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msp432电机驱动相关代码// Bump.c // Runs on MSP432 // Provide low-level functions that interface bump switches the robot. // Daniel Valvano and Jonathan Valvano // July 2, 2017 /* This example accompanies the books "Embedded Systems: Introduction to the MSP432 Microcontroller", ISBN: 978-1512185676, Jonathan Valvano, copyright (c) 2017 "Embedded Systems: Real-Time Interfacing to the MSP432 Microcontroller", ISBN: 978-1514676585, Jonathan Valvano, copyright (c) 2017 "Embedded Systems: Real-Time Operating Systems for ARM Cortex-M Microcontrollers", ISBN: 978-1466468863, , Jonathan Valvano, copyright (c) 2017 For more information about my classes, my research, and my books, see http://users.ece.utexas.edu/~valvano/ Simplified BSD License (FreeBSD License) Copyright (c) 2017, Jonathan Valvano, All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. 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. 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. 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. */ // Negative logic bump sensors // P4.7 Bump5, left side of robot // P4.6 Bump4 // P4.5 Bump3 // P4.3 Bump2 // P4.2 Bump1 // P4.0 Bump0, right side of robot #include <stdint.h> #include "msp.h" // Initialize Bump sensors // Make six Port 4 pins inputs // Activate interface pullup // pins 7,6,5,3,2,0 void Bump_Init(void){ // write this as part of Lab 10 } // Read current state of 6 switches // Returns a 6-bit positive logic result (0 to 63) // bit 5 Bump5 // bit 4 Bump4 // bit 3 Bump3 // bit 2 Bump2 // bit 1 Bump1 // bit 0 Bump0 uint8_t Bump_Read(void){ // write this as part of Lab 10 return 0; // replace this line }
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12-03
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