// *** triggered by middle button ***
// This function tests the motors by first ramping motor1 speed from zero
// to full speed "forward", to full speed "reverse", and finally back to zero.
// It then does the same for motor2 before repeating all over again.
// While motor1 is running, the red user LED is on, otherwise it is off.
// While the currently active motor is moving "forward", the green user LED
// is on, otherwise it is off. The LCD gives you feedback as to which motor
// is currently moving in which direction (F = "forward", R = "reverse", and
// - = inactive).
unsigned char motorTest()
{
unsigned char button;
int speed;
unsigned char motor = 0;
clear(); // clear the LCD, go to the start of the first LCD line
print("motor2"); // print to the first line of the LCD
lcd_goto_xy(0, 1); // go to the start of the second LCD line
print("motor1"); // print to the second line of the LCD
while (1)
{
red_led(!motor); // turn red LED on when m1 is active, off for m2
lcd_goto_xy(7, !motor); // go to end of LCD line for active motor
print("F"); // print "F" for "forward"
lcd_goto_xy(7, motor); // go to end of LCD line for inactive motor
print("-"); // print "-" for "inactive"
green_led(1); // turn green LED on when motor is moving "forward"
for (speed = 0; speed < 255; speed++)
{
button = motorUpdate(motor, speed); // ramp up motor speed
if (button != 0) // from 0 to 255
return button;
}
for (speed = 255; speed > -255; speed--)
{
if (speed == -1) // motor starts moving in "reverse"
{
green_led(0); // green LED off when motor going "reverse"
lcd_goto_xy(7, !motor); // go to end of active motor's LCD line
print("R"); // print "R" for "reverse"
}
button = motorUpdate(motor, speed); // ramp down motor speed
if (button != 0) // from 255 to -255
return button;
}
for (speed = -255; speed <= 0; speed++)
{
button = motorUpdate(motor, speed); // ramp up motor speed
if (button != 0) // from -255 to 0
return button;
}
motor = !motor; // alternate between m1 and m2
}
}
void motorInit(void) {
// Configure GPIO Pins for PWM Output
SYSCTL_RCGCPWM_R |= SYSCTL_RCGCPWM_R0; // activate clock for PWM Mod 0
SYSCTL_RCGCPWM_R |= SYSCTL_RCGCPWM_R1; // activate clock for PWM Mod 1
SYSCTL_RCGCGPIO_R |= SYSCTL_RCGCGPIO_R0; // activate clock for Port A
SYSCTL_RCGCGPIO_R |= SYSCTL_RCGCGPIO_R1; // activate clock for Port B
SYSCTL_RCGCGPIO_R |= SYSCTL_RCGCGPIO_R3; // activate clock for Port D
SYSCTL_RCGCGPIO_R |= SYSCTL_RCGCGPIO_R4; // activate clock for Port E
SYSCTL_RCGCGPIO_R |= SYSCTL_RCGCGPIO_R5; // activate clock for Port F
while((SYSCTL_PRGPIO_R&SYSCTL_PRGPIO_R0) == 0) {} // wait for clock
while((SYSCTL_PRGPIO_R&SYSCTL_PRGPIO_R1) == 0) {} // wait for clock
while((SYSCTL_PRGPIO_R&SYSCTL_PRGPIO_R3) == 0) {} // wait for clock
while((SYSCTL_PRGPIO_R&SYSCTL_PRGPIO_R4) == 0) {} // wait for clock
while((SYSCTL_PRGPIO_R&SYSCTL_PRGPIO_R5) == 0) {} // wait for clock
GPIO_PORTA_AFSEL_R |= 0xC0; // enable alt funct on PA6-7
GPIO_PORTA_PCTL_R &= ~0xFF000000; // configure PA6-7 as PWMmod1
GPIO_PORTA_PCTL_R |= 0x55000000;
GPIO_PORTA_AMSEL_R &= ~0xC0; // disable analog function on PA6-7
GPIO_PORTA_DEN_R |= 0xC0; // enable digital I/O on PA6-7
GPIO_PORTB_AFSEL_R |= 0xF0; // enable alt funct on PB4-7
GPIO_PORTB_PCTL_R &= ~0xFFFF0000; // configure PB4-7 as PWMmod0
GPIO_PORTB_PCTL_R |= 0x44440000;
GPIO_PORTB_AMSEL_R &= ~0xF0; // disable analog function on PB4-7
GPIO_PORTB_DEN_R |= 0xF0; // enable digital I/O on PB4-7
GPIO_PORTD_AFSEL_R |= 0x03; // enable alt funct on PD0-1
GPIO_PORTD_PCTL_R &= ~0x000000FF; // configure PD0-1 as PWMmod0
GPIO_PORTD_PCTL_R |= 0x00000044;
GPIO_PORTD_AMSEL_R &= ~0x03; // disable analog function on PD0-1
GPIO_PORTD_DEN_R |= 0x03; // enable digital I/O on PD0-1
GPIO_PORTE_AFSEL_R |= 0x30; // enable alt funct on PE4-5
GPIO_PORTE_PCTL_R &= ~0x00FF0000; // configure PE4-5 as PWMmod0
GPIO_PORTE_PCTL_R |= 0x00440000;
GPIO_PORTE_AMSEL_R &= ~0x30; // disable analog function on PE4-5
GPIO_PORTE_DEN_R |= 0x30; // enable digital I/O on PE4-5
GPIO_PORTF_AFSEL_R |= 0x0C; // enable alt funct on PF2-3
GPIO_PORTF_PCTL_R &= ~0x0000FF00; // configure PF2-3 as PWMmod1
GPIO_PORTF_PCTL_R |= 0x00005500;
GPIO_PORTF_AMSEL_R &= ~0x0C; // disable analog function on PF2-3
GPIO_PORTF_DEN_R |= 0x0C; // enable digital I/O on PF2-3
// Set PWM clock to desired fraction of system clock
SYSCTL_RCC_R |= SYSCTL_RCC_USEPWMDIV;
SYSCTL_RCC_R &= ~SYSCTL_RCC_PWMDIV_M;
SYSCTL_RCC_R += SYSCTL_RCC_PWMDIV_2;
// Configure PWM timing
PWM0_0_CTL_R = 0; // set countdown mode for mod 0 block 0
PWM0_1_CTL_R = 0; // set countdown mode for mod 0 block 1
PWM0_2_CTL_R = 0; // set countdown mode for mod 0 block 2
PWM0_3_CTL_R = 0; // set countdown mode for mod 0 block 3
PWM1_1_CTL_R = 0; // set countdown mode for mod 1 block 1
PWM1_3_CTL_R = 0; // set countdown mode for mod 1 block 3
PWM0_0_GENA_R = (PWM_0_GENA_ACTCMPAD_ONE|PWM_0_GENA_ACTLOAD_ZERO);
PWM0_0_GENB_R = (PWM_0_GENB_ACTCMPBD_ONE|PWM_0_GENB_ACTLOAD_ZERO);
PWM0_1_GENA_R = (PWM_1_GENA_ACTCMPAD_ONE|PWM_1_GENA_ACTLOAD_ZERO);
PWM0_1_GENB_R = (PWM_1_GENB_ACTCMPBD_ONE|PWM_1_GENB_ACTLOAD_ZERO);
PWM0_2_GENA_R = (PWM_2_GENA_ACTCMPAD_ONE|PWM_2_GENA_ACTLOAD_ZERO);
PWM0_2_GENB_R = (PWM_2_GENB_ACTCMPBD_ONE|PWM_2_GENB_ACTLOAD_ZERO);
PWM0_3_GENA_R = (PWM_3_GENA_ACTCMPAD_ONE|PWM_3_GENA_ACTLOAD_ZERO);
PWM0_3_GENB_R = (PWM_3_GENB_ACTCMPBD_ONE|PWM_3_GENB_ACTLOAD_ZERO);
PWM1_1_GENA_R = (PWM_1_GENA_ACTCMPAD_ONE|PWM_1_GENA_ACTLOAD_ZERO);
PWM1_1_GENB_R = (PWM_1_GENB_ACTCMPBD_ONE|PWM_1_GENB_ACTLOAD_ZERO);
PWM1_3_GENA_R = (PWM_3_GENA_ACTCMPAD_ONE|PWM_3_GENA_ACTLOAD_ZERO);
PWM1_3_GENB_R = (PWM_3_GENB_ACTCMPBD_ONE|PWM_3_GENB_ACTLOAD_ZERO);
// define signal triggers
PWM0_0_LOAD_R = MOT_PERIOD; // set counter reset values (period)
PWM0_1_LOAD_R = MOT_PERIOD;
PWM0_2_LOAD_R = MOT_PERIOD;
PWM0_3_LOAD_R = MOT_PERIOD;
PWM1_1_LOAD_R = MOT_PERIOD;
PWM1_3_LOAD_R = MOT_PERIOD;
motorUpdate(speedInit); // init comparator values (duty)
PWM0_0_CTL_R |= PWM_0_CTL_ENABLE; // start Mod 0 Blk 0
PWM0_1_CTL_R |= PWM_1_CTL_ENABLE; // start Mod 0 Blk 1
PWM0_2_CTL_R |= PWM_2_CTL_ENABLE; // start Mod 0 Blk 2
PWM0_3_CTL_R |= PWM_3_CTL_ENABLE; // start Mod 0 Blk 3
PWM1_1_CTL_R |= PWM_1_CTL_ENABLE; // start Mod 1 Blk 1
PWM1_3_CTL_R |= PWM_3_CTL_ENABLE; // start Mod 1 Blk 3
PWM0_ENABLE_R |= (PWM_ENABLE_PWM0EN|PWM_ENABLE_PWM1EN|PWM_ENABLE_PWM2EN| \
PWM_ENABLE_PWM3EN|PWM_ENABLE_PWM4EN|PWM_ENABLE_PWM5EN|PWM_ENABLE_PWM6EN\
|PWM_ENABLE_PWM7EN); // enable PWM Module 0
PWM1_ENABLE_R |= (PWM_ENABLE_PWM2EN|PWM_ENABLE_PWM3EN|PWM_ENABLE_PWM6EN \
|PWM_ENABLE_PWM7EN); // enable PWM Module 1
}
