W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\PWMService.

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/****************************************************************************
Module
PWMService.c
Revision
1.0

Description
Author
Anne Alter, Derrick Contreras
Date
2/14/16

****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
//headers for framework
#include "ES_Configure.h"
#include "ES_Framework.h"
#include "TemplateService.h"
#include "termio.h"
//headers to access the pwm and nvic libraries
#include "inc/hw_timer.h"
#include "inc/hw_nvic.h"
#include "inc/hw_pwm.h"
//headers to access the GPIO subsystem
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_gpio.h"
#include "inc/hw_sysctl.h"
#include "inc/hw_ssi.h"

//headers to access the TivaWare Library

#include "driverlib/sysctl.h"
#include "driverlib/pin_map.h"
#include "driverlib/gpio.h"
#include "driverlib/timer.h"
#include "driverlib/interrupt.h"

//headers for other modules in the program

#include "PWMService.h"
#include "PoundDefines.h"
/*----------------------------- Module Defines ----------------------------*/
/*---------------------------- Module Functions ---------------------------*/
void InitPWMWheelMotors(void);
/*---------------------------- Module Variables ---------------------------*/
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
InitAllPWM
Parameters
None
Returns
None

Description
Initializes PWM service

Author
Anne Alter, Derrick Contreras
****************************************************************************/
void InitAllPWM(void)

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{
}

InitPWMWheelMotors();

/****************************************************************************
Function
InitPWMWheelMotors
Parameters
None
Returns
None

Description
Initializes PWM service

Author
Anne Alter, Derrick Contreras
****************************************************************************/
void InitPWMWheelMotors(void)
{
//initialize Dummy variable using volatile to avoid over-optimization
volatile uint32_t Dummy;
//enable the clock to the PWM module (PWM0)
HWREG(SYSCTL_RCGCPWM) |= SYSCTL_RCGCPWM_R0;

//enable the clock to port B

HWREG(SYSCTL_RCGCGPIO) |= SYSCTL_RCGCGPIO_R1;

//select the PWM clock as system clock/32

HWREG(SYSCTL_RCC) = (HWREG(SYSCTL_RCC) & ~SYSCTL_RCC_PWMDIV_M) | (SYSCTL_RCC_USEPWMDIV
|SYSCTL_RCC_PWMDIV_32);
//make sure the PWM clock has gotten going
while ((HWREG(SYSCTL_PRPWM) & SYSCTL_PRPWM_R0) != SYSCTL_PRPWM_R0);
// FOR WHEEL MOTORS
//disable PWM while initializing
HWREG(PWM0_BASE+PWM_O_0_CTL) = 0;

//program generator A to go to 1 at rising compare A, 0 at falling compare A

HWREG(PWM0_BASE+PWM_O_0_GENA) = (PWM_0_GENA_ACTCMPAU_ONE | PWM_0_GENA_ACTCMPAD_ZERO);
//program generator B to go to 1 at rising compare B, 0 at falling compare B
HWREG(PWM0_BASE+PWM_O_0_GENB) = (PWM_0_GENB_ACTCMPBU_ONE | PWM_0_GENB_ACTCMPBD_ZERO);

//set the PWM period, since counting up and down, initialize the load register to half the desired
total period
HWREG(PWM0_BASE+PWM_O_0_LOAD) = ((PeriodInMS * PWMTicksPerMS)-1)>>1;
//set the initial duty cycle on A (50%)
//HWREG(PWM0_BASE+PWM_O_0_CMPA) = HWREG(PWM0_BASE+PWM_O_0_LOAD)>>1;

//set the initial duty cycle on B (75%)

//HWREG(PWM0_BASE+PWM_O_0_CMPB) = (HWREG(PWM0_BASE+PWM_O_0_LOAD))-(((PeriodInMS *
PWMTicksPerMS)-1)>>2);
// END OF WHEEL MOTORS
// FOR FLYWHEEL MOTOR AND SERVO
//disable PWM while initializing
HWREG(PWM0_BASE+PWM_O_1_CTL) = 0;

//program generator A to go to 1 at rising compare A, 0 at falling compare A

HWREG(PWM0_BASE+PWM_O_1_GENA) = (PWM_1_GENA_ACTCMPAU_ONE | PWM_1_GENA_ACTCMPAD_ZERO);
//program generator B to go to 1 at rising compare B, 0 at falling compare B
HWREG(PWM0_BASE+PWM_O_1_GENB) = (PWM_1_GENB_ACTCMPBU_ONE | PWM_1_GENB_ACTCMPBD_ZERO);

//set the PWM period for servo (ok to be teh same for flywheel), since counting up and down,
initialize the load register to half the desired total period

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HWREG(PWM0_BASE+PWM_O_1_LOAD) = ((ServoPeriodInMs * PWMTicksPerMS)-1)>>1;

// END OF FLYWHEEL MOTOR AND SERVO

//enable the PWM outputs (0 and 1 are wheel motors, 2 and 3 are flywheel and servo)
HWREG(PWM0_BASE+PWM_O_ENABLE) |= (PWM_ENABLE_PWM3EN | PWM_ENABLE_PWM2EN | PWM_ENABLE_PWM1EN |
PWM_ENABLE_PWM0EN);
//configure port B pins to be PWM outputs
HWREG(GPIO_PORTB_BASE+GPIO_O_AFSEL) |= (BIT4HI | BIT5HI | BIT6HI | BIT7HI);

//choose to map PWM to those pins

HWREG(GPIO_PORTB_BASE+GPIO_O_PCTL) = (HWREG(GPIO_PORTB_BASE+GPIO_O_PCTL) & 0x0000fff) +
(4<<(7*BitsPerNibble)) + (4<<(6*BitsPerNibble))+(4<<(5*BitsPerNibble)) + (4<<(4*BitsPerNibble));
//enable pins 4&5 & 6&7 on port B for digital I/O
HWREG(GPIO_PORTB_BASE+GPIO_O_DEN) |= (BIT4HI | BIT5HI | BIT6HI | BIT7HI);
//enable pins 4&5 & 6&7 as outputs
HWREG(GPIO_PORTB_BASE+GPIO_O_DIR) |= (BIT4HI | BIT5HI | BIT6HI | BIT7HI);

//set up/down count mode for wheel motors

HWREG(PWM0_BASE+PWM_O_0_CTL) = (PWM_0_CTL_MODE | PWM_0_CTL_ENABLE | PWM_0_CTL_GENAUPD_LS |
PWM_0_CTL_GENBUPD_LS);
//set up/down count mode for servo and flywheel
HWREG(PWM0_BASE+PWM_O_1_CTL) = (PWM_1_CTL_MODE | PWM_1_CTL_ENABLE | PWM_1_CTL_GENAUPD_LS |
PWM_1_CTL_GENBUPD_LS);
// Ensure Motors are off
SetDirection(LEFT_MOTOR, FORWARD);
SetDirection(RIGHT_MOTOR, FORWARD);
SetDuty(LEFT_MOTOR, OFF_DUTY);
SetDuty(RIGHT_MOTOR, OFF_DUTY);
// Ensure Flywheel is off
SetFlywheelDuty(1);
}

//ensure servo is at reset angle

SetServoAngle(RESET_ANGLE);

/****************************************************************************
Function
SetDuty
Parameters
Value for duty cycle to be set
Returns
Nothing

Description
Notes

Author
Anne Alter, Derrick Contreras
****************************************************************************/
void SetDuty(uint8_t WHICH_MOTOR, uint32_t SET_DUTY)
{
if (WHICH_MOTOR == LEFT_MOTOR) {
//set the DC to 0% by programming the compare value to the load value
if (SET_DUTY == 0)
{
//since the CmpADn action (set to zero) wins, the output stays low (per/2-0=per/2)
HWREG(PWM0_BASE+PWM_O_0_CMPA) = HWREG(PWM0_BASE+PWM_O_0_LOAD);
}
//set DC to 100% is more complex
else if (SET_DUTY == 100)
{
//set the load value to 0 since the desired hi time is Per/2 (per/2-per/2=0)

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\PWMService.c
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HWREG(PWM0_BASE+PWM_O_0_CMPA) = 0;

//since the CmpADn action (was set to zero) wins, change generator events to always force hi
//HWREG(PWM0_BASE+PWM_O_0_GENB)=(PWM_0_GENB_ACTCMPBU_ONE | PWM_0_GENB_ACTCMPBD_ONE);
//turn off enable
HWREG(PWM0_BASE+PWM_O_ENABLE) &= ~(PWM_ENABLE_PWM0EN);
//

}
//else set desired duty cycle
else
{
//HWREG(PWM0_BASE+PWM_O_0_CMPA) = (HWREG(PWM0_BASE+PWM_O_0_LOAD) (HWREG(PWM0_BASE+PWM_O_0_LOAD)*(100-SET_DUTY))/100);
HWREG(PWM0_BASE+PWM_O_0_CMPA) = ((PeriodInMS * PWMTicksPerMS)-1)*(100-SET_DUTY)/200;
//printf("%u\t %u\t \r\n", WHICH_MOTOR, SET_DUTY);
}
} else if (WHICH_MOTOR == RIGHT_MOTOR) {
//set the DC to 0% by programming the compare value to the load value
if (SET_DUTY == 0)
{
//since the CmpADn action (set to zero) wins, the output stays low (per/2-0=per/2)
HWREG(PWM0_BASE+PWM_O_0_CMPB) = HWREG(PWM0_BASE+PWM_O_0_LOAD);
}
//set DC to 100% is more complex
else if (SET_DUTY == 100)
{
//set the load value to 0 since the desired hi time is Per/2 (per/2-per/2=0)
HWREG(PWM0_BASE+PWM_O_0_CMPB) = 0;

//since the CmpBDn action (was set to zero) wins, change generator events to always force hi
//HWREG(PWM0_BASE+PWM_O_0_GENB)=(PWM_0_GENB_ACTCMPBU_ONE | PWM_0_GENB_ACTCMPBD_ONE);
//turn off enable
HWREG(PWM0_BASE+PWM_O_ENABLE) &= ~(PWM_ENABLE_PWM1EN);

}
//else set desired duty cycle
else
{
//HWREG(PWM0_BASE+PWM_O_0_CMPB) = (HWREG(PWM0_BASE+PWM_O_0_LOAD) (HWREG(PWM0_BASE+PWM_O_0_LOAD)*(100-SET_DUTY))/100);
HWREG(PWM0_BASE+PWM_O_0_CMPB) = ((PeriodInMS * PWMTicksPerMS)-1)*(100-SET_DUTY)/200;
//printf("%u\t %u\t \r\n", WHICH_MOTOR, SET_DUTY);
}
}
}
/****************************************************************************
Function
SetDirection
Parameters
int to indidcate which motor to change (1 or 2)
bool to indicate direction (true = forward, false = reverse)
Returns
Nothing

Description
Notes

Author
M. Metlitz, 02/02/16
****************************************************************************/
void SetDirection(uint8_t WHICH_MOTOR, bool DIRECTION)
{
// Motor one selected
if (WHICH_MOTOR == LEFT_MOTOR)
{

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\PWMService.c
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// Want to go forward
if (DIRECTION == FORWARD)
{
HWREG(GPIO_PORTB_BASE+(GPIO_O_DATA + ALL_BITS)) &= ~(LEFT_MOTOR_DIRECTION);
}
// Want to go backward
else
{
HWREG(GPIO_PORTB_BASE+(GPIO_O_DATA + ALL_BITS)) |= (LEFT_MOTOR_DIRECTION);
}

}
// Motor two selected
else
{
// Want to go forward
if (DIRECTION == FORWARD)
{
HWREG(GPIO_PORTB_BASE+(GPIO_O_DATA + ALL_BITS)) &= ~(RIGHT_MOTOR_DIRECTION);
}
// Want to go backward
else
{
HWREG(GPIO_PORTB_BASE+(GPIO_O_DATA + ALL_BITS)) |= (RIGHT_MOTOR_DIRECTION);
}
}

/****************************************************************************
Function
SetFlywheelDuty
Parameters
Value for duty cycle to be set
Returns
Nothing

Description
Notes
***Need to account for both motors
Author
M. Metlitz, 02/24/16
****************************************************************************/
void SetFlywheelDuty(uint32_t SET_FLYWHEEL_DUTY)
{
//set the DC to 0% by programming the compare value to the load value
if (SET_FLYWHEEL_DUTY == 0)
{
//since the CmpADn action (set to zero) wins, the output stays low (per/2-0=per/2)
HWREG(PWM0_BASE+PWM_O_1_CMPA) = HWREG(PWM0_BASE+PWM_O_1_LOAD);
}
//set DC to 100% is more complex
else if (SET_FLYWHEEL_DUTY == 100)
{
//set the load value to 0 since the desired hi time is Per/2 (per/2-per/2=0)
HWREG(PWM0_BASE+PWM_O_1_CMPA) = 0;

//since the CmpADn action (was set to zero) wins, change generator events to always force hi
//HWREG(PWM0_BASE+PWM_O_1_GENA)=(PWM_0_GENA_ACTCMPAU_ONE | PWM_0_GENA_ACTCMPBA
//turn off enable
HWREG(PWM0_BASE+PWM_O_ENABLE) &= ~(PWM_ENABLE_PWM2EN);

}
//else set desired duty cycle
else
{
HWREG(PWM0_BASE+PWM_O_1_CMPA) = ((ServoPeriodInMs * PWMTicksPerMS)-1)*(100 - SET_FLYWHEEL_DUTY)/200;
}

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/****************************************************************************
Function
SetServoAngle
Parameters
Value for servo angle to go to
Returns
Nothing

Description
Notes
Don't give this values of 0 or 180 degrees
Author
M. Metlitz, 02/25/16
****************************************************************************/
void SetServoAngle(uint32_t WHICH_ANGLE)
{
// Adjust duty cycle between 1ms and 2ms based on value of angle
//HWREG(PWM0_BASE+PWM_O_1_CMPB) = (((ServoPeriodInMs * PWMTicksPerMS)-1)*(WHICH_ANGLE)/1800+.1)/2;
HWREG(PWM0_BASE+PWM_O_1_CMPB) = (((ServoPeriodInMs * PWMTicksPerMS)-1)*(1000-WHICH_ANGLE)/1000)/2;
}