int main(void)
{
volatile uint32_t ui32Load;
volatile uint32_t ui32PWMClock;
volatile uint8_t ui8Adjust;
ui8Adjust = 254;
SysCtlClockSet(SYSCTL_SYSDIV_5|SYSCTL_USE_PLL|SYSCTL_OSC_MAIN|SYSCTL_XTAL_16MHZ);
SysCtlPWMClockSet(SYSCTL_PWMDIV_64);
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_1);
GPIOPinConfigure(GPIO_PF1_M1PWM5);
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= 0x01;
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = 0;
GPIODirModeSet(GPIO_PORTF_BASE, GPIO_PIN_4|GPIO_PIN_0, GPIO_DIR_MODE_IN);
GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_4|GPIO_PIN_0, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
ui32PWMClock = SysCtlClockGet() / 64;
ui32Load = (ui32PWMClock / PWM_FREQUENCY) - 1;
PWMGenConfigure(PWM1_BASE, PWM_GEN_2, PWM_GEN_MODE_DOWN);
PWMGenPeriodSet(PWM1_BASE, PWM_GEN_2, ui32Load);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5, ui8Adjust * ui32Load / 1000);
PWMOutputState(PWM1_BASE, PWM_OUT_5_BIT, true);
PWMGenEnable(PWM1_BASE, PWM_GEN_2);
while(1)
{
if(GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_4)==0x00)
{
ui8Adjust--;
if (ui8Adjust < 10)
{
ui8Adjust = 10;
}
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5, ui8Adjust * ui32Load / 1000);
}
if(GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_0)==0x00)
{
ui8Adjust++;
if (ui8Adjust > 254)
{
ui8Adjust = 254;
}
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5, ui8Adjust * ui32Load / 1000);
}
SysCtlDelay(100000);
}
}
/*Initialising the pins for motor output*/
void initMotorPin (void)
{
SysCtlPeripheralEnable (SYSCTL_PERIPH_GPIOD);
SysCtlPeripheralEnable (SYSCTL_PERIPH_GPIOF);
GPIOPinTypePWM (GPIO_PORTD_BASE, GPIO_PIN_1);
GPIOPinTypePWM (GPIO_PORTF_BASE, GPIO_PIN_2);
}
//PWM³õʼ»¯
void initPWM()
{
//³õʼ»¯ÍâÉè¶Ë¿Ú
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM);
//ÉèÖÃPWMÐźÅʱÖÓ
SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
//ÉèÖÃPG2ºÍPD1ΪPWMÊä³ö
GPIOPinConfigure(GPIO_PG2_PWM0);
GPIOPinConfigure(GPIO_PD1_PWM1);
GPIOPinTypePWM(GPIO_PORTG_BASE, PWM_L);
GPIOPinTypePWM(GPIO_PORTD_BASE, PWM_R);
//ÅäÖÃPWM·¢ÉúÄ£¿é1
PWMGenConfigure(PWM_BASE, PWM_GEN_0, PWM_GEN_MODE_DOWN|PWM_GEN_MODE_NO_SYNC);
//PWMGenConfigure(PWM_BASE, PWM_GEN_3, PWM_GEN_MODE_DOWN|PWM_GEN_MODE_NO_SYNC);
PWMGenPeriodSet(PWM_BASE, PWM_GEN_0, 1000);
//PWMGenPeriodSet(PWM_BASE, PWM_GEN_3, 800);
// PWMPulseWidthSet(PWM_BASE, PWM_OUT_0,700);//×ó
// PWMPulseWidthSet(PWM_BASE, PWM_OUT_1,500);//ÓÒ
PWMPulseWidthSet(PWM_BASE, PWM_OUT_0,banlanceL);//×ó
PWMPulseWidthSet(PWM_BASE, PWM_OUT_1,banlanceR);//ÓÒ
//ʹÄÜPWM2Êä³ö
PWMOutputState(PWM_BASE,PWM_OUT_0_BIT,true);
//ʹÄÜPWM3Êä³ö
PWMOutputState(PWM_BASE,PWM_OUT_1_BIT,true);
PWMGenEnable(PWM_BASE, PWM_GEN_0);
}
void DRV8833_InitMotorA(){
if(!SysCtlPeripheralReady(SYSCTL_PERIPH_PWM0))
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
if(!SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOB))
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
SysCtlDelay(3);
GPIOPinConfigure(GPIO_PB6_M0PWM0);
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_6);
GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_6,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
PWMClockSet(PWM0_BASE, PWM_SYSCLK_DIV_1);
PWMGenConfigure(PWM0_BASE, PWM_GEN_0,
PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
uint32_t duty = 0;
PWMOutputUpdateMode(PWM0_BASE,PWM_OUT_0_BIT|PWM_OUT_1_BIT,PWM_OUTPUT_MODE_NO_SYNC);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, freq);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, duty);
PWMOutputState(PWM0_BASE, PWM_OUT_0_BIT, true);
GPIOPinConfigure(GPIO_PB7_M0PWM1);
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_7);
GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_7,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_1, duty);
PWMOutputState(PWM0_BASE, PWM_OUT_1_BIT, true);
PWMGenEnable(PWM0_BASE, PWM_GEN_0);
}
void DRV8833_InitMotorB(){
if(!SysCtlPeripheralReady(SYSCTL_PERIPH_PWM0))
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
if(!SysCtlPeripheralReady(SYSCTL_PERIPH_GPIOB))
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
SysCtlDelay(3);
GPIOPinConfigure(GPIO_PB4_M0PWM2);
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_4);
GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_4,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
PWMClockSet(PWM0_BASE, PWM_SYSCLK_DIV_1);
PWMGenConfigure(PWM0_BASE, PWM_GEN_1,
PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
uint32_t duty = 0;
PWMOutputUpdateMode(PWM0_BASE,PWM_OUT_2_BIT|PWM_OUT_3_BIT,PWM_OUTPUT_MODE_NO_SYNC);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_1, freq);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_2, duty);
PWMOutputState(PWM0_BASE, PWM_OUT_2_BIT, true);
GPIOPinConfigure(GPIO_PB5_M0PWM3);
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_5);
GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_5,GPIO_STRENGTH_2MA,GPIO_PIN_TYPE_STD_WPU);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_3, duty);
PWMOutputState(PWM0_BASE, PWM_OUT_3_BIT, true);
HWREG(GPIO_PORTB_BASE+GPIO_O_AFSEL) &= ~0x30;
PWMGenEnable(PWM0_BASE, PWM_GEN_1);
}
int main(void)
{
SysCtlClockSet(SYSCTL_SYSDIV_4|SYSCTL_USE_PLL|SYSCTL_XTAL_16MHZ|SYSCTL_OSC_MAIN);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA); // Enable the GPIO A ports
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE); // Enable the GPIO E ports
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
GPIOPinConfigure(GPIO_PB6_M0PWM0);
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_6);
GPIOPinConfigure(GPIO_PB7_M0PWM1);
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_7);
PWMGenConfigure(PWM0_BASE, PWM_GEN_0, PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, 6400000);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, PWMGenPeriodGet(PWM0_BASE, PWM_GEN_0) / 1.25);
PWMOutputState(PWM0_BASE, PWM_OUT_0_BIT, true);
PWMGenEnable(PWM0_BASE, PWM_GEN_0);
PWMGenConfigure(PWM0_BASE, PWM_GEN_1, PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_1, 6400000);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_1, PWMGenPeriodGet(PWM0_BASE, PWM_GEN_1) / 1.25);
PWMOutputState(PWM0_BASE, PWM_OUT_1_BIT, true);
PWMGenEnable(PWM0_BASE, PWM_GEN_1);
GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_6|GPIO_PIN_7); // Set pin 7 as the output port
GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, GPIO_PIN_1|GPIO_PIN_2);
GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_5);
GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_6|GPIO_PIN_7,64); // Give '1' to pin 7
GPIOPinWrite(GPIO_PORTE_BASE,GPIO_PIN_1|GPIO_PIN_2,4);
while(1)
{
GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_6|GPIO_PIN_7,64); // Give '1' to pin 7
GPIOPinWrite(GPIO_PORTE_BASE,GPIO_PIN_1|GPIO_PIN_2,4);
SysCtlDelay(4000000*10);
GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_6|GPIO_PIN_7,0); // Give '1' to pin 7
GPIOPinWrite(GPIO_PORTE_BASE,GPIO_PIN_1|GPIO_PIN_2,0);
GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_5,32);
SysCtlDelay(400000);
GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_5,0);
GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_6|GPIO_PIN_7,128); // Give '1' to pin 7
GPIOPinWrite(GPIO_PORTE_BASE,GPIO_PIN_1|GPIO_PIN_2,2);
SysCtlDelay(4000000*10);
GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_6|GPIO_PIN_7,0); // Give '1' to pin 7
GPIOPinWrite(GPIO_PORTE_BASE,GPIO_PIN_1|GPIO_PIN_2,0);
GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_5,32);
SysCtlDelay(400000);
GPIOPinWrite(GPIO_PORTA_BASE,GPIO_PIN_5,0);
}
}
// Summary: Initializes the appropriate PWMs for servo output
// Note: Always call this function before any other servo-related functions
void InitializeServos(void)
{
unsigned long ulServoPeriod;
//
// Enable the peripherals used by the servos.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD); // servos 0 & 1
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); // servos 2 & 3
//
// Set GPIO B0, B1, D0, and D1 as PWM pins.
// They are used to output the PWM0, PWM2, PWM3, and PWM3 signals.
//
GPIOPinTypePWM(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1);
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
// Compute the PWM period based on the system clock.
//
ulServoPeriod = g_ulPWMTicksPerSecond / 50;
//
// Set the PWM period to 50 Hz = 20ms.
//
PWMGenConfigure(PWM_BASE, PWM_GEN_0,
PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
PWMGenPeriodSet(PWM_BASE, PWM_GEN_0, ulServoPeriod);
PWMGenConfigure(PWM_BASE, PWM_GEN_1,
PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
PWMGenPeriodSet(PWM_BASE, PWM_GEN_1, ulServoPeriod);
us600 = ulServoPeriod * 3 / 100; // 20 ms * 3 / 100 = 600 us
us2400 = us600 * 4; // 600 us * 4 = 2400 us
//
// Enable the PWM0, PWM1, PWM2, and PWM3 output signals.
//
PWMOutputState(PWM_BASE, PWM_OUT_0_BIT | PWM_OUT_1_BIT | PWM_OUT_2_BIT | PWM_OUT_3_BIT, true);
//
// Enable the PWM generator.
//
PWMGenEnable(PWM_BASE, PWM_GEN_0);
PWMGenEnable(PWM_BASE, PWM_GEN_1);
// Default to center
SetServoPosition(SERVO_0, SERVO_NEUTRAL_POSITION);
SetServoPosition(SERVO_1, SERVO_NEUTRAL_POSITION);
SetServoPosition(SERVO_2, SERVO_NEUTRAL_POSITION);
SetServoPosition(SERVO_3, SERVO_NEUTRAL_POSITION);
}
void myPWM_Init()
{
GPIOPinTypePWM(GPIO_PORTC_BASE, GPIO_PIN_4); // Set Port PC4 as PWM
GPIOPinConfigure(GPIO_PC4_M0PWM6);
GPIOPinTypePWM(GPIO_PORTC_BASE, GPIO_PIN_5); // Set Port PC5 as PWM
GPIOPinConfigure(GPIO_PC5_M0PWM7);
GPIOPinTypePWM(GPIO_PORTD_BASE, GPIO_PIN_0); // Set Port PD0 as PWM
GPIOPinConfigure(GPIO_PD0_M1PWM0);
GPIOPinTypePWM(GPIO_PORTD_BASE, GPIO_PIN_1); // Set Port PD1 as PWM
GPIOPinConfigure(GPIO_PD1_M1PWM1);
}
void motors_init(void) {
int i;
uint8_t pin_mask;
uint32_t motor_per;
// Set Pins to output/PWM in GPIO
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1);
GPIOPinConfigure(GPIO_PF2_M1PWM6);
GPIOPinConfigure(GPIO_PF3_M1PWM7);
GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_2 | GPIO_PIN_3);
// Configure the pin for standby control
GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6);
SysCtlPWMClockSet(SYSCTL_PWMDIV_64);
// Configure the PWM for each pin:
// Turn on the generators and set the PW to 0
// The output is still OFF. Turn on with set_motor_pwm_state
for (i = 0; i < NUM_MOTORS; i++) {
PWMGenConfigure(motors[i].pwm_base_module, motors[i].pwm_generator, PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
motor_per = calc_cycles(MOTOR_PERIOD);
PWMGenPeriodSet(motors[i].pwm_base_module, motors[i].pwm_generator, motor_per);
PWMPulseWidthSet(motors[i].pwm_base_module, motors[i].pwm_pin, 0);
PWMGenEnable(motors[i].pwm_base_module, motors[i].pwm_generator);
pin_mask = 1 << (0x0000000F & motors[i].pwm_pin);
PWMOutputState(motors[i].pwm_base_module, pin_mask, 0);
}
}
//*****************************************************************************
//
// Set up the PWM0 output to be used as a signal source for the CCP1 input
// pin. This example application uses PWM0 as the signal source in order
// to demonstrate the CCP usage and also to provide a predictable timing
// source that will produce known values for the capture timer. In a real
// application some external signal would be used as the signal source for
// the CCP input.
//
//*****************************************************************************
static void
SetupSignalSource(void)
{
//
// Enable the GPIO port used for PWM0 output.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Enable the PWM peripheral and configure the GPIO pin
// used for PWM0. GPIO pin D0 is used for PWM0 output.
//
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM);
GPIOPinConfigure(GPIO_PD0_PWM0);
GPIOPinTypePWM(GPIO_PORTD_BASE, GPIO_PIN_0);
//
// Configure the PWM0 output to generate a 50% square wave with a
// period of 5000 processor cycles.
//
PWMGenConfigure(PWM_BASE, PWM_GEN_0, PWM_GEN_MODE_DOWN);
PWMGenPeriodSet(PWM_BASE, PWM_GEN_0, TIMEOUT_VAL);
PWMPulseWidthSet(PWM_BASE, PWM_OUT_0, TIMEOUT_VAL / 2);
PWMOutputState(PWM_BASE, PWM_OUT_0_BIT, 1);
PWMGenEnable(PWM_BASE, PWM_GEN_0);
}
//--------------------------------
void pwm_stepper::Initialize() {
g_pTheStepper = this;
SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
GPIOPinConfigure(GPIO_PA6_M1PWM2);
GPIOPinTypePWM(GPIO_PORTA_BASE, GPIO_PIN_6);
PWMGenConfigure(Base, Generator, PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
// Set the PWM period to 250Hz. To calculate the appropriate parameter
// use the following equation: N = (1 / f) * SysClk. Where N is the
// function parameter, f is the desired frequency, and SysClk is the
// system clock frequency.
// In this case you get: (1 / 250Hz) * 16MHz = 64000 cycles. Note that
// the maximum period you can set is 2^16.
PWMGenPeriodSet(Base, Generator, Default_StartSpeed);
PWMPulseWidthSet(Base, PWM_OUT_2, 64);
// Allow PWM1 generated interrupts. This configuration is done to
// differentiate fault interrupts from other PWM1 related interrupts.
PWMIntEnable(Base, PWM_INT_GEN_1);
// Enable the PWM1 LOAD interrupt on PWM1.
PWMGenIntTrigEnable(Base, Generator, PWM_INT_CNT_LOAD);
// Enable the PWM1 interrupts on the processor (NVIC).
IntEnable(INT_PWM1_1);
// Enable the PWM1 output signal (PA6).
// PWMOutputInvert(Base, PWM_OUT_2_BIT, true);
PWMOutputState(Base, PWM_OUT_2_BIT, true);
}
void RedSetup(volatile uint8_t ui8Adjust){
GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_1);
GPIOPinConfigure(GPIO_PF1_M1PWM5);
PWMGenConfigure(PWM1_BASE, PWM_GEN_2, PWM_GEN_MODE_DOWN);
PWMGenPeriodSet(PWM1_BASE, PWM_GEN_2, ui32Load);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5, ui8Adjust * ui32Load / 1000);
PWMOutputState(PWM1_BASE, PWM_OUT_5_BIT, true);
PWMGenEnable(PWM1_BASE, PWM_GEN_2);
}
void GreenSetup(volatile uint8_t ui8Adjust){
GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_3);
GPIOPinConfigure(GPIO_PF3_M1PWM7);
PWMGenConfigure(PWM1_BASE, PWM_GEN_3, PWM_GEN_MODE_DOWN);
PWMGenPeriodSet(PWM1_BASE, PWM_GEN_3, ui32Load);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_7, ui8Adjust * ui32Load / 1000);
PWMOutputState(PWM1_BASE, PWM_OUT_7_BIT, true);
PWMGenEnable(PWM1_BASE, PWM_GEN_3);
}
void Init_PWM() {
//PWM
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM); //Will use PWM
GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_0); // change GPIO port F, pin 0 as PWM0
PWMGenConfigure(PWM_BASE, PWM_GEN_0, PWM_GEN_MODE_DOWN); //Create PWM gen 0
PWMGenPeriodSet(PWM_BASE, PWM_GEN_0, 402); // Set the period for PWM Generator0
PWMGenEnable(PWM_BASE, PWM_GEN_0); // Enable the PWM Generator0
PWMPulseWidthSet(PWM_BASE, PWM_OUT_0, 1); //Set PWM width
PWMOutputState(PWM_BASE, PWM_OUT_0_BIT, true);
}
void Init_PWM() {
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM);
SysCtlPWMClockSet(SYSCTL_PWMDIV_2);
GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_0);
PWMGenConfigure(PWM_BASE, PWM_GEN_0, PWM_GEN_MODE_DOWN);
PWMGenPeriodSet(PWM_BASE, PWM_GEN_0, 400);
PWMGenEnable(PWM_BASE, PWM_GEN_0);
PWMOutputState(PWM_BASE, PWM_OUT_0_BIT, true);
}
void manualSetup(void)
{
led = 0;
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3, led);
SysCtlClockSet(SYSCTL_SYSDIV_5|SYSCTL_USE_PLL|SYSCTL_OSC_MAIN|SYSCTL_XTAL_16MHZ);
SysCtlPWMClockSet(SYSCTL_PWMDIV_64);
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_1);
GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_2);
GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_3);
GPIOPinConfigure(GPIO_PF1_M1PWM5);
GPIOPinConfigure(GPIO_PF2_M1PWM6);
GPIOPinConfigure(GPIO_PF3_M1PWM7);
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
HWREG(GPIO_PORTF_BASE + GPIO_O_CR) |= 0x01;
HWREG(GPIO_PORTF_BASE + GPIO_O_LOCK) = 0;
GPIODirModeSet(GPIO_PORTF_BASE, GPIO_PIN_4|GPIO_PIN_0, GPIO_DIR_MODE_IN);
GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_4|GPIO_PIN_0, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
ui32PWMClock = SysCtlClockGet() / 64;
ui32Load = (ui32PWMClock / PWM_FREQUENCY) - 1;
PWMGenConfigure(PWM1_BASE, PWM_GEN_2, PWM_GEN_MODE_DOWN);
PWMGenPeriodSet(PWM1_BASE, PWM_GEN_2, ui32Load);
PWMGenConfigure(PWM1_BASE, PWM_GEN_3, PWM_GEN_MODE_DOWN);
PWMGenPeriodSet(PWM1_BASE, PWM_GEN_3, ui32Load);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5, ui8Adjust_red * ui32Load / 1000);
PWMOutputState(PWM1_BASE, PWM_OUT_5_BIT, true);
PWMGenEnable(PWM1_BASE, PWM_GEN_2);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6, ui8Adjust_blue * ui32Load / 1000);
PWMOutputState(PWM1_BASE, PWM_OUT_6_BIT, true);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_7, ui8Adjust_green * ui32Load / 1000);
PWMOutputState(PWM1_BASE, PWM_OUT_7_BIT, true);
PWMGenEnable(PWM1_BASE, PWM_GEN_3);
}
void InitGPIO (void)
{
// GPIO test initialisation
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0 | SYSCTL_PERIPH_PWM);
SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD); // airspeed output
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); // transponder output
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE); // airspeed response pin
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); // transponder response pin
// Configure airspeed input
GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, UUT_AIRSPEED_RESPONSE_PIN_PE3);
GPIOIntTypeSet(GPIO_PORTE_BASE, UUT_AIRSPEED_RESPONSE_PIN_PE3, GPIO_RISING_EDGE);
GPIOPortIntRegister(GPIO_PORTE_BASE, &airspeed_response_isr);
// Configure transponder input
GPIOPinTypeGPIOInput(GPIO_PORTB_BASE, UUT_TRANSPONDER_RESPONSE_PIN_PB3);
GPIOIntTypeSet(GPIO_PORTB_BASE, UUT_TRANSPONDER_RESPONSE_PIN_PB3, GPIO_RISING_EDGE);
GPIOPortIntRegister(GPIO_PORTB_BASE, &transponder_response_isr);
// Configure airspeed pulse generation
GPIOPinTypePWM(GPIO_PORTD_BASE, (1<<1)); // Airspeed output TODO: make pin macro
PWMGenDisable(PWM0_BASE, PWM_GEN_0);
PWMIntDisable(PWM0_BASE, PWM_GEN_0);
PWMGenConfigure(PWM0_BASE, PWM_GEN_0, PWM_GEN_MODE_DOWN);
PWMGenIntTrigEnable(PWM0_BASE, PWM_GEN_0, PWM_INT_CNT_LOAD); // configure pwm for end-of-cycle interrupt
PWMGenIntRegister(PWM0_BASE, PWM_GEN_0, airspeed_pulse_isr);
// Configure transponder pulse generation
GPIOPinTypePWM(GPIO_PORTF_BASE, (1<<3)); // Transponder output TODO: make pin macro
PWMGenDisable(PWM0_BASE, PWM_GEN_2);
PWMIntDisable(PWM0_BASE, PWM_GEN_2);
PWMGenConfigure(PWM0_BASE, PWM_GEN_2, PWM_GEN_MODE_DOWN);
PWMGenIntTrigEnable(PWM0_BASE, PWM_GEN_2, PWM_INT_CNT_LOAD); // configure pwm for end-of-cycle interrupt
PWMGenIntRegister(PWM0_BASE, PWM_GEN_2, transponder_pulse_isr);
// Configure UUT reset signal
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
GPIOPinTypeGPIOOutput(GPIO_PORTG_BASE, GPIO_PIN_4);
GPIOPinWrite(GPIO_PORTG_BASE, GPIO_PIN_4, GPIO_PIN_4);
}
void pwmInit(void) {
SysCtlPWMClockSet(SYSCTL_PWMDIV_64);
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
GPIOPinTypePWM(GPIO_PORTD_BASE, GPIO_PIN_1);
GPIOPinConfigure(GPIO_PD1_M1PWM1);
PWMGenConfigure(PWM1_BASE, PWM_GEN_0, PWM_GEN_MODE_DOWN);
PWMGenPeriodSet(PWM1_BASE, PWM_GEN_0, 1000);
PWMOutputState(PWM1_BASE, PWM_OUT_1_BIT, true);
PWMGenEnable(PWM1_BASE, PWM_GEN_0);
}
void Init_PWM() {
//PWM 0
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM); //PWM Device Set
SysCtlPWMClockSet(SYSCTL_PWMDIV_2); // PWM Generation clock Set
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF); //Enable the GPIO port F
GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_0); // GPIO port F, pin 0 a PWM0
PWMGenConfigure(PWM_BASE, PWM_GEN_0, PWM_GEN_MODE_DOWN); // Configuration the PWM gen0
PWMGenPeriodSet(PWM_BASE, PWM_GEN_0, 400); // Set the Period of the PWM Generator0
PWMGenEnable(PWM_BASE, PWM_GEN_0); // Enable the PWM Generator0
PWMPulseWidthSet(PWM_BASE, PWM_OUT_0, 399); //Set PWM width
PWMOutputState(PWM_BASE, PWM_OUT_0_BIT, true); //Start PWM
//PWM 2
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB); //Enable the GPIO port B
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_0); // GPIO port B, pin 0 a PWM2
PWMGenConfigure(PWM_BASE, PWM_GEN_1, PWM_GEN_MODE_DOWN); // Configuration the PWM gen0
PWMGenPeriodSet(PWM_BASE, PWM_GEN_1, 400); // Set the Period of the PWM Generator0
PWMGenEnable(PWM_BASE, PWM_GEN_1); // Enable the PWM Generator0
PWMPulseWidthSet(PWM_BASE, PWM_OUT_2, 399); //Set PWM width
PWMOutputState(PWM_BASE, PWM_OUT_2_BIT, true); //Start PWM
}
//*****************************************************************************
//
// This example demonstrates how to setup the PWM block to generate signals.
//
//*****************************************************************************
void motor_init(void)
{
//!setting up PWN
volatile unsigned long ulLoop;
//
// Set the clocking to run directly from the crystal.
//
SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
//
// Enable the peripherals used by this example.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//
//! Set GPIO F0 and D1 as PWM pins. They are used to output the PWM0 and
//! PWM1 signals.
//
GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_0);
GPIOPinTypePWM(GPIO_PORTD_BASE, GPIO_PIN_1);
//
//! Enable the PWM0 and PWM1 output signals if true.
//
PWMOutputState(PWM0_BASE, PWM_OUT_0_BIT | PWM_OUT_1_BIT, false);
//
//! Enable the PWM generator.
//
PWMGenEnable(PWM0_BASE, PWM_GEN_0);
//
//! Loop forever while the PWM signals are generated.
//
}
void MotorInit(uint8_t report)
{
SystickInit(1);
// 设置PWM时钟和系统时钟一致
SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
// 使能PWM外设
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
// 使能外设端口
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//设置对应管脚的PWM信号功能
GPIOPinConfigure(GPIO_PB4_M0PWM2);
GPIOPinConfigure(GPIO_PB5_M0PWM3);
GPIOPinConfigure(GPIO_PB6_M0PWM0);
GPIOPinConfigure(GPIO_PB7_M0PWM1);
//设置PWM信号端口
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_4|GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7);
//PWM生成器配置
PWMGenConfigure(PWM0_BASE, PWM_GEN_0, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
PWMGenConfigure(PWM0_BASE, PWM_GEN_1, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
//设置PWM信号周期
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, PERIOD_TIME);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_1, PERIOD_TIME);
//设置PWM信号占空比
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, 0);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_1, 0);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_2, 0);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_3, 0);
// 使能PWM输出端口
PWMOutputState(PWM0_BASE, PWM_OUT_0_BIT|PWM_OUT_1_BIT|PWM_OUT_2_BIT|PWM_OUT_3_BIT, true);
// 使能PWM生成器
PWMGenEnable(PWM0_BASE, PWM_GEN_0);
PWMGenEnable(PWM0_BASE, PWM_GEN_1);
// 使能PWm生成器模块的及时功能.
PWMSyncTimeBase(PWM0_BASE, PWM_GEN_0);
PWMSyncTimeBase(PWM0_BASE, PWM_GEN_1);
if(report)
UARTprintf("PWM初始化完成！\r\n");
}
/*
* ======== EK_TM4C123GXL_initPWM ========
*/
void EK_TM4C123GXL_initPWM(void) {
/* Enable PWM peripherals */
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1);
/*
* Enable PWM output on GPIO pins. Board_LED1 and Board_LED2 are now
* controlled by PWM peripheral - Do not use GPIO APIs.
*/
GPIOPinConfigure(GPIO_PF2_M1PWM6);
GPIOPinConfigure(GPIO_PF3_M1PWM7);
GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_2 | GPIO_PIN_3);
PWM_init();
}
/* *************************************************
* Function: PWM_Init
*
* Inputs: None
*
* Outputs: None
*
* Date: 7/11/2013
*
* Description: This function initializes the PWM
* peripherals.
* ********************************************** */
void PWM_Init(void)
{
// Set PWM Clock Divider to divide by 1
SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
// Initialize GPIO Port corresponding to PWM output PWM1
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
// Enable the PWM0 peripheral.
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
// Set GPIO pin as PWM output
GPIOPinTypePWM(GPIO_PORTD_BASE, GPIO_PIN_1);
}
//*****************************************************************************
//
// This example demonstrates how to setup the PWM block to generate signals.
//
//*****************************************************************************
void F_PWM_init(void)
{
//!setting up PWN
volatile unsigned long ulLoop;
//
// Set the clocking to run directly from the crystal.
//
SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
//
// Enable the peripherals used by this example.
//
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
//
//! Set GPIO B0 and B1 as PWM pins. They are used to output the PWM0 and
//! PWM1 signals.
//
GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
//
//! Enable the PWM2 and PWM3 output signals if true.
//
PWMOutputState(PWM0_BASE,PWM_OUT_2_BIT|PWM_OUT_3_BIT, false);
//
//! Enable the PWM generator.
//
PWMGenEnable(PWM0_BASE, PWM_GEN_1);
//
//! Compute the PWM period based on the system clock.
//
ulPeriod = SysCtlClockGet() / PWMperiedset;
//
// Set the PWM2 period
//
PWMGenConfigure(PWM0_BASE, PWM_GEN_1, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC | PWM_GEN_MODE_DBG_RUN);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_1, ulPeriod);
}
//this initializes the speaker on the Stellaris board.
//Speaker is hooked up to PWM0
void speakerInit(){
//enable the speaker peripheral that is connected to PWM0
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM);
//Set GPIO Port: G Enabled
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
//Tell Port G, Pin 1, to take input from PWM 0
GPIOPinTypePWM(GPIO_PORTG_BASE, GPIO_PIN_1);
//Set a 4400 Hz frequency as u1Period
ulPeriod = SysCtlClockGet() / (4440);
//Configure PWM0 in up-down count mode, no sync to clock
PWMGenConfigure(PWM0_BASE, PWM_GEN_0,
PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
//Set u1Period (4400 Hz) as the period of PWM0
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, ulPeriod);
//Set PWM0, output 1 to a duty cycle of 1/8
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_1, ulPeriod / 16);
//Activate PWM0
PWMGenEnable(PWM0_BASE, PWM_GEN_0);
}
void bsp_pwm0_init(void)
{
/*Enable device*/
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
/*Set clock divider*/
PWMClockSet(PWM0_BASE,PWM_SYSCLK_DIV_64);
/*Enable PWM pin*/
GPIOPinConfigure(LCD_PWM_CHANNEL);
GPIOPinTypePWM(LCD_PWM_PORT, LCD_PWM_PIN);
/*Configure PWM generator*/
PWMGenConfigure(PWM0_BASE, PWM_GEN_0,(PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC));
/*Set PWM timer period*/
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0,gSysClock/10000);
/*Set width for PWM0*/
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, 50*PWMGenPeriodGet(PWM0_BASE,PWM_GEN_0)/100);
/*Enable output*/
PWMOutputState(PWM0_BASE, PWM_OUT_0_BIT, 0);
/*Enable Generator*/
PWMGenEnable(PWM0_BASE, PWM_GEN_0);
}
void bsp_pwm_for_sense_init(void)
{
/*Enable device*/
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
/*Set clock divider*/
PWMClockSet(PWM0_BASE,PWM_SYSCLK_DIV_1);
/*Enable PWM pin*/
GPIOPinConfigure(GPIO_PK5_M0PWM7);
GPIOPinTypePWM(SENSE_THRES_PORT, SENSE_THRES_PIN);
/*Configure PWM generator*/
PWMGenConfigure(PWM0_BASE, PWM_GEN_3,(PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC));
/*Set PWM timer period*/
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_3,gSysClock/1000000);
/*Set width for PWM0*/
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_7, 1*PWMGenPeriodGet(PWM0_BASE,PWM_GEN_3)/5);
/*ensable output*/
PWMOutputState(PWM0_BASE, PWM_OUT_7_BIT, 1);
/*Enable Generator*/
PWMGenEnable(PWM0_BASE, PWM_GEN_3);
}
//*****************************************************************************
//
//! Starts the motor.
//!
//! \param ucMotor determines which motor should be started. Valid values are
//! \e LEFT_SIDE or \e RIGHT_SIDE.
//!
//! This function will start either the right or left motor depending upon the
//! value of the \e ucMotor parameter. The motor duty cycle will be the last
//! value passed to the MotorSpeed() function for this motor.
//!
//! \return None.
//!
//*****************************************************************************
void
MotorRun (tSide ucMotor)
{
unsigned long ulPort;
//
// Check for invalid parameters.
//
ASSERT((ucMotor == LEFT_SIDE) || (ucMotor == RIGHT_SIDE));
//
// Select the correct GPIO port for the motor.
//
ulPort = (ucMotor == LEFT_SIDE) ? GPIO_PORTH_BASE : GPIO_PORTD_BASE;
//
// Configure the pin to be controlled by the PWM module. This enables
// the PWM signal onto the pin, which causes the motor to start running.
//
GPIOPinTypePWM(ulPort, GPIO_PIN_0);
}
//Main
int main(void) {
//Clock del Sistema a 40MHz
SysCtlClockSet(SYSCTL_SYSDIV_5|SYSCTL_USE_PLL|SYSCTL_OSC_MAIN|SYSCTL_XTAL_16MHZ);
//Divisor PWM
SysCtlPWMClockSet(SYSCTL_PWMDIV_64);
//Habilitar Periferico PWM1
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1);
//Proveer Reloj al Puerto D y F
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
//Periferico como tipo PWM
GPIOPinTypePWM(GPIO_PORTD_BASE, GPIO_PIN_0);
GPIOPinConfigure(GPIO_PD0_M1PWM0);
//Remover bloqueo del SW0
GPIO_PORTF_LOCK_R = GPIO_LOCK_KEY; //
GPIO_PORTF_CR_R = 0x0f;
//Switches como Entrada
GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_4);
GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_4, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
//Llamar Metodo
Conversion(Angulo);
ConfiguracionPWM(Ancho);
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_0, Ancho * Load / 1000);
while(1) {
if(GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_4)==0x00) {
Ancho--;
if (Ancho < 40) {
Ancho = 40; }
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_0, Ancho * Load / 1000);
}
if(GPIOPinRead(GPIO_PORTF_BASE,GPIO_PIN_0)==0x00) {
Ancho++;
if (Ancho > 140) {
Ancho = 140; }
PWMPulseWidthSet(PWM1_BASE, PWM_OUT_0, Ancho * Load / 1000);
}
SysCtlDelay(100000);
}
}
void SolarPanel(void *vParameters)
{
static unsigned short motorDrive = 0;
unsigned long period = 125000;
static Bool Flag = FALSE;
static unsigned long dutyCycle = 62500;
static int remainingDeployment = 1000;
while(1)
{
solarPanel * myPanel = (solarPanel*) vParameters;
// DEREREFWEJFIOEAWN DEREFERENCE POINTERS
//IntEnable(INT_GPIOB);
// SysCtlPWMClockSet(SYSCTL_PWMDIV_32);
// if (*(myPanel->solarPanelRetract))
// {
// remainingDeployment = 0;
// }
// else{
// remainingDeployment = 1000;
// 100% motor drive * 10 seconds
//
// char temp[20];
// sprintf(temp,"%u",*(myPanel->solarPanelDeploy));
// RIT128x96x4StringDraw(temp, 40, 80, 15);
// sprintf(temp,"%u",*myPanel->solarPanelRetract);
// RIT128x96x4StringDraw(temp, 60, 80, 15);
// sprintf(temp,"%u",remainingDeployment);
// RIT128x96x4StringDraw(temp, 80, 80, 15);
if(!((*(myPanel -> solarPanelDeploy) && 0 == remainingDeployment) &&
(*(myPanel -> solarPanelRetract) && 1000 == remainingDeployment)))
{
if(*myPanel->solarPanelDeploy || *myPanel->solarPanelRetract)
{
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM);
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
GPIOPinTypeGPIOInput(GPIO_PORTF_BASE, GPIO_PIN_0);
GPIOPinWrite(GPIO_PORTF_BASE, GPIO_PIN_0, 0);
GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_0);
GPIOPadConfigSet(GPIO_PORTF_BASE, GPIO_PIN_0, GPIO_STRENGTH_8MA, GPIO_PIN_TYPE_STD);
PWMGenConfigure(PWM0_BASE, PWM_GEN_0, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, period);
PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, dutyCycle);
PWMGenEnable(PWM0_BASE, PWM_GEN_0);
PWMOutputState(PWM0_BASE, PWM_OUT_0_BIT, 1);
}
if(*(myPanel -> driveMotorSpeedInc))
{
if((dutyCycle + (0.05 * period)) < period) // ensures duty cycle does not exceed 100%
{
dutyCycle += (period * 0.05); // Increments motor speed by 5%
}
(*(myPanel -> driveMotorSpeedInc)) = FALSE;
}
else if(*(myPanel -> driveMotorSpeedDec))
{
int limit = dutyCycle - (0.05 * period);
if(limit > 0) // ensures duty cycle does not drop below 0%
{
dutyCycle -= (period * 0.05); // Decrements motor speed by 5%
}
(*(myPanel -> driveMotorSpeedDec)) = FALSE;
}
motorDrive = dutyCycle * 100 / period; // (dutyCycle / period) * 100% / 10
// iterations per second
// solar panels are set up such that
// 10 seconds of 100% motorDrive will
// fully retract or detract a solar panel
// from a full ON or OFF state respectively
if(*(myPanel -> solarPanelDeploy))
{
if((remainingDeployment - motorDrive) < 0)
{
remainingDeployment = 0;
}
else
{
remainingDeployment -= motorDrive;
}
}
else if(*(myPanel->solarPanelRetract))
{
if((remainingDeployment + motorDrive) > 1000)
{
remainingDeployment = 1000;
}
else
{
remainingDeployment += motorDrive;
}
}
if(remainingDeployment == 0 && *(myPanel -> solarPanelDeploy))
{
*(myPanel -> solarPanelDeploy) = FALSE;
*(myPanel -> solarPanelState) = TRUE;
g_ulGPIOb=1;
PWMGenDisable(PWM0_BASE, PWM_GEN_0);
PWMOutputState(PWM0_BASE, PWM_OUT_0_BIT, 0);
}
else if(remainingDeployment == 1000)
{
if(*(myPanel -> solarPanelRetract))
{
*(myPanel -> solarPanelRetract) = FALSE;
*(myPanel -> solarPanelState) = FALSE;
g_ulGPIOb=1;
PWMGenDisable(PWM0_BASE, PWM_GEN_0);
PWMOutputState(PWM0_BASE, PWM_OUT_0_BIT, 0);
}
}
}
vTaskDelay(500);
}
}