//*****************************************************************************
//
// The interrupt handler for the for PWM0 interrupts.
//
//*****************************************************************************
void
PWM0IntHandler(void)
{
//
// Clear the PWM0 LOAD interrupt flag. This flag gets set when the PWM
// counter gets reloaded.
//
PWMGenIntClear(PWM_BASE, PWM_GEN_0, PWM_INT_CNT_LOAD);
//
// If the duty cycle is less or equal to 75% then add 0.1% to the duty
// cycle. Else, reset the duty cycle to 0.1% cycles. Note that 64 is
// 0.01% of the period (64000 cycles).
//
if((PWMPulseWidthGet(PWM_BASE, PWM_OUT_0) + 64) <=
((PWMGenPeriodGet(PWM_BASE, PWM_GEN_0) * 3) / 4))
{
PWMPulseWidthSet(PWM_BASE, PWM_OUT_0,
PWMPulseWidthGet(PWM_BASE, PWM_OUT_0) + 64);
}
else
{
PWMPulseWidthSet(PWM_BASE, PWM_OUT_0, 64);
}
}
void rampGenericPWM(bool rampDirection, uint32_t pwmBase, uint32_t pwm,
uint32_t pwmBit, uint32_t delay) {
// Start value is the current PWM pulse width regardless the ramp direction
uint32_t i = PWMPulseWidthGet(pwmBase, pwm);
if (rampDirection == PWM_RAMP_UP) {
uint32_t targetPwmLoad = PWMGenPeriodGet(pwmBase, PWM_GEN_3);
PWMOutputState(pwmBase, pwmBit, true);
for (; i < targetPwmLoad; i += PWM_STEP)
{
PWMPulseWidthSet(pwmBase, pwm, i);
SysCtlDelay(delay);
}
} else // rampDirection == PWM_RAMP_DOWN
{
for (; i > PWM_LOW; i -= PWM_STEP)
{
PWMPulseWidthSet(pwmBase, pwm, i);
SysCtlDelay(delay);
}
PWMOutputState(pwmBase, pwmBit, false);
}
}
void setSpeed (unsigned int final_speed, uint32_t motor){
//Takes in the speed to set and the motor to apply it too.
unsigned int speed = PWMPulseWidthGet(PWM0_BASE, motor);
//Find out if speed is less than or greater than the new speed
// and accelerate/decelerate to it.
while (speed > final_speed){
if (speed > final_speed){
speed -= 5;
}
else { speed = final_speed;}
PWMPulseWidthSet(PWM0_BASE, motor, speed);
}
while (speed < final_speed ){
if (speed < final_speed){
speed += 5;
}
else { speed = final_speed;}
PWMPulseWidthSet(PWM0_BASE, motor, speed);
}
}
