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configuration.c

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+/*
+ * configuration.c
+ * Scooter final project's configuration file for timer, gpio, uart, etc.
+ * Authors: Ryan ZumBrunnen, Guanxiong Fu and Arash Yousefdezah
+ * Created on: October 26, 2017
+ *
+ */
+
+#include "msp.h"
+#include "configuration.h"
+#include "interrupt_handlers.h"
+#include "conversion.h"
+#include <grlib.h>
+#include "Crystalfontz128x128_ST7735.h"
+
+extern Graphics_Context g_sContext;
+
+void display_configure(void)
+{
+    /* Initializes display */
+    Crystalfontz128x128_Init();
+
+    /* Set default screen orientation */
+    Crystalfontz128x128_SetOrientation(LCD_ORIENTATION_UP);
+
+    /* Initializes graphics context */
+    Graphics_initContext(&g_sContext, &g_sCrystalfontz128x128);
+    Graphics_setForegroundColor(&g_sContext, GRAPHICS_COLOR_RED);
+    Graphics_setBackgroundColor(&g_sContext, GRAPHICS_COLOR_WHITE);
+    GrContextFontSet(&g_sContext, &g_sFontFixed6x8);
+    Graphics_clearDisplay(&g_sContext);
+    Graphics_drawStringCentered(&g_sContext, "Velocity:", AUTO_STRING_LENGTH, 64, 30, OPAQUE_TEXT);
+    Graphics_drawStringCentered(&g_sContext, "Distance:", AUTO_STRING_LENGTH, 64, 60, OPAQUE_TEXT);
+    Graphics_drawStringCentered(&g_sContext, "Stopped", AUTO_STRING_LENGTH, 64, 90, OPAQUE_TEXT);
+}
+
+// configuration for GPIO ports
+void GPIO_configure(void)
+{
+    /* Left button configure */
+    P1->SEL0 &= ~(BIT1);
+    P1->SEL1 &= ~(BIT1);
+    P1->DIR &= ~(BIT1);
+    P1->OUT |= BIT1;
+    P1->REN |= BIT1;
+    P1->IFG &= ~(BIT1);
+    P1->IES |= BIT1;
+    P1->IE |= BIT1;
+
+    /* Right button configure */
+    P1->SEL0 &= ~(BIT4);
+    P1->SEL1 &= ~(BIT4);
+    P1->DIR &= ~(BIT4);
+    P1->OUT |= BIT4;
+    P1->REN |= BIT4;
+    P1->IFG &= ~(BIT4);
+    P1->IES |= BIT4;
+    P1->IE |= BIT4;
+
+    //Configure pin for input interrupt
+    P1->DIR &= ~(BIT6);
+    P1->SEL0 &= ~(BIT6);
+    P1->SEL1 &= ~(BIT6);
+    P1->IE |= BIT6;
+    P1->REN |= BIT6;
+    P1->IFG &= ~(BIT6);
+
+    /* P1.0 LED Output */
+    P1->DIR |= BIT0;
+    P1->SEL0 &= ~(BIT0);
+    P1->SEL1 &= ~(BIT0);
+    P1->OUT &= ~(BIT0);
+
+    /* RGB LED Output */
+    P2->DIR |= BIT0 | BIT1 | BIT2;
+    P2->SEL0 &= ~(BIT0 | BIT1 | BIT2);
+    P2->SEL1 &= ~(BIT0 | BIT1 | BIT2);
+    P2->OUT = BIT0; //Start with red on
+
+    P6->SEL0 |= BIT0;
+    P6->SEL1 |= BIT0;
+
+    NVIC_EnableIRQ(PORT1_IRQn);
+}
+
+// configuration for Timer32
+void timer_configure(void){
+    //enable prescaling, interrupt flag, and set to be periodically repeating
+    TIMER32_1->CONTROL |= TIMER32_CONTROL_PRESCALE_1 | TIMER32_CONTROL_IE | TIMER32_CONTROL_SIZE | TIMER32_CONTROL_MODE | TIMER32_CONTROL_ENABLE;
+    TIMER32_1->LOAD = 93749; //time to get 0.5sec
+    NVIC_EnableIRQ(T32_INT1_IRQn);
+}
+
+
+// configuration for ADC14
+void ADC_configure(void){
+    // Initialize the shared reference module
+    // By default, REFMSTR=1 => REFCTL is used to configure the internal reference
+    while(REF_A->CTL0 & REF_A_CTL0_GENBUSY); // If ref generator busy, WAIT
+    REF_A->CTL0 = REF_A_CTL0_VSEL_0 | REF_A_CTL0_ON; // Enable internal 1.2V ref
+    REF_A->CTL0 &= ~REF_A_CTL0_TCOFF; // Turn on Temperature Sensor
+
+    ADC14->CTL0 |= ADC14_CTL0_SHT0_5 | ADC14_CTL0_ON | ADC14_CTL0_SHP | ADC14_CTL0_CONSEQ_1; //multiple sampling (repeating sequence of channel)
+    ADC14->CTL1 |= ADC14_CTL1_TCMAP | BIT(16) | ADC14_CTL1_RES__14BIT ; // Conf internal temp sensor channel, ADC conversion start address from 1, set resolution to 14 bit
+    ADC14->MCTL[0]= ADC14_MCTLN_INCH_22 | ADC14_MCTLN_VRSEL_0; // Map Temp Analog channel to MEM0/MCTL0, set 3.3v ref
+    ADC14->MCTL[1]= ADC14_MCTLN_INCH_14 | ADC14_MCTLN_VRSEL_0; // Map Analog channel for Accelerometer x direction to MEM1/MCTL1, set 3.3v ref Accelerometer X Direction
+    ADC14->MCTL[2]= ADC14_MCTLN_INCH_13 | ADC14_MCTLN_VRSEL_0; // Y Direction to MEM2/MCTL2
+    ADC14->MCTL[3]= ADC14_MCTLN_INCH_11 | ADC14_MCTLN_VRSEL_0 | ADC14_MCTLN_EOS; //Z direction to MEM3/MCTL3
+    ADC14->IER0 = ADC14_IER0_IE0 | ADC14_IER0_IE1 | ADC14_IER0_IE2 | ADC14_IER0_IE3; // Enable MCTL1/MEM0 , MCTL1/MEM1 , MCTL2/MEM2 , MCTL3|MEM3 Interrupts
+
+    while(!(REF_A->CTL0 & REF_A_CTL0_GENRDY)); // Wait for ref generator to settle
+    ADC14->CTL0 |= ADC14_CTL0_ENC; // Enable Conversions
+    NVIC_EnableIRQ(ADC14_IRQn); // Enable ADC int in NVIC module
+}

configuration.h

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+/*
+ * configuration.c
+ * Scooter final project's header file for configuration
+ * Authors: Ryan ZumBrunnen, Guanxiong Fu and Arash Yousefdezah
+ * Created on: October 26, 2017
+ *
+ */
+
+#ifndef CONFIGURATION_H_
+#define CONFIGURATION_H_
+
+void display_configure(void);
+
+void GPIO_configure(void);
+
+void timer_configure(void);
+
+void ADC_configure(void);
+
+#endif /* CONFIGURATION_H_ */

conversion.c

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+/*
+ * conversion.c
+ * Scooter final project's implementation file for conversion functions
+ * Authors: Ryan ZumBrunnen, Guanxiong Fu and Arash Yousefdezah
+ * Created on: October 26, 2017
+ *
+ */
+
+#include "msp.h"
+#include "configuration.h"
+#include "interrupt_handlers.h"
+#include "conversion.h"
+#include "send_terminal.h"
+
+void reverse(char s[], int slength)
+{
+     int i, j;
+     char c;
+
+     for (i = 0, j = slength-1; i<j; i++, j--) {
+         c = s[i];
+         s[i] = s[j];
+         s[j] = c;
+     }
+ }
+
+ //itoa taken from https://en.wikibooks.org/wiki/C_Programming/stdlib.h/itoa and cahnged slightly
+int itoa(uint32_t n, char s[])
+{
+    int i, sign;
+    if ((sign = n) < 0)  /* record sign */
+        n = -n;          /* make n positive */
+    i = 0;
+    do {       /* generate digits in reverse order */
+        s[i++] = n % 10 + '0';   /* get next digit */
+    } while ((n /= 10) > 0);     /* delete it */
+    if (sign < 0)
+        s[i++] = '-';
+    s[i] = '\0';
+    reverse(s, i); //MIGHT BE MESSING WITH NULL CHARACTER
+    return i;
+}
+
+//ftoa taken from http://www.geeksforgeeks.org/convert-floating-point-number-string/
+//and modified to fit our needs better
+void ftoa(float n, char s[], int afterpoint){
+    // Extract integer part
+    int ipart = (int)n;
+
+    // Extract floating part
+    float fpart = n - (float)ipart;
+
+    // convert integer part to string
+    int position = itoa(ipart, s);
+
+    // check for display option after point
+    if (afterpoint != 0)
+    {
+        s[position] = '.';
+        // Get the value of fraction part upto given no.
+        // of points after dot. The third parameter is needed
+        // to handle cases like 233.007
+        int tempnum = 1;
+        int i=0;
+        for (i = 0; i < afterpoint; i++)
+            tempnum *= 10; //to get 10^afterpoint
+        fpart = fpart * tempnum; //should make this a number without dec
+        if (fpart<0)
+            fpart=abs(fpart);
+        tempnum/=10;
+        while (fpart<tempnum){ //adds back zeros between decimal and trailing digits
+            itoa(0,s+position+1);
+            tempnum /= 10;
+            position++;
+        }
+        itoa((uint32_t)fpart, s + position + 1);
+
+    }
+}
+

conversion.h

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+/*
+ * conversion.h
+ * Scooter final project's header file for conversion functions
+ * Authors: Ryan ZumBrunnen, Guanxiong Fu and Arash Yousefdezah
+ * Created on: October 26, 2017
+ *
+ */
+
+
+#ifndef CONVERSION_H_
+#define CONVERSION_H_
+#include <stdint.h>
+
+void reverse(char s[], int slength);
+
+int itoa(uint32_t n, char s[]);
+
+void ftoa(float n, char s[], int afterpoint);
+
+#endif /* CONVERSION_H_ */

interrupt_handlers.c

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+
+/*
+ * interrupt_handlers.c
+ * Scooter final project's implementation file for interrupt handlers
+ * Authors: Ryan ZumBrunnen, Guanxiong Fu and Arash Yousefdezah
+ * Created on: October 26, 2017
+ *
+ */
+
+#include "msp.h"
+#include "configuration.h"
+#include "interrupt_handlers.h"
+#include "conversion.h"
+#include "send_terminal.h"
+
+extern volatile uint8_t flag_dist;
+extern volatile uint8_t flag_vel;
+
+extern volatile uint32_t count_pin;
+extern volatile float distance;
+
+extern volatile float distance_prev;
+extern volatile float velocity;
+extern volatile float velocity_prev;
+
+extern volatile float Nadc;
+extern volatile float Nadcx;
+extern volatile float Nadcy;
+extern volatile float Nadcz;
+
+void PORT1_IRQHandler(void){
+    if (P1->IFG & BIT1){ // Left button press
+        flag_dist = 1;
+        P1->IFG &= ~BIT1; // clear interrupt flag for Left button
+        // NVIC_DisableIRQ(T32_INT1_IRQn);
+    }
+    if (P1->IFG & BIT4){ // Right button press
+        ADC14->CTL0 |= ADC14_CTL0_SC; // start sampling and conversion
+        P1->IFG &= ~BIT4;
+    }
+    if (P1->IFG & BIT6) { // input interrupt
+        count_pin++; // count the number of time the interrupt is triggered
+        P1->IFG &= ~(BIT6); // clear interrupt flag
+    }
+}
+
+
+void T32_INT1_IRQHandler(void){
+    distance = count_pin * 0.022;
+    velocity_prev = velocity;
+    velocity = distance - distance_prev;
+    distance_prev = distance;
+
+    flag_vel = 1; // goes to main because function calls inside ISRs is bad practice
+
+    ADC14->CTL0 |= ADC14_CTL0_SC; // start sampling and conversion
+
+    TIMER32_1->INTCLR = 0;
+}
+
+
+void ADC14_IRQHandler(void){
+    if (ADC14->IFGR0 & ADC14_IFGR0_IFG0){
+        Nadc = ADC14->MEM[0]; //Nadc value for temperature
+        // don't need to clear flag because it automatically clears when data is read
+    }
+    if (ADC14->IFGR0 & (ADC14_IFGR0_IFG1 | ADC14_IFGR0_IFG2 | ADC14_IFGR0_IFG3)){
+        Nadcx = ADC14->MEM[1]; // Nadc value for accelerometer in x direction
+        Nadcy = ADC14->MEM[2]; // y direction
+        Nadcz = ADC14->MEM[3]; // z direction
+    }
+}
+

interrupt_handlers.h

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+/*
+ * interrupt_handlers.h
+ * Scooter final project's header file for interrupt handlers
+ * Authors: Ryan ZumBrunnen, Guanxiong Fu and Arash Yousefdezah
+ * Created on: October 26, 2017
+ *
+ */
+
+
+#ifndef INTERRUPT_HANDLERS_H_
+#define INTERRUPT_HANDLERS_H_
+
+void PORT1_IRQHandler(void);
+
+void T32_INT1_IRQHandler(void);
+
+void ADC14_IRQHandler(void);
+
+#endif /* INTERRUPT_HANDLERS_H_ */