//###########################################################################
// Description:
//! \addtogroup f2833x_example_list
//! <h1>ePWM Action Qualifier Module using up/down count (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.
//!
//! Monitor ePWM1-ePWM3 pins on an oscilloscope as described
//!
//! \b External \b Connections \n
//!  - EPWM1A is on GPIO0
//!  - EPWM1B is on GPIO1
//!  - EPWM2A is on GPIO2
//!  - EPWM2B is on GPIO3
//!  - EPWM3A is on GPIO4
//!  - EPWM3B is on GPIO5
//
//
//###########################################################################
// $TI Release: F2833x/F2823x Header Files and Peripheral Examples V141 $
// $Release Date: November  6, 2015 $
// $Copyright: Copyright (C) 2007-2015 Texas Instruments Incorporated -
//             http://www.ti.com/ ALL RIGHTS RESERVED $
//###########################################################################

#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File

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;

// Prototype statements for functions found within this file.
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*);

// Global variables used in this example
EPWM_INFO epwm1_info;
EPWM_INFO epwm2_info;
EPWM_INFO epwm3_info;

// Configure the period for each timer
#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

// To keep track of which way the compare value is moving
#define EPWM_CMP_UP   1
#define EPWM_CMP_DOWN 0

void main(void)
{
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP2833x_SysCtrl.c file.
   InitSysCtrl();

// Step 2. Initialize GPIO:
// This example function is found in the DSP2833x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio();  // Skipped for this example

// For this case just init GPIO pins for ePWM1, ePWM2, ePWM3
// These functions are in the DSP2833x_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 DSP2833x_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 DSP2833x_DefaultIsr.c.
// This function is found in DSP2833x_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

// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP2833x_InitPeripherals.c
// InitPeripherals();  // Not required for this example

// For this example, only initialize the ePWM

   EALLOW;
   SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
   EDIS;

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

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

// Step 5. 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 6. IDLE loop. Just sit and loop forever (optional):
   for(;;)
   {
       __asm("          NOP");
   }
}

__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;
}

__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;
}

__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;
}

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

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

   // Setup counter mode
   EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Count up
   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;
}

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

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

   // Setup counter mode
   EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Count up
   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;
}

void InitEPwm3Example(void)
{
   // Setup TBCLK
   EPwm3Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;// Count up/down
   EPwm3Regs.TBPRD = EPWM3_TIMER_TBPRD;          // Set timer period
   EPwm3Regs.TBCTL.bit.PHSEN = TB_DISABLE;       // Disable phase loading
   EPwm3Regs.TBPHS.half.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.half.CMPA = EPWM3_MIN_CMPA;    // Set compare A value
   EPwm3Regs.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;
}

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.half.CMPA < epwm_info->EPwmMaxCMPA)
	       {
	          epwm_info->EPwmRegHandle->CMPA.half.CMPA++;
	       }
	       else
	       {
	          epwm_info->EPwm_CMPA_Direction = EPWM_CMP_DOWN;
              epwm_info->EPwmRegHandle->CMPA.half.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.half.CMPA == epwm_info->EPwmMinCMPA)
	       {
	          epwm_info->EPwm_CMPA_Direction = EPWM_CMP_UP;
	          epwm_info->EPwmRegHandle->CMPA.half.CMPA++;
	       }
	       else
	       {
	          epwm_info->EPwmRegHandle->CMPA.half.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 < epwm_info->EPwmMaxCMPB)
	       {
	          epwm_info->EPwmRegHandle->CMPB++;
	       }
	       else
	       {
	          epwm_info->EPwm_CMPB_Direction = EPWM_CMP_DOWN;
	          epwm_info->EPwmRegHandle->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 == epwm_info->EPwmMinCMPB)
	       {
	          epwm_info->EPwm_CMPB_Direction = EPWM_CMP_UP;
	          epwm_info->EPwmRegHandle->CMPB++;
	       }
	       else
	       {
	          epwm_info->EPwmRegHandle->CMPB--;
	       }
	   }
   }
   else
   {
      epwm_info->EPwmTimerIntCount++;
   }

   return;
}



//===========================================================================
// No more.
//===========================================================================
