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<p style="text-align: center;" align="center"><span
style="font-size: 18pt;">RTOS_Lab5_ProcessLoader</span><br>
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<p><b><span style="font-size: 18pt;">Readme</b></span>
<br> <br>
This is the starter project for ECE445M Lab 5. For more information
see <a href="https://users.ece.utexas.edu/~valvano/EE445M/" target="_blank">ECE445M class web page</a> <br> <br>
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<p><b><span style="font-size: 18pt;">Hardware Required</b></span>
<br>
<ul>
<li>MSPM0G3507 LaunchPad™ Development Kit (LP-MSPM0G3507)</li>
<li>ECE445M Sensor board</li>
<li>One TFLuna</li>
<li>One robot bump switch</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>GPIO Input: PA28 is negative logic bump 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>
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<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>.
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