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gnairharikrishnangnairharikrishnan
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Parallel parking working code
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‎.DS_Store

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‎.gitignore

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arch/
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*.o
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*.d
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*.elf
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*.bin
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*.map
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*.srec

‎Autonomous_Parallel_Parking/.DS_Store

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‎Autonomous_Parallel_Parking/Autonomous_Parallel_Parking.c

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/***************************************************************************************************************
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Authors: Harikrishnan G Nair
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Denny Mathews
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John Vasquez
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Steven Pill
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Harish Puvvada
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Description: This is the file that contains the applicaiton source code. More coming up!!
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*****************************************************************************************************************
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Copyright © 2017 Harikrishnan G Nair, Denny Mathews, John Vasquez, Steven Pill, Harish Puvvada @ NYU
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****************************************************************************************************************/
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// C standard include(s):
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#include <math.h>
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#include <stdio.h>
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// Custom user APIs needed for hardware access specific to this board:
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#include "cpu.h"
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#include "interrupts.h"
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#include "uart.h"
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#include <stdio.h>
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#include "motion.h"
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#include "state_machine.h"
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#include "sensor_timer.h"
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#include "pwm_hal.h"
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#include "encoder.h"
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// Custom user APIs needed for generic algorithmic libraries that are hardware-independent:
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#include "foo.h"
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int main()
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{
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/*
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Initialize the PLL, clock tree to all peripherals, flash and Systick 1 ms time reference:
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*/
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cpu_init();
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encoders_init();
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uart_debug_init();
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//GPIOInterruptSetup();
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printf("Before Sensor\n\r");
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init_sensor();
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printf("After Sensor\n\r");
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state_init();
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printf("After Sensor2\n\r");
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//Set PE8, blue LED
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Pin_Set(GPIOE, GPIO_PIN_8, GPIO_MODE_OUTPUT_PP, GPIO_PULLDOWN, GPIO_SPEED_FREQ_LOW);
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Pin_Set(GPIOE, GPIO_PIN_9, GPIO_MODE_OUTPUT_PP, GPIO_PULLDOWN, GPIO_SPEED_FREQ_LOW);
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printf("After LED3\n\r");
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/*
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Initialize the PWM outputs by configuring the corresponding channels
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*/
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init_pwm();
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/*
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Test a series of movements:
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*/
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int i = 0;
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uint8_t next_dir;
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while(1)
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{
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//printf("IN while\n\r");
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/*
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Carry out a simple unit test of foo() declared in foo.h:
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*/
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if(TEST_FOO(i, i+1) < 0)
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{
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/*
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If the above fails there is either a hardware, code or other undefined error.
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Now we're in an undefined state regarding processor core behavior...
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*/
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while(1); // We probably have had a radiation hit or a major malfunction on the ALU of the processor...
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}
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else
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{
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// move_robot(STOP);
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//cpu_sw_delay(10U);
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// printf("IN FORWARD\n\r");
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next_dir = state_execute();
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move_robot(next_dir);
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//print_all();
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//cpu_sw_delay(10U);
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//trigger_sensor(sensor_front) ;
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// cpu_sw_delay(10U);
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// if (g_inches_f < 20)
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// move_back();
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// cpu_sw_delay(500U);
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// turn_f_right();
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// cpu_sw_delay(500U);
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// turn_f_left();
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// cpu_sw_delay(500U);
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// brake();
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// cpu_sw_delay(500U);
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}
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}
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return 0;
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}

‎Autonomous_Parallel_Parking/Makefile

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# Based on https://github.com/sergioprado/bare-metal-arm/blob/master/Makefile
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# But heavily-edited for our purposes:
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# (c) Abhimanyu Ghosh, 2016
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TOOLCHAIN_ROOT=../../../../gcc-arm-none-eabi-5_4-2016q3
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TOOLCHAIN=$(TOOLCHAIN_ROOT)/bin/
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PREFIX=$(TOOLCHAIN)/arm-none-eabi-
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ARCHFLAGS=-mcpu=cortex-m4 -mthumb -mfloat-abi=hard -mfpu=fpv4-sp-d16 -I$(TOOLCHAIN_ROOT)/arm-none-eabi/include -fsingle-precision-constant
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CFLAGS=-nostdlib -I../arch/stm32/f3/inc/ -I../arch/stm32/f3/inc/CMSIS -I../arch/stm32/f3/inc/Legacy -I./user_include -I./user_include/hal_interface -g -O2 -Wall
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LDFLAGS=--specs=nosys.specs -Wl,--gc-sections,-Map,$(TARGET).map,-Tlinker.ld
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LDFLAGS+=$(ARCHFLAGS)
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CC=$(PREFIX)gcc
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LD=$(PREFIX)gcc
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OBJCOPY=$(PREFIX)objcopy
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SIZE=$(PREFIX)size
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RM=rm -f
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TARGET=Autonomous_Parallel_Parking
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SRC=$(wildcard ../arch/stm32/f3/src/*.c)
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SRC+=$(wildcard ../arch/stm32/f3/src/CMSIS/*.c)
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ASM_SRC=$(wildcard ../arch/stm32/f3/src/*.s)
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ASM_SRC+=$(wildcard ../arch/stm32/f3/src/CMSIS/*.s)
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USER_SRC=$(wildcard user_source/*.c)
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USER_SRC+=$(wildcard user_source/hal_interface/*.c)
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USER_ASM_SRC=$(wildcard user_source/*.s)
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OBJ=$(patsubst %.c, %.o, $(SRC))
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ASM_OBJS=$(patsubst %.s, %.o, $(ASM_SRC))
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TARGET_OBJ=$(TARGET).o
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USER_OBJ=$(patsubst %.c, %.o, $(USER_SRC))
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USER_ASM_OBJ=$(patsubst %.s, %.o, $(USER_ASM_SRC))
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DEPS:=$(OBJ:.o=.d)
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DEPS+=$(TARGET_OBJ:.o=.d)
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DEPS+=$(USER_OBJ:.o=.d)
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all: build size
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build: elf srec bin
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elf: $(TARGET).elf
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srec: $(TARGET).srec
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bin: $(TARGET).bin
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md5sums: all
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md5sum $(TARGET).elf > user_app_md5sum
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check: all
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md5sum $(TARGET).elf > tmp && diff tmp user_app_md5sum && rm tmp
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load: all
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./load_fw.sh $(TOOLCHAIN)
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clean:
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$(RM) $(TARGET).srec $(TARGET).elf $(TARGET).bin $(TARGET).map $(OBJ) $(ASM_OBJS) $(USER_ASM_OBJ) $(TARGET_OBJ) $(USER_OBJ) $(DEPS)
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$(TARGET).elf: $(ASM_OBJS) $(USER_ASM_OBJ) $(OBJ) $(TARGET_OBJ) $(USER_OBJ)
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$(LD) $(LDFLAGS) -o $@ $(OBJ) $(ASM_OBJS) $(USER_ASM_OBJ) $(TARGET_OBJ) $(USER_OBJ) -lm -lc
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%.o: %.s
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$(CC) -c $(ARCHFLAGS) $(CFLAGS) -o $@ $<
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-include $(DEPS)
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%.o: %.c
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$(CC) $(ARCHFLAGS) $(CFLAGS) -MM -MT $@ -MF $(patsubst %.o,%.d,$@) $<
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$(CC) $(ARCHFLAGS) $(CFLAGS) -c -o $@ $<
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%.srec: %.elf
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$(OBJCOPY) -O srec $< $@
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%.bin: %.elf
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$(OBJCOPY) -O binary $< $@
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size: $(TARGET).elf
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$(SIZE) $(TARGET).elf
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.PHONY: clean

‎Autonomous_Parallel_Parking/linker.ld

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/* Entry Point = reset NMI handler */
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ENTRY(Reset_Handler)
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/* Top of stack */
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_estack = 0x2000a000; /* RAM end */
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/* Generate a link error if heap and stack don't fit into RAM */
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_Min_Heap_Size = 0x200; /* required amount of heap */
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_Min_Stack_Size = 0x400; /* required amount of stack */
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/* Definition of Flash and RAM layout: */
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MEMORY
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{
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FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 256K
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RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 40K
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CCMRAM (rw) : ORIGIN = 0x10000000, LENGTH = 8K
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}
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/* Section definitions: */
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SECTIONS
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{
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/* The startup code goes into beginning of FLASH */
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.isr_vector :
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{
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. = ALIGN(4);
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KEEP(*(.isr_vector)) /* Startup code */
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. = ALIGN(4);
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} >FLASH
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.text :
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{
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. = ALIGN(4);
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*(.text)
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*(.text*)
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*(.glue_7)
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*(.glue_7t)
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*(.eh_frame)
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KEEP (*(.init))
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KEEP (*(.fini))
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. = ALIGN(4);
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_etext = .;
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} >FLASH
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/* Constants go in flash */
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.rodata :
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{
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. = ALIGN(4);
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*(.rodata)
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*(.rodata*)
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. = ALIGN(4);
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} >FLASH
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.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
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.ARM : {
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__exidx_start = .;
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*(.ARM.exidx*)
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__exidx_end = .;
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} >FLASH
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.preinit_array :
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{
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PROVIDE_HIDDEN (__preinit_array_start = .);
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KEEP (*(.preinit_array*))
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PROVIDE_HIDDEN (__preinit_array_end = .);
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} >FLASH
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.init_array :
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{
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PROVIDE_HIDDEN (__init_array_start = .);
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KEEP (*(SORT(.init_array.*)))
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KEEP (*(.init_array*))
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PROVIDE_HIDDEN (__init_array_end = .);
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} >FLASH
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.fini_array :
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{
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PROVIDE_HIDDEN (__fini_array_start = .);
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KEEP (*(SORT(.fini_array.*)))
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KEEP (*(.fini_array*))
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PROVIDE_HIDDEN (__fini_array_end = .);
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} >FLASH
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/* used by the startup to initialize data */
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_sidata = LOADADDR(.data);
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/* Initialized data sections goes into RAM, load LMA copy after code */
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.data :
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{
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. = ALIGN(4);
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_sdata = .;
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*(.data)
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*(.data*)
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. = ALIGN(4);
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_edata = .;
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} >RAM AT> FLASH
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_siccmram = LOADADDR(.ccmram);
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.ccmram :
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{
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. = ALIGN(4);
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_sccmram = .;
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*(.ccmram)
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*(.ccmram*)
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. = ALIGN(4);
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_eccmram = .;
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} >CCMRAM AT> FLASH
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/* Uninitialized data section */
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. = ALIGN(4);
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.bss :
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{
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/* .bss init section */
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_sbss = .;
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__bss_start__ = _sbss;
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*(.bss)
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*(.bss*)
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*(COMMON)
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. = ALIGN(4);
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_ebss = .;
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__bss_end__ = _ebss;
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} >RAM
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._user_heap_stack :
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{
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. = ALIGN(4);
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PROVIDE ( end = . );
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PROVIDE ( _end = . );
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. = . + _Min_Heap_Size;
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. = . + _Min_Stack_Size;
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. = ALIGN(4);
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} >RAM
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/DISCARD/ :
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{
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libc.a ( * )
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libm.a ( * )
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libgcc.a ( * )
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}
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.ARM.attributes 0 : { *(.ARM.attributes) }
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}

‎Autonomous_Parallel_Parking/load_fw.sh

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#!/bin/bash
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openocd -f ./stm32f3discovery.cfg &
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sleep 2
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$1/arm-none-eabi-gdb --batch --command=runme.gdb
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echo "Killing OpenOCD..."
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pkill openocd
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echo "Done."

‎Autonomous_Parallel_Parking/proj_name

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Autonomous_Parallel_Parking

‎Autonomous_Parallel_Parking/runme.gdb

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target remote localhost:3333
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monitor reset halt
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load Autonomous_Parallel_Parking.elf

‎Autonomous_Parallel_Parking/stm32f3discovery.cfg

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# This is an STM32F3 discovery board with a single STM32F303VCT6 chip.
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# http://www.st.com/internet/evalboard/product/254044.jsp
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source [find interface/stlink-v2.cfg]
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source [find target/stm32f3x_stlink.cfg]
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# use hardware reset, connect under reset
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reset_config srst_only srst_nogate connect_assert_srst

‎Autonomous_Parallel_Parking/user_app_md5sum

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048904b8462c4e0f799c16a4d406b793 f3_basic_app.elf

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