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MReenen
2024-02-22 11:22:14 +01:00
commit efd136e967
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19
pingpong_test/.ccsproject Normal file
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pingpong_test/.cproject Normal file
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2
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16
pingpong_test/.launches/pingpong_5_30.launch Normal file
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<stringAttribute key="org.eclipse.debug.core.source_locator_memento" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#10;&lt;sourceLookupDirector&gt;&#10; &lt;sourceContainers duplicates=&quot;false&quot;&gt;&#10; &lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#10;&amp;lt;default/&amp;gt;&amp;#10;&quot; typeId=&quot;org.eclipse.debug.core.containerType.default&quot;/&gt;&#10; &lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#10;&amp;lt;cpuSpecificContainer cpuName=&amp;quot;Texas Instruments XDS110 USB Debug Probe/Cortex_M4_0&amp;quot;&amp;gt;&amp;#10; &amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#10;&amp;amp;lt;project name=&amp;amp;quot;pingpong_5_30&amp;amp;quot; referencedProjects=&amp;amp;quot;true&amp;amp;quot;/&amp;amp;gt;&amp;amp;#10;&amp;quot; childType=&amp;quot;org.eclipse.debug.core.containerType.project&amp;quot;/&amp;gt;&amp;#10; &amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#10;&amp;amp;lt;default/&amp;amp;gt;&amp;amp;#10;&amp;quot; childType=&amp;quot;org.eclipse.debug.core.containerType.default&amp;quot;/&amp;gt;&amp;#10; &amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#10;&amp;amp;lt;productsSource/&amp;amp;gt;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.products.source&amp;quot;/&amp;gt;&amp;#10; &amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#10;&amp;amp;lt;deviceLibrarySource/&amp;amp;gt;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.device.library.source&amp;quot;/&amp;gt;&amp;#10; &amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#10;&amp;amp;lt;librarySource/&amp;amp;gt;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.library.source&amp;quot;/&amp;gt;&amp;#10;&amp;lt;/cpuSpecificContainer&amp;gt;&amp;#10;&quot; typeId=&quot;com.ti.ccstudio.debug.containerType.cpu.specific&quot;/&gt;&#10; &lt;/sourceContainers&gt;&#10;&lt;/sourceLookupDirector&gt;&#10;"/>
</launchConfiguration>

19
pingpong_test/.launches/pingpong_test.launch Normal file
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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="com.ti.ccstudio.debug.launchType.device.debugging">
<stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_DEBUGGER_PROPERTIES.CC3220S.ccxml.Texas Instruments XDS110 USB Debug Probe/Cortex_M4_0" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot; ?&gt;&#10;&lt;PropertyValues&gt;&#10;&#10; &lt;property id=&quot;ConnectOnStartup&quot;&gt;&#10; &lt;curValue&gt;1&lt;/curValue&gt;&#10; &lt;/property&gt;&#10;&#10; &lt;property id=&quot;EnableInstalledBreakpoint&quot;&gt;&#10; &lt;curValue&gt;1&lt;/curValue&gt;&#10; &lt;/property&gt;&#10;&#10; &lt;property id=&quot;IgnoreSoftLaunchFailures&quot;&gt;&#10; &lt;curValue&gt;0&lt;/curValue&gt;&#10; &lt;/property&gt;&#10;&#10;&lt;/PropertyValues&gt;&#10;"/>
<stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_LOAD_PROGRAM.CC3220S.ccxml.Texas Instruments XDS110 USB Debug Probe/CS_DAP" value="ALL"/>
<stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_LOAD_PROGRAM.CC3220S.ccxml.Texas Instruments XDS110 USB Debug Probe/Cortex_M4_0" value="ALL"/>
<stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_LOAD_PROGRAM.CC3220S.ccxml.Texas Instruments XDS110 USB Debug Probe/IcePick_C" value="ALL"/>
<stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_PROGRAM.CC3220S.ccxml.Texas Instruments XDS110 USB Debug Probe/Cortex_M4_0" value="${build_artifact:pingpong_test}"/>
<stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_PROJECT.CC3220S.ccxml.Texas Instruments XDS110 USB Debug Probe/Cortex_M4_0" value="pingpong_test"/>
<stringAttribute key="com.ti.ccstudio.debug.debugModel.ATTR_TARGET_CONFIG" value="${target_config_active_default:pingpong_test}"/>
<stringAttribute key="com.ti.ccstudio.debug.debugModel.MRU_PROGRAM.CC3220S.ccxml.Texas Instruments XDS110 USB Debug Probe/Cortex_M4_0" value="${build_artifact:pingpong_test}"/>
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
<listEntry value="/pingpong_test"/>
</listAttribute>
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
<listEntry value="4"/>
</listAttribute>
<stringAttribute key="org.eclipse.debug.core.source_locator_id" value="com.ti.ccstudio.debug.sourceLocator"/>
<stringAttribute key="org.eclipse.debug.core.source_locator_memento" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#10;&lt;sourceLookupDirector&gt;&#10; &lt;sourceContainers duplicates=&quot;false&quot;&gt;&#10; &lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#10;&amp;lt;default/&amp;gt;&amp;#10;&quot; typeId=&quot;org.eclipse.debug.core.containerType.default&quot;/&gt;&#10; &lt;container memento=&quot;&amp;lt;?xml version=&amp;quot;1.0&amp;quot; encoding=&amp;quot;UTF-8&amp;quot; standalone=&amp;quot;no&amp;quot;?&amp;gt;&amp;#10;&amp;lt;cpuSpecificContainer cpuName=&amp;quot;Texas Instruments XDS110 USB Debug Probe/Cortex_M4_0&amp;quot;&amp;gt;&amp;#10; &amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#10;&amp;amp;lt;project name=&amp;amp;quot;pingpong_test&amp;amp;quot; referencedProjects=&amp;amp;quot;true&amp;amp;quot;/&amp;amp;gt;&amp;amp;#10;&amp;quot; childType=&amp;quot;org.eclipse.debug.core.containerType.project&amp;quot;/&amp;gt;&amp;#10; &amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#10;&amp;amp;lt;default/&amp;amp;gt;&amp;amp;#10;&amp;quot; childType=&amp;quot;org.eclipse.debug.core.containerType.default&amp;quot;/&amp;gt;&amp;#10; &amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#10;&amp;amp;lt;productsSource/&amp;amp;gt;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.products.source&amp;quot;/&amp;gt;&amp;#10; &amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#10;&amp;amp;lt;deviceLibrarySource/&amp;amp;gt;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.device.library.source&amp;quot;/&amp;gt;&amp;#10; &amp;lt;childContainerEntry childMemento=&amp;quot;&amp;amp;lt;?xml version=&amp;amp;quot;1.0&amp;amp;quot; encoding=&amp;amp;quot;UTF-8&amp;amp;quot; standalone=&amp;amp;quot;no&amp;amp;quot;?&amp;amp;gt;&amp;amp;#10;&amp;amp;lt;librarySource/&amp;amp;gt;&amp;amp;#10;&amp;quot; childType=&amp;quot;com.ti.ccstudio.debug.containerType.library.source&amp;quot;/&amp;gt;&amp;#10;&amp;lt;/cpuSpecificContainer&amp;gt;&amp;#10;&quot; typeId=&quot;com.ti.ccstudio.debug.containerType.cpu.specific&quot;/&gt;&#10; &lt;/sourceContainers&gt;&#10;&lt;/sourceLookupDirector&gt;&#10;"/>
</launchConfiguration>

34
pingpong_test/.project Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>pingpong_test</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
<arguments>
</arguments>
</buildCommand>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
<triggers>full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
</buildSpec>
<natures>
<nature>com.ti.ccstudio.core.ccsNature</nature>
<nature>org.eclipse.cdt.core.cnature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
<nature>org.eclipse.cdt.core.ccnature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
</natures>
<linkedResources>
<link>
<name>Board.html</name>
<type>1</type>
<locationURI>COM_TI_SIMPLELINK_CC32XX_SDK_INSTALL_DIR/source/ti/boards/CC3220S_LAUNCHXL/Board.html</locationURI>
</link>
</linkedResources>
</projectDescription>

3
pingpong_test/.settings/org.eclipse.cdt.codan.core.prefs Normal file
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eclipse.preferences.version=1
inEditor=false
onBuild=false

2
pingpong_test/.settings/org.eclipse.cdt.debug.core.prefs Normal file
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eclipse.preferences.version=1
org.eclipse.cdt.debug.core.toggleBreakpointModel=com.ti.ccstudio.debug.CCSBreakpointMarker

6
pingpong_test/.settings/org.eclipse.core.resources.prefs Normal file
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@@ -0,0 +1,6 @@
eclipse.preferences.version=1
encoding//Debug/makefile=UTF-8
encoding//Debug/objects.mk=UTF-8
encoding//Debug/sources.mk=UTF-8
encoding//Debug/subdir_rules.mk=UTF-8
encoding//Debug/subdir_vars.mk=UTF-8

79
pingpong_test/cc32xxs_nortos.cmd Normal file
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/*
* Copyright (c) 2018-2020, Texas Instruments Incorporated
* All rights reserved.
*
* 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.
*/
--stack_size=0x1000
--heap_size=0x8000
--entry_point=resetISR
--diag_suppress=10063 /* suppress warning about non _c_int00 entry point */
/*
* The starting address of the application. Normally the interrupt vectors
* must be located at the beginning of the application.
*/
#define SRAM_BASE 0x20004000
#define SRAM2_BASE 0x20000000
MEMORY
{
SRAM (RWX) : origin = 0x20004000, length = 0x00040000 - 0x4000
SRAM2 (RWX) : origin = 0x20000000, length = 0x4000
/* Explicitly placed off target for the storage of logging data.
* The data placed here is NOT loaded onto the target device.
* This is part of 1 GB of external memory from 0x60000000 - 0x9FFFFFFF.
* ARM memory map can be found here:
* https://developer.arm.com/documentation/ddi0337/e/memory-map/about-the-memory-map
*/
LOG_DATA (R) : origin = 0x90000000, length = 0x40000
}
/* Section allocation in memory */
SECTIONS
{
.text : > SRAM
.TI.ramfunc : > SRAM
.const : > SRAM
.rodata : > SRAM
.cinit : > SRAM
.pinit : > SRAM
.init_array : > SRAM
.data : > SRAM
.bss : > SRAM
.sysmem : > SRAM
.stack : > SRAM2(HIGH)
.resetVecs : > SRAM_BASE
.ramVecs : > SRAM2_BASE, type=NOLOAD
.log_data : > LOG_DATA, type = COPY
}

206
pingpong_test/io.c Normal file
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// Input/output support functions for pingpong
#include "io.h"
#include "ti_drivers_config.h"
#include <stdio.h>
#include <string.h>
#include <unistd.h>
// Driver header files
#include <ti/drivers/GPIO.h>
#include <ti/drivers/UART.h>
#include <ti/drivers/Timer.h>
#include <ti/drivers/PWM.h>
// tick variable is set to true every sample time.
volatile bool tick = false;
// distance variable contains the measured distance in mm.
volatile int32_t distance;
// Kc variable can be set by typing a float value to the terminal (which is connected to the UART).
//volatile float Kc = 0;
static Timer_Handle timer1;
static void gpioButtonFxn0(uint_least8_t index)
{
int32_t start = Timer_getCount(timer1); // Start time of timer1.
while(GPIO_read(Board_ECHO)); // Wait until ECHO becomes low. Time of pulse equals distance measured.
int32_t stop = Timer_getCount(timer1); // Stop time of timer1.
if (start < stop)
{
distance = (stop - start) / 450; // Calculates distances in mm.
}
}
void initPort()
{
GPIO_init();
GPIO_setConfig(Board_TRIGGER, GPIO_CFG_OUT_STD | GPIO_CFG_OUT_HIGH);
GPIO_setConfig(Board_ECHO, GPIO_CFG_IN_PD | GPIO_CFG_IN_INT_RISING);
GPIO_setCallback(Board_ECHO, gpioButtonFxn0);
GPIO_enableInt(Board_ECHO);
}
static UART_Handle uart;
static char readbuffer[128] = "";
static volatile bool UART_is_read = false;
void UART_read_callback(UART_Handle handle, void *buf, size_t count)
{
float f;
int res = sscanf(buf, "%f", &f);
//if (res == 1)
{
// Kc = f;
}
//sendStringUART("Kc = ");
//sendFloatUART(Kc);
//sendStringUART("Kc = ");
//UART_is_read = true;
}
bool initUART(void) {
UART_init();
UART_Params uartParams;
UART_Params_init(&uartParams);
uartParams.writeDataMode = UART_DATA_TEXT;
uartParams.readDataMode = UART_DATA_TEXT;
uartParams.readReturnMode = UART_RETURN_NEWLINE;
uartParams.readEcho = UART_ECHO_ON;
uartParams.readMode = UART_MODE_CALLBACK;
uartParams.baudRate = 115200;
uartParams.readCallback = UART_read_callback;
uart = UART_open(CONFIG_UART_0, &uartParams);
if (uart != NULL)
{
sendStringUART("Kc = ");
UART_read(uart, readbuffer, 128);
}
return uart != NULL;
}
static void timerTick(Timer_Handle handle, int_fast16_t status)
{
tick = true;
if (UART_is_read)
{
UART_is_read = false;
UART_read(uart, readbuffer, 128);
}
}
bool initTimer(uint32_t sampleFrequency)
{
Timer_init();
Timer_Handle timer0;
Timer_Params params;
Timer_Params_init(&params);
params.periodUnits = Timer_PERIOD_HZ;
params.period = sampleFrequency;
params.timerMode = Timer_CONTINUOUS_CALLBACK;
params.timerCallback = timerTick;
timer0 = Timer_open(CONFIG_TIMER_0, &params);
if (timer0 == NULL)
{
return false;
}
int32_t status = Timer_start(timer0);
if (status == Timer_STATUS_ERROR)
{
return false;
}
Timer_Params tparams;
Timer_Params_init(&tparams); //Free running timer for measuring length of the echo pulse.
params.periodUnits = Timer_PERIOD_US;
tparams.period = 0xFFFFFFFF;
tparams.timerMode = Timer_FREE_RUNNING;
timer1 = Timer_open(CONFIG_TIMER_1, &tparams);
if(Timer_start(timer1) == Timer_STATUS_ERROR)
{
return false;
}
return true;
}
static PWM_Handle pwm0;
bool initPWM(void)
{
PWM_Params pwmParams;
PWM_init();
// PWM params init
PWM_Params_init(&pwmParams);
pwmParams.dutyUnits = PWM_DUTY_US;
// PWM duty cycle = 0
pwmParams.dutyValue = 0;
pwmParams.periodUnits = PWM_PERIOD_US;
// PWM frequency = 1 / 1000 us = 1 / 1 ms = 1 kHz.
pwmParams.periodValue = 1000;
pwmParams.idleLevel = PWM_IDLE_LOW;
/* Open PWM0 */
pwm0 = PWM_open(CONFIG_PWM_0, &pwmParams);
if (!pwm0)
{
return false;
}
PWM_start(pwm0);
return true;
}
bool setPWM(uint16_t dutyCycle)
{
if (PWM_setDuty(pwm0, dutyCycle) < 0)
{
return false;
}
return true;
}
void trigger()
{
GPIO_write(Board_TRIGGER, 1);
usleep(10);
GPIO_write(Board_TRIGGER, 0);
}
void sendStringUART(char *s)
{
UART_writePolling(uart, s, strlen(s));
}
void sendIntUART(int i)
{
char buffer[14];
int res = sprintf(buffer, "%d\n", i);
if (res > 0)
{
UART_writePolling(uart, buffer, res);
}
}
void sendIntIntUART(int i1, int i2)
{
char buffer[28];
int res = sprintf(buffer, "%d, %d\n", i1, i2);
if (res > 0)
{
UART_writePolling(uart, buffer, res);
}
}
void sendFloatUART(float f)
{
char buffer[100];
int res = sprintf(buffer, "%f\n", f);
if (res > 0)
{
UART_writePolling(uart, buffer, res);
}
}

31
pingpong_test/io.h Normal file
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#ifndef IO_H_
#define IO_H_
// Input/output support functions for pingpong.
#include <stdbool.h>
#include <stdint.h>
// tick variable is set to true every sample time.
extern volatile bool tick;
// distance variable contains the measured distance in mm.
extern volatile int32_t distance;
// Kc variable can be set by typing a float value to the terminal (which is connected to the UART).
//extern volatile float Kc;
bool initUART(void);
bool initTimer(uint32_t sampleFrequency);
bool initPWM(void);
void initPort();
// setPWM sets dutyCycle in 1000 steps (min = 0, max = 1000)
bool setPWM(uint16_t dutyCycle);
// trigger creates a 10 usec trigger pulse for the ultrasonic sensor.
void trigger();
void sendStringUART(char *s);
void sendIntUART(int i);
void sendIntIntUART(int i1, int i2);
void sendFloatUART(float f);
#endif

28
pingpong_test/main_nortos.c Normal file
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/*
* ======== main_nortos.c ========
*/
#include <stdint.h>
#include <stddef.h>
#include <NoRTOS.h>
#include <ti/drivers/Board.h>
extern void *mainThread(void *arg0);
/*
* ======== main ========
*/
int main(void)
{
Board_init();
/* Start NoRTOS */
NoRTOS_start();
/* Call mainThread function */
mainThread(NULL);
while (1) {}
}

98
pingpong_test/pingpong.c Normal file
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#include "io.h"
#define Ts 0.1
//float Kc = 1.0;
#define Ku 0.9
#define Tu 2.8
#define Kc 1.2//1//Ku/2.2 //=4.1
#define Ti 3//3//(2.2*Tu)
#define Td 0.5//0.5//(Tu/6.3)
const float p1 = (Kc*Ts)/Ti;
const float q1 = -Kc - (3*Kc*Td)/(2*Ts);
const float q2 = Kc + (7*Kc*Td)/(2*Ts);
const float q3 = -(5*Kc*Td)/(2*Ts);
const float q4 = (Kc*Td)/(2*Ts);
float y[4] = {0, 0, 0, 0};
float n = 0.0;
int controller(int dist, int r)
{
int i;
for (i=3; i>0; i--)
{
y[i] = y[i-1];
}
y[0] = dist;
n = n + p1 * ( r - y[1] ) + q1 * y[0] + q2 * y[1] + q3 * y[2] + q4 * y[3];
//n = Kc * ( r - y[0] );
if (n > 1000)
{
n = 1000;
}
else if (n < 0)
{
n = 0;
}
return (int)(n+0.5);
}
void *mainThread(void *arg0)
{
if (initUART() == false)
{
// initUart() failed
while(1);
}
// Samplefrequency = 10 Hz
if (initTimer(10) == false)
{
sendStringUART("initTimer() failed");
while(1);
}
initPort();
if (initPWM() == false)
{
sendStringUART("initPWM() failed");
while(1);
}
int i = 0, ii = -5, t = 300;
uint32_t sp = 0;
int PWM = 0;
char ploep[100];
//Kc = 2;
setPWM(0);
while(1)
{
trigger(); // Trigger routine creates a 10 usec trigger pulse for the ultrasonic sensor.
PWM = controller(distance, sp);
if(i < 30)
{
setPWM(0);
}
else
{
sp = 400;
setPWM(PWM);
}
sprintf(&ploep, "%d,%d,%d,%i\n", i, distance, sp, PWM);
sendStringUART(ploep);
i++;
while(tick == false){}
tick = false;
}
return 0;
}

56
pingpong_test/pingpong.syscfg Normal file
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// @cliArgs --board /ti/boards/CC3220S_LAUNCHXL --rtos nortos
/**
* Import the modules used in this configuration.
*/
const GPIO = scripting.addModule("/ti/drivers/GPIO", {}, false);
const GPIO1 = GPIO.addInstance();
const GPIO2 = GPIO.addInstance();
const PWM = scripting.addModule("/ti/drivers/PWM", {}, false);
const PWM1 = PWM.addInstance();
const RTOS = scripting.addModule("/ti/drivers/RTOS");
const Timer = scripting.addModule("/ti/drivers/Timer", {}, false);
const Timer1 = Timer.addInstance();
const Timer2 = Timer.addInstance();
const UART = scripting.addModule("/ti/drivers/UART", {}, false);
const UART1 = UART.addInstance();
/**
* Write custom configuration values to the imported modules.
*/
GPIO1.mode = "Output";
GPIO1.$name = "Board_TRIGGER";
GPIO1.gpioPin.$assign = "boosterpack.5";
GPIO2.$name = "Board_ECHO";
GPIO2.gpioPin.$assign = "boosterpack.8";
PWM1.$name = "CONFIG_PWM_0";
PWM1.$hardware = system.deviceData.board.components.LED_GREEN;
const Power = scripting.addModule("/ti/drivers/Power", {}, true);
Power.parkPins.$name = "ti_drivers_power_PowerCC32XXPins0";
RTOS.name = "NoRTOS";
Timer1.$name = "CONFIG_TIMER_0";
Timer1.timerType = "32 Bits";
Timer2.$name = "CONFIG_TIMER_1";
Timer2.timerType = "32 Bits";
UART1.$name = "CONFIG_UART_0";
UART1.$hardware = system.deviceData.board.components.XDS110UART;
/**
* Pinmux solution for unlocked pins/peripherals. This ensures that minor changes to the automatic solver in a future
* version of the tool will not impact the pinmux you originally saw. These lines can be completely deleted in order to
* re-solve from scratch.
*/
PWM1.timer.$suggestSolution = "Timer3";
PWM1.timer.pwmPin.$suggestSolution = "boosterpack.10";
Timer1.timer.$suggestSolution = "Timer1";
Timer2.timer.$suggestSolution = "Timer0";
UART1.uart.$suggestSolution = "UART0";
UART1.uart.txPin.$suggestSolution = "55";
UART1.uart.rxPin.$suggestSolution = "57";

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pingpong_test/targetConfigs/CC3220S.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/tixds510icepick_c.xml" id="drivers" xml="tixds510icepick_c.xml" xmlpath="drivers"/>
<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/tixds510cortexM.xml" id="drivers" xml="tixds510cortexM.xml" xmlpath="drivers"/>
<platform XML_version="1.2" id="platform_0">
<instance XML_version="1.2" desc="CC3220S" href="devices/CC3220S.xml" id="CC3220S" xml="CC3220S.xml" xmlpath="devices"/>
</platform>
</connection>
</configuration>
</configurations>

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pingpong_test/targetConfigs/readme.txt Normal file
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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.