//###########################################################################
//
// FILE:   epwm_updown_aq_cpu01.c
//
// TITLE:  Action Qualifier Module - Using up/down count.
//
//! \addtogroup cpu01_example_list
//! <h1> EPWM Action Qualifier (epwm_updown_aq)</h1>
//!
//! This example configures ePWM1, ePWM2, ePWM3 to produce an
//! waveform with independent modulation on EPWMxA and
//! EPWMxB.
//!
//! The compare values CMPA and CMPB are modified within the ePWM's ISR.
//!
//! The TB counter is in up/down count mode for this example.
//!
//! View the EPWM1A/B(PA0_GPIO0 & PA1_GPIO1), EPWM2A/B(PA2_GPIO2 & PA3_GPIO3)
//! and EPWM3A/B(PA4_GPIO4 & PA5_GPIO5) waveforms via an oscilloscope.
//!
//
//###########################################################################
// $TI Release: F2837xD Support Library v210 $
// $Release Date: Tue Nov  1 14:46:15 CDT 2016 $
// $Copyright: Copyright (C) 2013-2016 Texas Instruments Incorporated -
//             http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################

//
// Included Files
//
#include "F28x_Project.h"

//
// Defines
//
#define EPWM1_TIMER_TBPRD  2000  // Period register
#define EPWM1_MAX_CMPA     1950
#define EPWM1_MIN_CMPA       50
#define EPWM1_MAX_CMPB     1950
#define EPWM1_MIN_CMPB       50

#define EPWM2_TIMER_TBPRD  2000  // Period register
#define EPWM2_MAX_CMPA     1950
#define EPWM2_MIN_CMPA       50
#define EPWM2_MAX_CMPB     1950
#define EPWM2_MIN_CMPB       50

#define EPWM3_TIMER_TBPRD  2000  // Period register
#define EPWM3_MAX_CMPA      950
#define EPWM3_MIN_CMPA       50
#define EPWM3_MAX_CMPB     1950
#define EPWM3_MIN_CMPB     1050

#define EPWM_CMP_UP           1
#define EPWM_CMP_DOWN         0

//
// Globals
//
typedef struct
{
    volatile struct EPWM_REGS *EPwmRegHandle;
    Uint16 EPwm_CMPA_Direction;
    Uint16 EPwm_CMPB_Direction;
    Uint16 EPwmTimerIntCount;
    Uint16 EPwmMaxCMPA;
    Uint16 EPwmMinCMPA;
    Uint16 EPwmMaxCMPB;
    Uint16 EPwmMinCMPB;
}EPWM_INFO;

EPWM_INFO epwm1_info;
EPWM_INFO epwm2_info;
EPWM_INFO epwm3_info;

//
// Function Prototypes
//
void InitEPwm1Example(void);
void InitEPwm2Example(void);
void InitEPwm3Example(void);
__interrupt void epwm1_isr(void);
__interrupt void epwm2_isr(void);
__interrupt void epwm3_isr(void);
void update_compare(EPWM_INFO*);

//
// Main
//
void main(void)
{
//
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the F2837xD_SysCtrl.c file.
//
    InitSysCtrl();

//
// Step 2. Initialize GPIO:
// This example function is found in the F2837xD_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
//
//    InitGpio();

//
// enable PWM1, PWM2 and PWM3
//
    CpuSysRegs.PCLKCR2.bit.EPWM1=1;
    CpuSysRegs.PCLKCR2.bit.EPWM2=1;
    CpuSysRegs.PCLKCR2.bit.EPWM3=1;

//
// For this case just init GPIO pins for ePWM1, ePWM2, ePWM3
// These functions are in the F2837xD_EPwm.c file
//
    InitEPwm1Gpio();
    InitEPwm2Gpio();
    InitEPwm3Gpio();

//
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
//
    DINT;

//
// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the F2837xD_PieCtrl.c file.
//
    InitPieCtrl();

//
// Disable CPU interrupts and clear all CPU interrupt flags:
//
    IER = 0x0000;
    IFR = 0x0000;

//
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example.  This is useful for debug purposes.
// The shell ISR routines are found in F2837xD_DefaultIsr.c.
// This function is found in F2837xD_PieVect.c.
//
    InitPieVectTable();

//
// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
//
    EALLOW; // This is needed to write to EALLOW protected registers
    PieVectTable.EPWM1_INT = &epwm1_isr;
    PieVectTable.EPWM2_INT = &epwm2_isr;
    PieVectTable.EPWM3_INT = &epwm3_isr;
    EDIS;   // This is needed to disable write to EALLOW protected registers

//
// For this example, only initialize the ePWM
//
    EALLOW;
    CpuSysRegs.PCLKCR0.bit.TBCLKSYNC = 0;
    EDIS;

    InitEPwm1Example();
    InitEPwm2Example();
    InitEPwm3Example();

    EALLOW;
    CpuSysRegs.PCLKCR0.bit.TBCLKSYNC = 1;
    EDIS;

//
// Step 4. User specific code, enable interrupts:
//

//
// Enable CPU INT3 which is connected to EPWM1-3 INT:
//
    IER |= M_INT3;

//
// Enable EPWM INTn in the PIE: Group 3 interrupt 1-3
//
    PieCtrlRegs.PIEIER3.bit.INTx1 = 1;
    PieCtrlRegs.PIEIER3.bit.INTx2 = 1;
    PieCtrlRegs.PIEIER3.bit.INTx3 = 1;

//
// Enable global Interrupts and higher priority real-time debug events:
//
    EINT;  // Enable Global interrupt INTM
    ERTM;  // Enable Global realtime interrupt DBGM

//
// Step 5. IDLE loop. Just sit and loop forever (optional):
//
    for(;;)
    {
        asm ("    NOP");
    }
}

//
// epwm1_isr - EPWM1 ISR
//
__interrupt void epwm1_isr(void)
{
    //
    // Update the CMPA and CMPB values
    //
    update_compare(&epwm1_info);

    //
    // Clear INT flag for this timer
    //
    EPwm1Regs.ETCLR.bit.INT = 1;

    //
    // Acknowledge this interrupt to receive more interrupts from group 3
    //
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}

//
// epwm2_isr - EPWM2 ISR
//
__interrupt void epwm2_isr(void)
{
    //
    // Update the CMPA and CMPB values
    //
    update_compare(&epwm2_info);

    //
    // Clear INT flag for this timer
    //
    EPwm2Regs.ETCLR.bit.INT = 1;

    //
    // Acknowledge this interrupt to receive more interrupts from group 3
    //
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}

//
// epwm3_isr - EPWM3 ISR
//
__interrupt void epwm3_isr(void)
{
    //
    // Update the CMPA and CMPB values
    //
    update_compare(&epwm3_info);

    //
    // Clear INT flag for this timer
    //
    EPwm3Regs.ETCLR.bit.INT = 1;

    //
    // Acknowledge this interrupt to receive more interrupts from group 3
    //
    PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
}

//
// InitEPwm1Example - Initialize EPWM1 configuration
//
void InitEPwm1Example()
{
    //
    // Setup TBCLK
    //
    EPwm1Regs.TBPRD = EPWM1_TIMER_TBPRD;       // Set timer period 801 TBCLKs
    EPwm1Regs.TBPHS.bit.TBPHS = 0x0000;        // Phase is 0
    EPwm1Regs.TBCTR = 0x0000;                  // Clear counter

    //
    // Set Compare values
    //
    EPwm1Regs.CMPA.bit.CMPA = EPWM1_MIN_CMPA;    // Set compare A value
    EPwm1Regs.CMPB.bit.CMPB = EPWM1_MAX_CMPB;    // Set Compare B value

    //
    // Setup counter mode
    //
    EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Count up and down
    EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE;        // Disable phase loading
    EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;       // Clock ratio to SYSCLKOUT
    EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV1;

    //
    // Setup shadowing
    //
    EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
    EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
    EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO; // Load on Zero
    EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

    //
    // Set actions
    //
    EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;            // Set PWM1A on event A, up
                                                  // count
    EPwm1Regs.AQCTLA.bit.CAD = AQ_CLEAR;          // Clear PWM1A on event A,
                                                  // down count

    EPwm1Regs.AQCTLB.bit.CBU = AQ_SET;            // Set PWM1B on event B, up
                                                  // count
    EPwm1Regs.AQCTLB.bit.CBD = AQ_CLEAR;          // Clear PWM1B on event B,
                                                  // down count

    //
    // Interrupt where we will change the Compare Values
    //
    EPwm1Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO;     // Select INT on Zero event
    EPwm1Regs.ETSEL.bit.INTEN = 1;                // Enable INT
    EPwm1Regs.ETPS.bit.INTPRD = ET_3RD;           // Generate INT on 3rd event

    //
    // Information this example uses to keep track
    // of the direction the CMPA/CMPB values are
    // moving, the min and max allowed values and
    // a pointer to the correct ePWM registers
    //
    epwm1_info.EPwm_CMPA_Direction = EPWM_CMP_UP;   // Start by increasing CMPA
    epwm1_info.EPwm_CMPB_Direction = EPWM_CMP_DOWN; // & decreasing CMPB
    epwm1_info.EPwmTimerIntCount = 0;               // Zero the interrupt counter
    epwm1_info.EPwmRegHandle = &EPwm1Regs;          // Set the pointer to the
                                                    // ePWM module
    epwm1_info.EPwmMaxCMPA = EPWM1_MAX_CMPA;        // Setup min/max CMPA/CMPB
                                                    // values
    epwm1_info.EPwmMinCMPA = EPWM1_MIN_CMPA;
    epwm1_info.EPwmMaxCMPB = EPWM1_MAX_CMPB;
    epwm1_info.EPwmMinCMPB = EPWM1_MIN_CMPB;
}

//
// InitEPwm2Example - Initialize EPWM2 configuration
//
void InitEPwm2Example()
{
    //
    // Setup TBCLK
    //
    EPwm2Regs.TBPRD = EPWM2_TIMER_TBPRD;         // Set timer period 801 TBCLKs
    EPwm2Regs.TBPHS.bit.TBPHS = 0x0000;          // Phase is 0
    EPwm2Regs.TBCTR = 0x0000;                    // Clear counter

    //
    // Set Compare values
    //
    EPwm2Regs.CMPA.bit.CMPA = EPWM2_MIN_CMPA;    // Set compare A value
    EPwm2Regs.CMPB.bit.CMPB = EPWM2_MIN_CMPB;    // Set Compare B value

    //
    // Setup counter mode
    //
    EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Count up and down
    EPwm2Regs.TBCTL.bit.PHSEN = TB_DISABLE;        // Disable phase loading
    EPwm2Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;       // Clock ratio to SYSCLKOUT
    EPwm2Regs.TBCTL.bit.CLKDIV = TB_DIV1;

    //
    // Setup shadowing
    //
    EPwm2Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
    EPwm2Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
    EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO; // Load on Zero
    EPwm2Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

    //
    // Set actions
    //
    EPwm2Regs.AQCTLA.bit.CAU = AQ_SET;         // Set PWM2A on event A, up
                                               // count
    EPwm2Regs.AQCTLA.bit.CBD = AQ_CLEAR;       // Clear PWM2A on event B, down
                                               // count

    EPwm2Regs.AQCTLB.bit.ZRO = AQ_CLEAR;       // Clear PWM2B on zero
    EPwm2Regs.AQCTLB.bit.PRD = AQ_SET;         // Set PWM2B on period

    //
    // Interrupt where we will change the Compare Values
    //
    EPwm2Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO;    // Select INT on Zero event
    EPwm2Regs.ETSEL.bit.INTEN = 1;               // Enable INT
    EPwm2Regs.ETPS.bit.INTPRD = ET_3RD;          // Generate INT on 3rd event

    //
    // Information this example uses to keep track
    // of the direction the CMPA/CMPB values are
    // moving, the min and max allowed values and
    // a pointer to the correct ePWM registers
    //
    epwm2_info.EPwm_CMPA_Direction = EPWM_CMP_UP;  // Start by increasing CMPA
    epwm2_info.EPwm_CMPB_Direction = EPWM_CMP_UP;  // & increasing CMPB
    epwm2_info.EPwmTimerIntCount = 0;              // Zero the interrupt counter
    epwm2_info.EPwmRegHandle = &EPwm2Regs;         // Set the pointer to the
                                                   // ePWM module
    epwm2_info.EPwmMaxCMPA = EPWM2_MAX_CMPA;       // Setup min/max CMPA/CMPB
                                                   // values
    epwm2_info.EPwmMinCMPA = EPWM2_MIN_CMPA;
    epwm2_info.EPwmMaxCMPB = EPWM2_MAX_CMPB;
    epwm2_info.EPwmMinCMPB = EPWM2_MIN_CMPB;
}

//
// InitEPwm3Example - Initialize EPWM3 configuration
//
void InitEPwm3Example(void)
{
    //
    // Setup TBCLK
    //
    EPwm3Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Count up/down and down
    EPwm3Regs.TBPRD = EPWM3_TIMER_TBPRD;           // Set timer period
    EPwm3Regs.TBCTL.bit.PHSEN = TB_DISABLE;        // Disable phase loading
    EPwm3Regs.TBPHS.bit.TBPHS = 0x0000;            // Phase is 0
    EPwm3Regs.TBCTR = 0x0000;                      // Clear counter
    EPwm3Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;       // Clock ratio to SYSCLKOUT
    EPwm3Regs.TBCTL.bit.CLKDIV = TB_DIV1;

    //
    // Setup shadow register load on ZERO
    //
    EPwm3Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
    EPwm3Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
    EPwm3Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
    EPwm3Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

    //
    // Set Compare values
    //
    EPwm3Regs.CMPA.bit.CMPA = EPWM3_MIN_CMPA;   // Set compare A value
    EPwm3Regs.CMPB.bit.CMPB = EPWM3_MAX_CMPB;   // Set Compare B value

    //
    // Set Actions
    //
    EPwm3Regs.AQCTLA.bit.PRD = AQ_SET;         // Set PWM3A on period
    EPwm3Regs.AQCTLA.bit.CBD = AQ_CLEAR;       // Clear PWM3A on event B, down
                                               // count

    EPwm3Regs.AQCTLB.bit.PRD = AQ_CLEAR;       // Clear PWM3A on period
    EPwm3Regs.AQCTLB.bit.CAU = AQ_SET;         // Set PWM3A on event A, up
                                               // count

    //
    // Interrupt where we will change the Compare Values
    //
    EPwm3Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO;    // Select INT on Zero event
    EPwm3Regs.ETSEL.bit.INTEN = 1;               // Enable INT
    EPwm3Regs.ETPS.bit.INTPRD = ET_3RD;          // Generate INT on 3rd event

    //
    // Information this example uses to keep track
    // of the direction the CMPA/CMPB values are
    // moving, the min and max allowed values and
    // a pointer to the correct ePWM registers
    //
    epwm3_info.EPwm_CMPA_Direction = EPWM_CMP_UP;   // Start by increasing CMPA
    epwm3_info.EPwm_CMPB_Direction = EPWM_CMP_DOWN; // & decreasing CMPB
    epwm3_info.EPwmTimerIntCount = 0;               // Zero the interrupt counter
    epwm3_info.EPwmRegHandle = &EPwm3Regs;          // Set the pointer to the
                                                    // ePWM module
    epwm3_info.EPwmMaxCMPA = EPWM3_MAX_CMPA;        // Setup min/max CMPA/CMPB
                                                    // values
    epwm3_info.EPwmMinCMPA = EPWM3_MIN_CMPA;
    epwm3_info.EPwmMaxCMPB = EPWM3_MAX_CMPB;
    epwm3_info.EPwmMinCMPB = EPWM3_MIN_CMPB;
}

//
// update_compare - Update the PWM compare values
//
void update_compare(EPWM_INFO *epwm_info)
{
    //
    // Every 10'th interrupt, change the CMPA/CMPB values
    //
    if(epwm_info->EPwmTimerIntCount == 10)
    {
        epwm_info->EPwmTimerIntCount = 0;

        //
        // If we were increasing CMPA, check to see if
        // we reached the max value.  If not, increase CMPA
        // else, change directions and decrease CMPA
        //
        if(epwm_info->EPwm_CMPA_Direction == EPWM_CMP_UP)
        {
            if(epwm_info->EPwmRegHandle->CMPA.bit.CMPA <
               epwm_info->EPwmMaxCMPA)
            {
                epwm_info->EPwmRegHandle->CMPA.bit.CMPA++;
            }
            else
            {
                epwm_info->EPwm_CMPA_Direction = EPWM_CMP_DOWN;
                epwm_info->EPwmRegHandle->CMPA.bit.CMPA--;
            }
        }

        //
        // If we were decreasing CMPA, check to see if
        // we reached the min value.  If not, decrease CMPA
        // else, change directions and increase CMPA
        //
        else
        {
            if(epwm_info->EPwmRegHandle->CMPA.bit.CMPA ==
               epwm_info->EPwmMinCMPA)
            {
                epwm_info->EPwm_CMPA_Direction = EPWM_CMP_UP;
                epwm_info->EPwmRegHandle->CMPA.bit.CMPA++;
            }
            else
            {
                epwm_info->EPwmRegHandle->CMPA.bit.CMPA--;
            }
        }

        //
        // If we were increasing CMPB, check to see if
        // we reached the max value.  If not, increase CMPB
        // else, change directions and decrease CMPB
        //
        if(epwm_info->EPwm_CMPB_Direction == EPWM_CMP_UP)
        {
            if(epwm_info->EPwmRegHandle->CMPB.bit.CMPB < epwm_info->EPwmMaxCMPB)
            {
                epwm_info->EPwmRegHandle->CMPB.bit.CMPB++;
            }
            else
            {
                epwm_info->EPwm_CMPB_Direction = EPWM_CMP_DOWN;
                epwm_info->EPwmRegHandle->CMPB.bit.CMPB--;
            }
        }

        //
        // If we were decreasing CMPB, check to see if
        // we reached the min value.  If not, decrease CMPB
        // else, change directions and increase CMPB
        //
        else
        {
            if(epwm_info->EPwmRegHandle->CMPB.bit.CMPB == epwm_info->EPwmMinCMPB)
            {
                epwm_info->EPwm_CMPB_Direction = EPWM_CMP_UP;
                epwm_info->EPwmRegHandle->CMPB.bit.CMPB++;
            }
            else
            {
                epwm_info->EPwmRegHandle->CMPB.bit.CMPB--;
            }
        }
    }
    else
    {
        epwm_info->EPwmTimerIntCount++;
    }

    return;
}

//
// End of file
//
