pwmControl.c

/*
 * pwmControl.c
 *
 *  Created on: Mar 18, 2018
 *      Author: maxtalley
 */

/**********************************************************
 *
 * pwmGen.c - Example code which generates a single PWM
 *    output on J4-05 (M0PWM7) with duty cycle fixed and
 *    the frequency controlled by UP and DOWN buttons in
 *    the range 50 Hz to 400 Hz.
 * 2017: Modified for Tiva and using straightforward, polled
 *    button debouncing implemented in 'buttons4' module.
 *
 * P.J. Bones   UCECE
 * Last modified:  7.2.2018
 **********************************************************/

#include <stdint.h>
#include <stdbool.h>

#include "inc/hw_memmap.h"
#include "inc/hw_types.h"

#include "driverlib/pin_map.h" //Needed for pin configure
#include "driverlib/debug.h"
#include "driverlib/gpio.h"
#include "driverlib/pwm.h"
#include "driverlib/sysctl.h"

#include "pwmControl.h"

/**********************************************************
 * Constants
 **********************************************************/

// PWM configuration
#define PWM_DIVIDER_CODE        SYSCTL_PWMDIV_4
#define PWM_DIVIDER             4
#define PWM_CONST_FREQ          200

// Duty Cycle Configuration
#define DUTY_CYCLE_MAX          100
#define DUTY_CYCLE_START        0

//  PWM Hardware Details M0PWM7 (gen 3)
//  ---Main Rotor PWM: PC5, J4-05
#define PWM_MAIN_BASE           PWM0_BASE
#define PWM_MAIN_GEN            PWM_GEN_3
#define PWM_MAIN_OUTNUM         PWM_OUT_7
#define PWM_MAIN_OUTBIT         PWM_OUT_7_BIT
#define PWM_MAIN_PERIPH_PWM     SYSCTL_PERIPH_PWM0
#define PWM_MAIN_PERIPH_GPIO    SYSCTL_PERIPH_GPIOC
#define PWM_MAIN_GPIO_BASE      GPIO_PORTC_BASE
#define PWM_MAIN_GPIO_CONFIG    GPIO_PC5_M0PWM7
#define PWM_MAIN_GPIO_PIN       GPIO_PIN_5

// PWM Hardware Details M1PWM5
// --Tail Rotor PWM: PF1, J3-10
#define PWM_TAIL_BASE           PWM1_BASE
#define PWM_TAIL_GEN            PWM_GEN_2
#define PWM_TAIL_OUTNUM         PWM_OUT_5
#define PWM_TAIL_OUTBIT         PWM_OUT_5_BIT
#define PWM_TAIL_PERIPH_PWM     SYSCTL_PERIPH_PWM1
#define PWM_TAIL_PERIPH_GPIO    SYSCTL_PERIPH_GPIOF
#define PWM_TAIL_GPIO_BASE      GPIO_PORTF_BASE
#define PWM_TAIL_GPIO_CONFIG    GPIO_PF1_M1PWM5
#define PWM_TAIL_GPIO_PIN       GPIO_PIN_1

/*********************************************************
 * initialisePWM
 * M0PWM7 (J4-05, PC5) is used for the main rotor motor
 *********************************************************/
void
initialiseMainPWM (void)
{
    SysCtlPeripheralEnable(PWM_MAIN_PERIPH_PWM);
    SysCtlPeripheralEnable(PWM_MAIN_PERIPH_GPIO);

    GPIOPinConfigure(PWM_MAIN_GPIO_CONFIG);
    GPIOPinTypePWM(PWM_MAIN_GPIO_BASE, PWM_MAIN_GPIO_PIN);

    PWMGenConfigure(PWM_MAIN_BASE, PWM_MAIN_GEN,
                    PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);

    // Set the initial PWM parameters
    setMainPWM (DUTY_CYCLE_START);

    PWMGenEnable(PWM_MAIN_BASE, PWM_MAIN_GEN);

    // Disable the output.  Repeat this call with 'true' to turn O/P on.
    PWMOutputState(PWM_MAIN_BASE, PWM_MAIN_OUTBIT, false);
}

void
initialiseTailPWM (void)
{
    SysCtlPeripheralEnable(PWM_TAIL_PERIPH_PWM);
    SysCtlPeripheralEnable(PWM_TAIL_PERIPH_GPIO);

    GPIOPinConfigure(PWM_TAIL_GPIO_CONFIG);
    GPIOPinTypePWM(PWM_TAIL_GPIO_BASE, PWM_TAIL_GPIO_PIN);

    PWMGenConfigure(PWM_TAIL_BASE, PWM_TAIL_GEN,
                    PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);

    // Set the initial PWM parameters
    setTailPWM (DUTY_CYCLE_START);

    PWMGenEnable(PWM_TAIL_BASE, PWM_TAIL_GEN);

    // Disable the output.  Repeat this call with 'true' to turn O/P on.
    PWMOutputState(PWM_TAIL_BASE, PWM_TAIL_OUTBIT, false);
}

// Turn on/off the main PWM generator
void setMainPWMOutput(uint16_t main_output)
{
    // Disable the output.  Repeat this call with 'true' to turn O/P on.
    PWMOutputState(PWM_MAIN_BASE, PWM_MAIN_OUTBIT, main_output);
}

// turn on/off the tail PWM generator
void setTailPWMOutput(uint16_t tail_output)
{
    // Disable the output.  Repeat this call with 'true' to turn O/P on.
    PWMOutputState(PWM_TAIL_BASE, PWM_TAIL_OUTBIT, tail_output);
}

/********************************************************
 * Function to set the freq, duty cycle of M0PWM7
 ********************************************************/
void
setMainPWM (uint16_t ui16Duty)
{
    // Calculate the PWM period corresponding to the freq.
    uint32_t ui32Period =
        SysCtlClockGet() / PWM_DIVIDER / PWM_CONST_FREQ;

    PWMGenPeriodSet(PWM_MAIN_BASE, PWM_MAIN_GEN, ui32Period);
    PWMPulseWidthSet(PWM_MAIN_BASE, PWM_MAIN_OUTNUM,
        ui32Period * ui16Duty / 100);
}

void
setTailPWM (uint16_t ui16Duty)
{
    // Calculate the PWM period corresponding to the freq.
    uint32_t ui32Period =
        SysCtlClockGet() / PWM_DIVIDER / PWM_CONST_FREQ;

    PWMGenPeriodSet(PWM_TAIL_BASE, PWM_TAIL_GEN, ui32Period);
    PWMPulseWidthSet(PWM_TAIL_BASE, PWM_TAIL_OUTNUM,
        ui32Period * ui16Duty / 100);
}