all

2026-06-12 02:55:04 -07:00
commit 30406f4f49
2040 changed files with 571534 additions and 0 deletions
--- a/RTOS_MotorBoard/bump.c
+++ b/RTOS_MotorBoard/bump.c
@@ -0,0 +1,79 @@
+
+#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"
+#include "bump.h"
+#include <stddef.h>
+
+#define bump_right_pin (1<<31)
+#define bump_left_pin  (1<<27)
+#define bump_center_pin (1<<28)
+#define bump_pins (bump_right_pin | bump_center_pin | bump_left_pin)
+
+extern void (*BumpTask)(bump_status);
+
+void bump_init(){ 
+    
+    IOMUX->SECCFG.PINCM[PA28INDEX] = (uint32_t) 0x00060081; // input, pull up
+    IOMUX->SECCFG.PINCM[PA31INDEX] = (uint32_t) 0x00060081;
+    IOMUX->SECCFG.PINCM[PA27INDEX] = (uint32_t) 0x00060081;
+  // From EdgeTriggered.c
+    GPIOA->POLARITY31_16 |= (2 << 22) | (2 << 24) | (2 << 30);
+   GPIOA->CPU_INT.ICLR = bump_pins;
+    GPIOA->CPU_INT.IMASK |= bump_pins;
+
+  // These were probably already done by S2 task but we'll just do it again
+  NVIC->IP[0] = (NVIC->IP[0]&(~0x0000FF00))|1<<14;    // set priority (bits 15,14) IRQ 1
+  NVIC->ISER[0] = 1 << 1; // Group1 interrupt
+
+    
+}
+bump_status bump_read(void){
+    uint32_t pins = GPIOA->DIN31_0;
+    bump_status status = 0x00; // no collisiosn
+
+    if((pins & bump_right_pin) == 0 ){
+        status |= bump_right;
+    }
+    if((pins & bump_left_pin)==0){
+        status|= bump_left;
+    }
+    if(( pins & bump_center_pin)==0){
+        status |= bump_center;
+    }
+    return status;
+}
+void bump_enable_interuppts(){
+    GPIOA->CPU_INT.ICLR =  bump_pins;
+    GPIOA->CPU_INT.IMASK = bump_pins;
+    NVIC->IP[0] = (NVIC->IP[0] & (~0x000000FF)) | (2 << 6);  // priority 2
+    
+    NVIC_EnableIRQ(GPIOA_INT_IRQn);
+}
+void bump_disable_interuppts(){
+     GPIOA->CPU_INT.IMASK &= ~bump_pins;
+}
+void Bump_RegisterCallback(void( *callback)(bump_status status)){
+    BumpTask= callback;
+}
+void bump_collision(){
+    PWMA0_Break();
+    PWMA1_Break();
+}
+
+void Set_Servo(int16_t angle){
+   uint32_t center = 3100;
+
+    if(angle > 53)  angle = 53;
+    if(angle < -53) angle = -53;
+
+    
+    int32_t offset = (angle * 1200) / 53;
+    uint32_t ServoDuty = center + offset;
+ 
+    PWMG6_SetDuty(ServoDuty);
+}