Lab 12 complete

rosterloh · Apr 6, 2014 · baed755 · baed755
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diff --git a/DCMotor/DCMotor.build_log.htm b/DCMotor/DCMotor.build_log.htm
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+<html>
+<body>
+<pre>
+<h1>µVision Build Log</h1>
+<h2>Project:</h2>
+D:\Dropbox\EdX\TM4Cware\C12_DCMotor\DCMotor.uvproj
+Project File Date:  09/08/2013
+
+<h2>Output:</h2>
+Build target 'DCMotor'
+assembling startup.s...
+compiling PLL.c...
+compiling DCMotor.c...
+linking...
+Program Size: Code=1796 RO-data=32 RW-data=8 ZI-data=1120  
+".\DCMotor.axf" - 0 Error(s), 0 Warning(s).
+Clean started: Project: 'DCMotor'
+   deleting intermediate output files for target 'DCMotor'
+</pre>
+</body>
+</html>
diff --git a/DCMotor/DCMotor.c b/DCMotor/DCMotor.c
@@ -0,0 +1,138 @@
+// DCMotor.c
+// Runs on LM4F120 or TM4C123
+// Use SysTick interrupts to implement a software PWM to drive
+// a DC motor at a given duty cycle.  The built-in button SW1
+// increases the speed, and SW2 decreases the speed.
+// Daniel Valvano, Jonathan Valvano
+// August 6, 2013
+
+/* This example accompanies the book
+   "Embedded Systems: Introduction to ARM Cortex M Microcontrollers",
+   ISBN: 978-1469998749, Jonathan Valvano, copyright (c) 2013
+   "Embedded Systems: Real Time Interfacing to ARM Cortex M Microcontrollers",
+   ISBN: 978-1463590154, Jonathan Valvano, copyright (c) 2013
+
+ Copyright 2013 by Jonathan W. Valvano, valvano@mail.utexas.edu
+    You may use, edit, run or distribute this file
+    as long as the above copyright notice remains
+ THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
+ OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
+ MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
+ VALVANO SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
+ OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
+ For more information about my classes, my research, and my books, see
+ http://users.ece.utexas.edu/~valvano/
+ */
+
+// PA5 connected to DC motor interface
+
+#include "PLL.h"
+
+#define GPIO_PORTA_DATA_R       (*((volatile unsigned long *)0x400043FC))
+#define GPIO_PORTA_DIR_R        (*((volatile unsigned long *)0x40004400))
+#define GPIO_PORTA_AFSEL_R      (*((volatile unsigned long *)0x40004420))
+#define GPIO_PORTA_DR8R_R       (*((volatile unsigned long *)0x40004508))
+#define GPIO_PORTA_DEN_R        (*((volatile unsigned long *)0x4000451C))
+#define GPIO_PORTA_AMSEL_R      (*((volatile unsigned long *)0x40004528))
+#define GPIO_PORTA_PCTL_R       (*((volatile unsigned long *)0x4000452C))
+#define GPIO_PORTF_DATA_R       (*((volatile unsigned long *)0x400253FC))
+#define GPIO_PORTF_DIR_R        (*((volatile unsigned long *)0x40025400))
+#define GPIO_PORTF_IS_R         (*((volatile unsigned long *)0x40025404))
+#define GPIO_PORTF_IBE_R        (*((volatile unsigned long *)0x40025408))
+#define GPIO_PORTF_IEV_R        (*((volatile unsigned long *)0x4002540C))
+#define GPIO_PORTF_IM_R         (*((volatile unsigned long *)0x40025410))
+#define GPIO_PORTF_RIS_R        (*((volatile unsigned long *)0x40025414))
+#define GPIO_PORTF_ICR_R        (*((volatile unsigned long *)0x4002541C))
+#define GPIO_PORTF_AFSEL_R      (*((volatile unsigned long *)0x40025420))
+#define GPIO_PORTF_PUR_R        (*((volatile unsigned long *)0x40025510))
+#define GPIO_PORTF_DEN_R        (*((volatile unsigned long *)0x4002551C))
+#define GPIO_PORTF_LOCK_R       (*((volatile unsigned long *)0x40025520))
+#define GPIO_LOCK_KEY           0x4C4F434B  // Unlocks the GPIO_CR register
+#define GPIO_PORTF_CR_R         (*((volatile unsigned long *)0x40025524))
+#define GPIO_PORTF_AMSEL_R      (*((volatile unsigned long *)0x40025528))
+#define GPIO_PORTF_PCTL_R       (*((volatile unsigned long *)0x4002552C))
+#define SYSCTL_RCGC2_R          (*((volatile unsigned long *)0x400FE108))
+#define NVIC_ST_CTRL_R          (*((volatile unsigned long *)0xE000E010))
+#define NVIC_ST_RELOAD_R        (*((volatile unsigned long *)0xE000E014))
+#define NVIC_ST_CURRENT_R       (*((volatile unsigned long *)0xE000E018))
+#define NVIC_EN0_R              (*((volatile unsigned long *)0xE000E100))
+#define NVIC_PRI7_R             (*((volatile unsigned long *)0xE000E41C))
+#define NVIC_SYS_PRI3_R         (*((volatile unsigned long *)0xE000ED20))
+
+// basic functions defined at end of startup.s
+void DisableInterrupts(void); // Disable interrupts
+void EnableInterrupts(void);  // Enable interrupts
+long StartCritical (void);    // previous I bit, disable interrupts
+void EndCritical(long sr);    // restore I bit to previous value
+void WaitForInterrupt(void);  // low power mode
+
+unsigned long H,L;
+void Motor_Init(void){
+  SYSCTL_RCGC2_R |= 0x00000001; // activate clock for port A
+  H = L = 40000;                // 50%
+  GPIO_PORTA_AMSEL_R &= ~0x20;      // disable analog functionality on PA5
+  GPIO_PORTA_PCTL_R &= ~0x00F00000; // configure PA5 as GPIO
+  GPIO_PORTA_DIR_R |= 0x20;     // make PA5 out
+  GPIO_PORTA_DR8R_R |= 0x20;    // enable 8 mA drive on PA5
+  GPIO_PORTA_AFSEL_R &= ~0x20;  // disable alt funct on PA5
+  GPIO_PORTA_DEN_R |= 0x20;     // enable digital I/O on PA5
+  GPIO_PORTA_DATA_R &= ~0x20;   // make PA5 low
+  NVIC_ST_CTRL_R = 0;           // disable SysTick during setup
+  NVIC_ST_RELOAD_R = L-1;       // reload value for 500us
+  NVIC_ST_CURRENT_R = 0;        // any write to current clears it
+  NVIC_SYS_PRI3_R = (NVIC_SYS_PRI3_R&0x00FFFFFF)|0x40000000; // priority 2
+  NVIC_ST_CTRL_R = 0x00000007;  // enable with core clock and interrupts
+}
+void SysTick_Handler(void){
+  if(GPIO_PORTA_DATA_R&0x20){   // toggle PA5
+    GPIO_PORTA_DATA_R &= ~0x20; // make PA5 low
+    NVIC_ST_RELOAD_R = L-1;     // reload value for low phase
+  } else{
+    GPIO_PORTA_DATA_R |= 0x20;  // make PA5 high
+    NVIC_ST_RELOAD_R = H-1;     // reload value for high phase
+  }
+}
+void Switch_Init(void){  unsigned long volatile delay;
+  SYSCTL_RCGC2_R |= 0x00000020; // (a) activate clock for port F
+  delay = SYSCTL_RCGC2_R;
+  GPIO_PORTF_LOCK_R = 0x4C4F434B; // unlock GPIO Port F
+  GPIO_PORTF_CR_R = 0x11;         // allow changes to PF4,0
+  GPIO_PORTF_DIR_R &= ~0x11;    // (c) make PF4,0 in (built-in button)
+  GPIO_PORTF_AFSEL_R &= ~0x11;  //     disable alt funct on PF4,0
+  GPIO_PORTF_DEN_R |= 0x11;     //     enable digital I/O on PF4,0
+  GPIO_PORTF_PCTL_R &= ~0x000F000F; //  configure PF4,0 as GPIO
+  GPIO_PORTF_AMSEL_R &= ~0x11;  //     disable analog functionality on PF4,0
+  GPIO_PORTF_PUR_R |= 0x11;     //     enable weak pull-up on PF4,0
+  GPIO_PORTF_IS_R &= ~0x11;     // (d) PF4,PF0 is edge-sensitive
+  GPIO_PORTF_IBE_R &= ~0x11;    //     PF4,PF0 is not both edges
+  GPIO_PORTF_IEV_R &= ~0x11;    //     PF4,PF0 falling edge event
+  GPIO_PORTF_ICR_R = 0x11;      // (e) clear flags 4,0
+  GPIO_PORTF_IM_R |= 0x11;      // (f) arm interrupt on PF4,PF0
+  NVIC_PRI7_R = (NVIC_PRI7_R&0xFF00FFFF)|0x00400000; // (g) priority 2
+  NVIC_EN0_R = 0x40000000;      // (h) enable interrupt 30 in NVIC
+}
+// L range: 8000,16000,24000,32000,40000,48000,56000,64000,72000
+// power:   10%    20%   30%   40%   50%   60%   70%   80%   90%
+void GPIOPortF_Handler(void){ // called on touch of either SW1 or SW2
+  if(GPIO_PORTF_RIS_R&0x01){  // SW2 touch
+    GPIO_PORTF_ICR_R = 0x01;  // acknowledge flag0
+    if(L>8000) L = L-8000;    // slow down
+  }
+  if(GPIO_PORTF_RIS_R&0x10){  // SW1 touch
+    GPIO_PORTF_ICR_R = 0x10;  // acknowledge flag4
+    if(L<72000) L = L+8000;   // speed up
+  }
+  H = 80000-L; // constant period of 1ms, variable duty cycle
+}
+
+int main(void){
+  DisableInterrupts();  // disable interrupts while initializing
+  PLL_Init();           // bus clock at 80 MHz
+  Motor_Init();         // output from PA5, SysTick interrupts
+  Switch_Init();        // arm PF4, PF0 for falling edge interrupts
+  EnableInterrupts();   // enable after all initialization are done
+  while(1){
+    // main program is free to perform other tasks
+    WaitForInterrupt(); // low power mode
+  }
+}
diff --git a/DCMotor/DCMotor.plg b/DCMotor/DCMotor.plg
@@ -0,0 +1,9 @@
+<html>
+<body>
+<pre>
+<h1>�Vision Build Log</h1>
+<h2>Project:</h2>
+D:\My Dropbox\EdX\TM4Cware\C12_DCMotor\DCMotor.uvproj
+Project File Date:  09/08/2013
+
+<h2>Output:</h2>
diff --git a/DCMotor/DCMotor.tra b/DCMotor/DCMotor.tra
@@ -0,0 +1,20 @@
+*** Creating Trace Output File 'DCMotor.tra' Ok.
+### Preparing for ADS-LD.
+### Creating ADS-LD Command Line
+### List of Objects: adding '"startup.o"'
+### List of Objects: adding '"pll.o"'
+### List of Objects: adding '"dcmotor.o"'
+### ADS-LD Command completed:
+--cpu Cortex-M4 "startup.o" "pll.o" "dcmotor.o" --ro-base 0x00000000 --entry 0x00000000 --rw-base 0x20000000 --entry Reset_Handler --first __Vectors --strict --summary_stderr --info summarysizes --map --xref --callgraph --symbols 
+--info sizes --info totals --info unused --info veneers 
+ --list ".\DCMotor.map" -o DCMotor.axf### Preparing Environment (PrepEnvAds)
+### ADS-LD Output File: 'DCMotor.axf'
+### ADS-LD Command File: 'DCMotor.lnp'
+### Checking for dirty Components...
+### Creating CmdFile 'DCMotor.lnp', Handle=0x00000520
+### Writing '.lnp' file
+### ADS-LD Command file 'DCMotor.lnp' is ready.
+### ADS-LD: About to start ADS-LD Thread.
+### ADS-LD: executed with 0 errors
+### Updating obj list
+### LDADS_file() completed.