(JitterHistogram[i]){ // skip blanks
UART_OutString("\r\n"); UART_OutUDec3(i); UART_OutUDec5(JitterHistogram[i]);
}
}
UART_OutString("\r\nMaxJitter(12.5ns) = "); UART_OutUDec(MaxJitter);
}
//--------------end of Task 5-----------------------------
//*******************final user main DEMONTRATE THIS TO TA**********
int realmain(void){ // realmain
OS_Init(); // initialize, disable interrupts
Logic_Init();
DataLost = 0; // lost data between producer and consumer
FilterWork = 0;
Jitter_Init();
OS_InitSemaphore(&LCDFree, 1);
// initialize communication channels
OS_MailBox_Init();
OS_Fifo_Init(64); // ***note*** 4 is not big enough*****
// hardware init
ADC0_Init(3,ADCVREF_VDDA); // PA24 Center ADC0_3, sampling in DAS()
// attach background tasks
OS_AddS2Task(&S2Push,1);
OS_AddPeriodicThread(&DAS,PERIOD/80000,0); // 1 kHz real time sampling of ADC0_3
// create initial foreground threads
NumCreated = 0;
NumCreated += OS_AddThread(&Consumer,128,0);
NumCreated += OS_AddThread(&Interpreter,128,0);
NumCreated += OS_AddThread(&VirusDetector,128,0);
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//+++++++++++++++++++++++++DEBUGGING CODE++++++++++++++++++++++++
// ONCE YOUR RTOS WORKS YOU CAN COMMENT OUT THE REMAINING CODE
//
//*******************Initial TEST**********
// This is the simplest configuration, test this first, (Lab 2 part 1)
// run this with
// no UART interrupts
// no timer interrupts
// no switch interrupts
// no ADC serial port or LCD output
// no calls to semaphores
uint32_t Count0; // number of times thread0 loops
uint32_t Count1; // number of times thread1 loops
uint32_t Count2; // number of times thread2 loops
uint32_t Count3; // number of times thread3 loops
uint32_t Count4; // number of times thread4 loops
uint32_t Count5; // number of times thread5 loops
void Thread0(void){
Count0 = 0;
for(;;){
TogglePA8(); // toggle PA8
Count0++;
OS_Suspend(); // cooperative multitasking
}
}
void Thread1(void){
Count1 = 0;
for(;;){
TogglePA9(); // toggle PA9
Count1++;
OS_Suspend(); // cooperative multitasking
}
}
void Thread2(void){
Count2 = 0;
for(;;){
TogglePA16(); // toggle PA16
Count2++;
OS_Suspend(); // cooperative multitasking
}
}
int Testmain1(void){ // Testmain1
OS_Init(); // initialize, disable interrupts
Logic_Init(); // profile user threads
NumCreated = 0 ;
NumCreated += OS_AddThread(&Thread0,128,0);
NumCreated += OS_AddThread(&Thread1,128,0);
NumCreated += OS_AddThread(&Thread2,128,0);
// Count0 Count1 Count2 should be equal or off by one at all times
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************Second TEST**********
// Once the initalize test runs, test this (Lab 2 part 1)
// no UART interrupts
// SYSTICK interrupts, with or without period established by OS_Launch
// no timer interrupts
// no switch interrupts
// no ADC serial port or LCD output
// no calls to semaphores
void Thread0b(void){
Count0 = 0;
for(;;){
TogglePA8(); // toggle PA8
Count0++;
}
}
void Thread1b(void){
Count1 = 0;
for(;;){
TogglePA9(); // toggle PA9
Count1++;
}
}
void Thread2b(void){
Count2 = 0;
for(;;){
TogglePA16(); // toggle PA16
Count2++;
}
}
int Testmain2(void){ // Testmain2
OS_Init(); // initialize, disable interrupts
Logic_Init(); // profile user threads
NumCreated = 0 ;
NumCreated += OS_AddThread(&Thread0b,128,0);
NumCreated += OS_AddThread(&Thread1b,128,0);
NumCreated += OS_AddThread(&Thread2b,128,0);
// Count0 Count1 Count2 should be equal on average
// counts are much larger than Testmain1
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************Third TEST**********
// Once the second test runs, test this (Lab 2 part 2)
// no UART interrupts
// SYSTICK interrupts, with or without period established by OS_Launch
// no timer interrupts
// no switch interrupts
// no ADC serial port or LCD output
// no calls to semaphores
// tests AddThread, Sleep and Kill
// Logic analyzer pattern repeats approximately every 5ms
// PA9 toggles once
// PA16 toggles many times for about 2ms
// PA8 toggles 42 times
// PA16 toggles many times for about 3ms
void Thread0c(void){ int i;
Count0 = 0;
for(i=0; i<42; i++){
TogglePA8(); // toggle PA8
Count0++;
}
OS_Kill();
Count0 = 0;
}
void Thread1c(void){
Count1 = 0;
for(;;){
TogglePA9(); // toggle PA9
Count1++;
NumCreated += OS_AddThread(&Thread0c,128,0);
OS_Sleep(5);
}
}
void Thread2c(void){
Count2 = 0;
for(;;){
TogglePA16(); // toggle PA16
Count2++;
}
}
int Testmain3(void){ // Testmain3
OS_Init(); // initialize, disable interrupts
Logic_Init(); // profile user threads
NumCreated = 0 ;
NumCreated += OS_AddThread(&Thread1c,128,0);
NumCreated += OS_AddThread(&Thread2c,128,0);
// Count2 should be larger than Count1, Count0 should be 42
// NumCreated should slowly increase creating 1000s of threads (which kill)
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************Fourth TEST**********
// Once the third test runs, test this (Lab 2 part 2)
// no UART interrupts
// SYSTICK interrupts, with or without period established by OS_Launch
// Timer interrupts, with or without period established by OS_AddPeriodicThread
// PB21 edge triggered interrupts, falling edge because S2 is negative logic
// no ADC serial port or LCD output
// tests the spinlock semaphores, tests Sleep and Kill
Sema4_t Readyd; // set in background
int Lost;
void BackgroundThread1d(void){ // called at 1000 Hz
Count1++;
TogglePA8(); // toggle PA8
OS_Signal(&Readyd);
}
void Thread5d(void){
for(;;){
OS_Wait(&Readyd);
TogglePA9(); // toggle PA9
Count5++; // Count2 + Count5 should equal Count1
Lost = Count1-Count5-Count2;
}
}
void Thread2d(void){
OS_InitSemaphore(&Readyd,0);
Count1 = 0; // number of times signal is called
Count2 = 0;
Count5 = 0; // Count2 + Count5 should equal Count1
NumCreated += OS_AddThread(&Thread5d,128,0);
OS_AddPeriodicThread(&BackgroundThread1d,TIME_1MS/80000,0);
for(;;){
OS_Wait(&Readyd);
TogglePA16(); // toggle PA16
Count2++; // Count2 + Count5 should equal Count1
}
}
void Thread3d(void){
Count3 = 0;
for(;;){
TogglePB4(); // toggle PB4
Count3++;
}
}
void Thread4d(void){ int i;
for(i=0;i<64;i++){
Count4++;
TogglePB1(); // toggle PB1
OS_Sleep(10);
}
OS_Kill();
Count4 = 0;
}
void BackgroundThread5d(void){ // called when S2 button pushed
NumCreated += OS_AddThread(&Thread4d,128,0);
Count0++;
TogglePB20(); // toggle PB20
}
int Testmain4(void){ // Testmain4
Count4 = 0;
OS_Init(); // initialize, disable interrupts
Logic_Init();
// Count2 + Count5 should equal Count1
// Count0 increases by 1 every time S2 is pressed
// Thread4d runs once making Count4 64 (the line Count4=0 should NOT run)
// Count4 increases by 64 every time S2 is pressed
NumCreated = 0 ;
OS_AddS2Task(&BackgroundThread5d,1);
NumCreated += OS_AddThread(&Thread2d,128,0);
NumCreated += OS_AddThread(&Thread3d,128,0);
NumCreated += OS_AddThread(&Thread4d,128,0);
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************Fifth TEST**********
// Once the fourth test runs, run this example (Lab 2 part 2)
// no UART interrupts
// SYSTICK interrupts, with or without period established by OS_Launch
// Timer interrupts, with or without period established by OS_AddPeriodicThread
// S2 switch interrupts, active low
// no ADC serial port or LCD output
// tests the spinlock semaphores, tests Sleep and Kill
Sema4_t Readye; // set in background
void BackgroundThread1e(void){ // called at 1000 Hz
static int i=0;
i++;
if(i==50){
i = 0; //every 50 ms
Count1++;
OS_bSignal(&Readye);
}
}
void Thread2e(void){
OS_InitSemaphore(&Readye,0);
Count1 = 0;
Count2 = 0;
for(;;){
OS_bWait(&Readye);
Count2++; // Count2 should be equal to Count1
}
}
void Thread3e(void){
Count3 = 0;
for(;;){
Count3++; // Count3 should be large
}
}
void Thread4e(void){ int i;
for(i=0;i<640;i++){
Count4++; // Count4 should increase on button press
OS_Sleep(1);
}
OS_Kill();
}
void BackgroundThread5e(void){ // called when S2 button pushed
Count0++;
NumCreated += OS_AddThread(&Thread4e,128,0);
}
int Testmain5(void){ // Testmain5
Count4 = 0;
OS_Init(); // initialize, disable interrupts
// Count1 should exactly equal Count2
// Count3 should be very large
// Thread4e runs once making Count4 640
// Count0 increments by 1, and Count4 increases by 640 every time S2 is pressed
NumCreated = 0 ;
OS_AddPeriodicThread(&BackgroundThread1e,PERIOD/80000,0);
OS_AddS2Task(&BackgroundThread5e,1);
NumCreated += OS_AddThread(&Thread2e,128,0);
NumCreated += OS_AddThread(&Thread3e,128,0);
NumCreated += OS_AddThread(&Thread4e,128,0);
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************Test of S2 task latency *******************
void Thread1S2(){
while(1){
TogglePA8();
OS_Sleep(1);
}
}
void Thread2S2(){
while(1){
TogglePA9();
}
}
void ThreadPeriodic(){
TogglePA16();
}
void FunTask(){
for (int i = 0; i < 42; i++){
TogglePB4();
}
OS_Kill();
}
void ThreadS2(){ // Called when S2 pressed
TogglePB1();
NumCreated += OS_AddThread(&FunTask, 128, 0);
}
int TestmainS2(){
OS_Init();
Logic_Init();
NumCreated = 0;
OS_AddS2Task(&ThreadS2, 1);
OS_AddPeriodicThread(&ThreadPeriodic, 1, 0);
NumCreated += OS_AddThread(&Thread1S2, 128, 0);
NumCreated += OS_AddThread(&Thread2S2, 128, 0);
OS_Launch(TIME_2MS);
return 0; // Should never return
}
//*******************Measurement of context switch time**********
// Run this to measure the time it takes to perform a task switch
// UART0 not needed
// SYSTICK interrupts, period established by OS_Launch
// first timer not needed
// second timer not needed
// S1 not needed,
// S2 not needed
// logic analyzer on PB22 for systick interrupt (in your OS)
// on PA8 to measure context switch time
void ThreadCS(void){ // only thread running
while(1){
TogglePA8(); // toggle PA8
}
}
int TestmainCS(void){ // TestmainCS
Logic_Init();
OS_Init(); // initialize, disable interrupts
NumCreated = 0 ;
NumCreated += OS_AddThread(&ThreadCS,128,0);
OS_Launch(TIME_1MS/10); // 100us, doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************FIFO TEST**********
// FIFO test
// Count1 should exactly equal Count2
// Count3 should be very large
// Error8 should be 0
// DataLost should be 0
// Timer interrupts, with period established by OS_AddPeriodicThread
uint32_t OtherCount1;
uint32_t Expected8; // last data read+1
uint32_t Error8;
void ConsumerThreadFIFO(void){
Count2 = 0;
for(;;){
OtherCount1 = OS_Fifo_Get();
if(OtherCount1 != Expected8){
Error8++;
}
Expected8 = OtherCount1+1; // should be sequential
Count2++;
}
}
void FillerThreadFIFO(void){
Count3 = 0;
for(;;){
Count3++;
}
}
void BackgroundThreadFIFOProducer(void){ // called periodically
if(OS_Fifo_Put(Count1) == 0){ // send to consumer
DataLost++;
}
Count1++;
}
int TestmainFIFO(void){ // TestmainFIFO
Count1 = 0; DataLost = 0;
Expected8 = 0; Error8 = 0;
OS_Init(); // initialize, disable interrupts
NumCreated = 0 ;
OS_AddPeriodicThread(&BackgroundThreadFIFOProducer,PERIOD/80000,0);
OS_Fifo_Init(16);
NumCreated += OS_AddThread(&ConsumerThreadFIFO,128,0);
NumCreated += OS_AddThread(&FillerThreadFIFO,128,0);
OS_Launch(TIME_2MS); // doesn't return, interrupts enabled in here
return 0; // this never executes
}
//*******************Trampoline for selecting which main to execute**********
int main(void) { // main
__disable_irq();
Clock_Init80MHz(0); // no clock out to pin
LaunchPad_Init(); // LaunchPad_Init must be called once and before other I/O initializations
realmain();
}

67
RTOS_Lab2_RTOSkernel/mspm0g3507.cmd Executable file
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@@ -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
}

22
RTOS_Lab2_RTOSkernel/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
RTOS_Lab2_RTOSkernel/targetConfigs/readme.txt Normal file
View 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.

201
RTOS_Lab2_RTOSkernel/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
// message in a bottle
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
}
}