74 lines
2.4 KiB
C
74 lines
2.4 KiB
C
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/* Motor.c
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* Jonathan Valvano
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* v2.0.2
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* June 28, 2024
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// Motor
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// TM4C MSPM0
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// PF2 PB4 Motor_PWML, ML+, IN3, PWM M1PWM6
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// PF3 PB1 Motor_PWMR, MR+, IN1, PWM M1PWM7
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// PA3 PB0 Motor_DIR_L,ML-, IN4, GPIO 0 means forward, 1 means backward
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// PA2 PB16 Motor_DIR_R,MR-, IN2, GPIO 0 means forward, 1 means backward
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*
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*/
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#include <ti/devices/msp/msp.h>
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#include "../inc/LaunchPad.h"
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#include "../inc/Clock.h"
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#include "../inc/PWM1.h"
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#define DRV8847 1
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#define DIR_L 1
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#define DIR_R (1<<16)
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#define MOTOR_PERIOD 10000
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void Motor_Init(void){
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// LaunchPad_Init was called
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IOMUX->SECCFG.PINCM[PB0INDEX] = (uint32_t) 0x00000081;
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IOMUX->SECCFG.PINCM[PB16INDEX] = (uint32_t) 0x00000081;
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// DOE31_0 Data output enable
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GPIOB->DOE31_0 |= (1 | (1<<16)); // enable outputs
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GPIOB->DOUTCLR31_0 = DIR_L | DIR_R; // forward
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PWM1_Init(PWMUSEBUSCLK,39,MOTOR_PERIOD,MOTOR_PERIOD-4,MOTOR_PERIOD-4); // 100Hz, stopped
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}
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#if DRV8847
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void Motor_Forward(uint32_t dutyLeft, uint32_t dutyRight){
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GPIOB->DOUTCLR31_0 = DIR_L | DIR_R; // forward
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PWM1_SetDuty(MOTOR_PERIOD-dutyLeft,MOTOR_PERIOD-dutyRight);
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}
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void Motor_Backward(uint32_t dutyLeft, uint32_t dutyRight){
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GPIOB->DOUTSET31_0 = DIR_L | DIR_R; // backward
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PWM1_SetDuty(dutyLeft,dutyRight);
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}
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void Motor_Right(uint32_t dutyLeft, uint32_t dutyRight){
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GPIOB->DOUTCLR31_0 = DIR_L; // left forward
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GPIOB->DOUTSET31_0 = DIR_R; // right backward
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PWM1_SetDuty(MOTOR_PERIOD-dutyLeft,dutyRight);
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}
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void Motor_Left(uint32_t dutyLeft, uint32_t dutyRight){
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GPIOB->DOUTCLR31_0 = DIR_R; // right forward
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GPIOB->DOUTSET31_0 = DIR_L; // left backward
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PWM1_SetDuty(dutyLeft,MOTOR_PERIOD-dutyRight);
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}
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#else
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// L293 code
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void Motor_Forward(uint32_t dutyLeft, uint32_t dutyRight){
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GPIOB->DOUTCLR31_0 = DIR_L | DIR_R; // forward
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PWM1_SetDuty(MOTOR_PERIOD-dutyLeft,MOTOR_PERIOD-dutyRight);
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}
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void Motor_Backward(uint32_t dutyLeft, uint32_t dutyRight){
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GPIOB->DOUTSET31_0 = DIR_L | DIR_R; // backward
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PWM1_SetDuty(dutyLeft,dutyRight);
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}
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void Motor_Right(uint32_t dutyLeft, uint32_t dutyRight){
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GPIOB->DOUTCLR31_0 = DIR_L; // left forward
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GPIOB->DOUTSET31_0 = DIR_R; // right backward
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PWM1_SetDuty(MOTOR_PERIOD-dutyLeft,dutyRight);
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}
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void Motor_Left(uint32_t dutyLeft, uint32_t dutyRight){
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GPIOB->DOUTCLR31_0 = DIR_R; // right forward
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GPIOB->DOUTSET31_0 = DIR_L; // left backward
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PWM1_SetDuty(dutyLeft,MOTOR_PERIOD-dutyRight);
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}
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#endif
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