static void prvSetupHardware( void )
{
extern void FPU_enableModule( void );
/* The clocks are not configured here, but inside main_full() and
main_blinky() as the full demo uses a fast clock and the blinky demo uses
a slow clock. */
/* Stop the watchdog timer. */
MAP_WDT_A_holdTimer();
/* Ensure the FPU is enabled. */
FPU_enableModule();
/* Selecting P1.2 and P1.3 in UART mode and P1.0 as output (LED) */
MAP_GPIO_setAsPeripheralModuleFunctionInputPin( GPIO_PORT_P1, GPIO_PIN2 | GPIO_PIN3, GPIO_PRIMARY_MODULE_FUNCTION );
MAP_GPIO_setOutputLowOnPin( GPIO_PORT_P1, GPIO_PIN0 );
MAP_GPIO_setAsOutputPin( GPIO_PORT_P1, GPIO_PIN0 );
/* Enable S2 and LED2 */
MAP_GPIO_setOutputLowOnPin( GPIO_PORT_P2, GPIO_PIN0 );
MAP_GPIO_setAsOutputPin(GPIO_PORT_P2, GPIO_PIN0);
MAP_GPIO_setOutputLowOnPin( GPIO_PORT_P2, GPIO_PIN1 );
MAP_GPIO_setAsOutputPin(GPIO_PORT_P2, GPIO_PIN1);
MAP_GPIO_setOutputLowOnPin( GPIO_PORT_P2, GPIO_PIN2 );
MAP_GPIO_setAsOutputPin(GPIO_PORT_P2, GPIO_PIN2);
MAP_GPIO_setAsInputPinWithPullUpResistor(GPIO_PORT_P1, GPIO_PIN4);
MAP_GPIO_interruptEdgeSelect(GPIO_PORT_P1, GPIO_PIN4, GPIO_HIGH_TO_LOW_TRANSITION);
MAP_GPIO_clearInterruptFlag(GPIO_PORT_P1, GPIO_PIN4);
MAP_GPIO_enableInterrupt(GPIO_PORT_P1, GPIO_PIN4);
MAP_Interrupt_enableInterrupt(INT_PORT1);
}
//------------------------------------------------------------------------------
int InitFunction(void)
{
int err = NONE;
MAP_WDT_A_holdTimer();
/* Configuring P6.7 as an input. P1.0 as output and enabling interrupts */
// MAP_GPIO_setAsInputPinWithPullUpResistor(GPIO_PORT_P1, GPIO_PIN1);
//Setting RGB LED as output
MAP_GPIO_setAsOutputPin(GPIO_PORT_P2, GPIO_PIN0 | GPIO_PIN1 | GPIO_PIN2);
//Set P6.1 to be the pin interupt
MAP_GPIO_setAsInputPinWithPullUpResistor(GPIO_PORT_P6, GPIO_PIN1);
MAP_GPIO_clearInterruptFlag(GPIO_PORT_P6, GPIO_PIN1);
MAP_GPIO_enableInterrupt(GPIO_PORT_P6, GPIO_PIN1);
MAP_Interrupt_enableInterrupt(INT_PORT6);
MAP_Interrupt_enableMaster();
return err;
}
int main(void)
{
WDT_A_holdTimer();
//Configure Timer
unsigned int dcoFrequency = 3E+6;
MAP_CS_setDCOFrequency(dcoFrequency);
MAP_CS_initClockSignal(CS_SMCLK, CS_DCOCLK_SELECT, CS_CLOCK_DIVIDER_1); // ( 1Mhz / 64 ) / (Period = 15625) = 1 second
////////////////////////////////////////////////////////////////////////////////////////////////////
// Buttons init
////////////////////////////////////////////////////////////////////////////////////////////////////
// Set switch 1 (S1) as input button (connected to P1.1)
MAP_GPIO_setAsInputPinWithPullUpResistor( GPIO_PORT_P1, GPIO_PIN1 );
// Set switch 2 (S2) as input button (connected to P1.4)
MAP_GPIO_setAsInputPinWithPullUpResistor( GPIO_PORT_P1, GPIO_PIN4 );
////////////////////////////////////////////////////////////////////////////////////////////////////
// Timer A 0 and PWM on 2.4
////////////////////////////////////////////////////////////////////////////////////////////////////
GPIO_setAsPeripheralModuleFunctionOutputPin(GPIO_PORT_P2, GPIO_PIN4, GPIO_PRIMARY_MODULE_FUNCTION); //writes 0's in PXSEL registers for pins 1.2 and 1.3
// Set Timer A period (PWM signal period)
TA0CCR0 = 10000 ; // i think i wrote this wring, his example he showed in class is is 10000
// Set Duty cycle
TA0CCR1 = 0 ; //inital DutyCycle of 0% (we don't want the motor to move unless we push button
// Set output mode to Reset/Set
TA0CCTL1 = OUTMOD_7 ; // Macro which is equal to 0x00e0, defined in msp432p401r.h
// Initialize Timer A
TA0CTL = TASSEL__SMCLK | MC__UP | TACLR ; // this bitwise or’s multiple settings at the same time (this just sets different bits in the register to set these functionalities/settings)
//Timer_A_startCounter(TIMER_A0_MODULE, TIMER_A_UP_MODE);
////////////////////////////////////////////////////////////////////////////////////////////////////
// Timer A 2 and PWM on P5.6
////////////////////////////////////////////////////////////////////////////////////////////////////
GPIO_setAsPeripheralModuleFunctionOutputPin(GPIO_PORT_P5, GPIO_PIN6, GPIO_PRIMARY_MODULE_FUNCTION); //writes 0's in PXSEL registers for pins 1.2 and 1.3
// Set Timer A period (PWM signal period)
TA2CCR0 = 10000 ; // i think i wrote this wring, his example he showed in class is is 10000
// Set Duty cycle
TA2CCR1 = 0 ; //inital DutyCycle of 0% (we don't want the motor to move unless we push button
// Set output mode to Reset/Set
TA2CCTL1 = OUTMOD_7 ; // Macro which is equal to 0x00e0, defined in msp432p401r.h
// Initialize Timer A
TA2CTL = TASSEL__SMCLK | MC__UP | TACLR ; // this bitwise or’s multiple settings at the same time (this just sets different bits in the register to set these functionalities/settings)
//Does this start the timer?? (is next line necessary?)
//Timer_A_startCounter(TIMER_A1_MODULE, TIMER_A_UP_MODE);
/////////////////////////////////////////////////////////////////////////////////////////////////////
//Set LED's as outputs and turn off
MAP_GPIO_setAsOutputPin(GPIO_PORT_P1,GPIO_PIN0);
MAP_GPIO_setAsOutputPin(GPIO_PORT_P2,GPIO_PIN0);
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P1, GPIO_PIN0);
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P2, GPIO_PIN0);
int countedges1 = 1;
int countedges2 = 1;
while(1){
//infinite loop
////////////////////////////////////////////////////////////////////////////////////////////////////
// Turn one direction
////////////////////////////////////////////////////////////////////////////////////////////////////
if(GPIO_INPUT_PIN_LOW == MAP_GPIO_getInputPinValue ( GPIO_PORT_P1, GPIO_PIN1 )){
//stop timer 2
Timer_A_stopTimer(TIMER_A2_MODULE);
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P5, GPIO_PIN6);
//start timer 1
Timer_A_startCounter(TIMER_A0_MODULE, TIMER_A_UP_MODE);
TA0CCR1 = 1000 * countedges1; //increse Duty Cycle by 10% (period is 10000)
if (TA0CCR1 > TA0CCR0){ //if Dutcy Cycle = 100%, go back to 0%
TA0CCR1 = 0;
}//end nested if
if (countedges1>11){
countedges1 = 0;
}
countedges1++;
while(GPIO_INPUT_PIN_LOW == MAP_GPIO_getInputPinValue ( GPIO_PORT_P1, GPIO_PIN1 )){
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P1, GPIO_PIN0);
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P2, GPIO_PIN0);
}//end nested while
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P1, GPIO_PIN0);
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P2, GPIO_PIN0);
}//end switch 1 if
else{ //the button is not being pushed so do not spin motor (DutyCycle = 0);
TA0CCR1 = 0;
}
////////////////////////////////////////////////////////////////////////////////////////////////////
// Turn other direction
////////////////////////////////////////////////////////////////////////////////////////////////////
if(GPIO_INPUT_PIN_LOW == MAP_GPIO_getInputPinValue ( GPIO_PORT_P1, GPIO_PIN4 )){
//stop timer 1
Timer_A_stopTimer(TIMER_A0_MODULE);
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P2, GPIO_PIN4);
//start timer 2
Timer_A_startCounter(TIMER_A2_MODULE, TIMER_A_UP_MODE);
TA2CCR1 = countedges2 * 1000; //increse Duty Cycle by 10% (period is 10000)
if (TA2CCR1 > TA2CCR0){ //if Dutcy Cycle = 100%, go back to 0%
TA2CCR1 = 0;
}//end nested if
if (countedges2>11){
countedges2 = 0;
}
countedges2++;
while(GPIO_INPUT_PIN_LOW == MAP_GPIO_getInputPinValue ( GPIO_PORT_P1, GPIO_PIN4 )){
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P1, GPIO_PIN0);
MAP_GPIO_setOutputHighOnPin(GPIO_PORT_P2, GPIO_PIN0);
}//end nested while
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P1, GPIO_PIN0);
MAP_GPIO_setOutputLowOnPin(GPIO_PORT_P2, GPIO_PIN0);
}//end switch 2 if
else{ //the button is not being pushed so do not spin motor (DutyCycle = 0)
TA2CCR1 = 0;
}
}//end while
}//end main
