Skip to content

Commit

Permalink
motores apenas
Browse files Browse the repository at this point in the history
  • Loading branch information
@97hackbrian
97hackbrian committed Nov 21, 2023
1 parent 3b85305 commit 8fe9630
Show file tree
Hide file tree
Showing 6 changed files with 124 additions and 59 deletions.
Binary file modified ...ivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/motorControllerSeeker.axf
View file
Binary file not shown.
Binary file modified ...ivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/motorControllerSeeker.bin
View file
Binary file not shown.
Binary file modified .../TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/motorControllerSeeker.o
View file
Binary file not shown.
Binary file modified tiva/TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/gcc/startup_gcc.o
View file
Binary file not shown.
176 changes: 120 additions & 56 deletions tiva/TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/motorControllerSeeker.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -38,9 +38,10 @@ __error__(char *pcFilename, uint32_t ui32Line)



void timer0A_handler(void);

void timer1A_handler(void);
void timer2A_handler(void);
void timer3A_handler(void);
int state=0;
uint32_t FS = 120000000/100; //frecuencia del timer
uint32_t FS2 = 120000000/100; //frecuencia del timer
Expand Down Expand Up @@ -82,26 +83,22 @@ int main(void)
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOM);// INA3,INB3,M1=PM3
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOH);// ENDER,ENIZQ,M2=H2,M3=H3
SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOP);// M6=PP2
//SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);

SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1);



SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
//SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);
SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER3);

SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);


//configuracion timer0A
TimerConfigure(TIMER0_BASE, TIMER_CFG_PERIODIC);
TimerLoadSet(TIMER0_BASE, TIMER_A, FS);
IntEnable(INT_TIMER0A);
TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
TimerEnable(TIMER0_BASE, TIMER_A);
IntMasterEnable();



//configuracion timer 1A
Expand All @@ -119,6 +116,14 @@ int main(void)
TimerIntEnable(TIMER2_BASE, TIMER_TIMA_TIMEOUT);
TimerEnable(TIMER2_BASE, TIMER_A);
IntMasterEnable();

//configuracion timer3A
TimerConfigure(TIMER3_BASE, TIMER_CFG_PERIODIC);
TimerLoadSet(TIMER3_BASE, TIMER_A, FS);
IntEnable(INT_TIMER3A);
TimerIntEnable(TIMER3_BASE, TIMER_TIMA_TIMEOUT);
TimerEnable(TIMER3_BASE, TIMER_A);
IntMasterEnable();


// Configuracion del pin uart
Expand All @@ -130,6 +135,7 @@ int main(void)
//PINS ENABLES
GPIOPinTypeGPIOOutput(GPIO_PORTN_BASE, 0xF);
GPIOPinTypeGPIOOutput(GPIO_PORTF_BASE, 0x11);
//GPIOPinTypeGPIOOutput(GPIO_PORTG_BASE, 0x01);


GPIOPinTypeGPIOOutput(GPIO_PORTL_BASE, 0xC);// PL2,PL3
Expand All @@ -151,7 +157,7 @@ int main(void)


//pwm
GPIOPinConfigure(GPIO_PF0_M0PWM0);
//GPIOPinConfigure(GPIO_PF0_M0PWM0);
GPIOPinConfigure(GPIO_PF1_M0PWM1);
GPIOPinConfigure(GPIO_PF2_M0PWM2);
GPIOPinConfigure(GPIO_PF3_M0PWM3);
Expand All @@ -170,26 +176,49 @@ int main(void)
GPIOPinTypePWM(GPIO_PORTK_BASE,GPIO_PIN_4);
GPIOPinTypePWM(GPIO_PORTK_BASE,GPIO_PIN_5);

PWMGenConfigure(PWM0_BASE,PWM_GEN_0|PWM_GEN_1|PWM_GEN_2|PWM_GEN_3,PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);



width=10000;
PWMGenConfigure(PWM0_BASE,PWM_GEN_0,PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
PWMGenConfigure(PWM0_BASE,PWM_GEN_1,PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
//PWMGenConfigure(PWM1_BASE,PWM_GEN_1,PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
PWMGenConfigure(PWM0_BASE,PWM_GEN_2,PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
PWMGenConfigure(PWM0_BASE,PWM_GEN_3,PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
PWMGenPeriodSet(PWM0_BASE,PWM_GEN_0,width);
//PWMGenPeriodSet(PWM1_BASE,PWM_GEN_1,width);
PWMGenPeriodSet(PWM0_BASE,PWM_GEN_1,width);
PWMGenPeriodSet(PWM0_BASE,PWM_GEN_2,width);
PWMGenPeriodSet(PWM0_BASE,PWM_GEN_3,width);


PWMGenPeriodSet(PWM0_BASE,PWM_GEN_0|PWM_GEN_1|PWM_GEN_2|PWM_GEN_3,100);




width=100;
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_1,width);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,width);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_3,width);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_4,width);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_5,width);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_6,width);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_7,width);



PWMGenEnable(PWM0_BASE,PWM_GEN_0);
PWMGenEnable(PWM0_BASE,PWM_GEN_1);
//PWMGenEnable(PWM1_BASE,PWM_GEN_1);
PWMGenEnable(PWM0_BASE,PWM_GEN_2);
PWMGenEnable(PWM0_BASE,PWM_GEN_3);



PWMOutputState(PWM0_BASE,(PWM_OUT_1_BIT),true);
PWMOutputState(PWM0_BASE,(PWM_OUT_2_BIT),true);
PWMOutputState(PWM0_BASE,(PWM_OUT_3_BIT),true);
PWMOutputState(PWM0_BASE,(PWM_OUT_4_BIT),true);
PWMOutputState(PWM0_BASE,(PWM_OUT_5_BIT),true);
PWMOutputState(PWM0_BASE,(PWM_OUT_6_BIT),true);
PWMOutputState(PWM0_BASE,(PWM_OUT_7_BIT),true);





Expand Down Expand Up @@ -305,44 +334,6 @@ int main(void)
}
}

void timer0A_handler(void)
{
TimerIntClear(TIMER0_BASE, TIMER_A);
if (flagmainMotor1==1){
if(vel[1]<0){
GPIOPinWrite(GPIO_PORTK_BASE, 0xC0, 0x40);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_4,vel[1]*-1);
}
else{
GPIOPinWrite(GPIO_PORTK_BASE, 0xC0, 0x80);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_4,vel[1]);
}


if(vel[0]<0){
GPIOPinWrite(GPIO_PORTK_BASE, 0x30, 0x10);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,vel[0]*-1);
}
else{
GPIOPinWrite(GPIO_PORTK_BASE, 0x30, 0x20);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,vel[0]);
}


if(vel[0]==0 || vel[1]==0){
GPIOPinWrite(GPIO_PORTK_BASE, 0xF0, 0x00);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,0);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_4,0);
}
}
else if(flagmainMotor1==0){
width=0;
GPIOPinWrite(GPIO_PORTK_BASE, 0xF0, 0x00);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,width);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_4,width);
}

}



Expand All @@ -363,7 +354,7 @@ void timer2A_handler(void) {
TimerIntClear(TIMER2_BASE, TIMER_A);
//GPIOPinWrite(GPIO_PORTN_BASE, 0x02, 0x02);
if (flagMosfet == 1) {
GPIOPinWrite(GPIO_PORTN_BASE, 0x02, 0x02);
//GPIOPinWrite(GPIO_PORTN_BASE, 0x02, 0x02);
GPIOPinWrite(GPIO_PORTM_BASE, 0x08, mosfet[0] ? 0x08 : 0x00);
GPIOPinWrite(GPIO_PORTH_BASE, 0x04, mosfet[1] ? 0x04 : 0x00);
GPIOPinWrite(GPIO_PORTH_BASE, 0x08, mosfet[2] ? 0x08 : 0x00);
Expand All @@ -372,3 +363,76 @@ void timer2A_handler(void) {
GPIOPinWrite(GPIO_PORTP_BASE, 0x04, mosfet[5] ? 0x04 : 0x00);
}
}

void timer3A_handler(void)
{
TimerIntClear(TIMER3_BASE, TIMER_A);

GPIOPinWrite(GPIO_PORTN_BASE, 0x02, 0x02);

GPIOPinWrite(GPIO_PORTH_BASE, 0x02, 0x02);
GPIOPinWrite(GPIO_PORTH_BASE, 0x01, 0x01);

PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,0);
//GPIOPinWrite(GPIO_PORTG_BASE, 0x01, 0x00);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_4,5000);

PWMPulseWidthSet(PWM0_BASE,PWM_OUT_5,5000);
//GPIOPinWrite(GPIO_PORTG_BASE, 0x01, 0x00);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_6,0);


/*
GPIOPinWrite(GPIO_PORTN_BASE, 0x02, 0x02);
GPIOPinWrite(GPIO_PORTH_BASE, 0x02, 0x02);
PWMPulseWidthSet(PWM1_BASE,PWM_OUT_1,100);
//PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,0);
GPIOPinWrite(GPIO_PORTF_BASE, 0x04, 0x0);
if (flagmainMotor1==1){
if(vel[1]<0){
GPIOPinWrite(GPIO_PORTH_BASE, 0x02, 0x02);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_1,100);
//PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,0);
GPIOPinWrite(GPIO_PORTF_BASE, 0x04, 0x0);
}
else{
GPIOPinWrite(GPIO_PORTN_BASE, 0x02, 0x02);
GPIOPinWrite(GPIO_PORTH_BASE, 0x02, 0x02);
//PWMPulseWidthSet(PWM0_BASE,PWM_OUT_1,0);
GPIOPinWrite(GPIO_PORTF_BASE, 0x02, 0x0);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,100);
}
if(vel[0]<0){
GPIOPinWrite(GPIO_PORTH_BASE, 0x01, 0x01);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_3,vel[0]*-1);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_4,0);
}
else{
GPIOPinWrite(GPIO_PORTH_BASE, 0x01, 0x01);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_3,0);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_4,vel[0]);
}
if(vel[0]==0){
GPIOPinWrite(GPIO_PORTH_BASE, 0x01, 0x00);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_3,0);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_4,0);
}
else if(vel[1]==0){
GPIOPinWrite(GPIO_PORTH_BASE, 0x02, 0x00);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_1,0);
PWMPulseWidthSet(PWM0_BASE,PWM_OUT_2,0);
}
}
*/

}
7 changes: 4 additions & 3 deletions tiva/TivaWare/examples/boards/ek-tm4c1294xl/motorControllerSeeker/startup_gcc.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -43,9 +43,10 @@ static void IntDefaultHandler(void);
//*****************************************************************************
extern int main(void);
//
extern void timer0A_handler(void);

extern void timer1A_handler(void);
extern void timer2A_handler(void);
extern void timer3A_handler(void);
//*****************************************************************************
//
// Reserve space for the system stack.
Expand Down Expand Up @@ -98,7 +99,7 @@ void (* const g_pfnVectors[])(void) =
IntDefaultHandler, // ADC Sequence 2
IntDefaultHandler, // ADC Sequence 3
IntDefaultHandler, // Watchdog timer
timer0A_handler, // Timer 0 subtimer A
IntDefaultHandler, // Timer 0 subtimer A
IntDefaultHandler, // Timer 0 subtimer B
timer1A_handler, // Timer 1 subtimer A
IntDefaultHandler, // Timer 1 subtimer B
Expand All @@ -114,7 +115,7 @@ void (* const g_pfnVectors[])(void) =
IntDefaultHandler, // GPIO Port H
IntDefaultHandler, // UART2 Rx and Tx
IntDefaultHandler, // SSI1 Rx and Tx
IntDefaultHandler, // Timer 3 subtimer A
timer3A_handler, // Timer 3 subtimer A
IntDefaultHandler, // Timer 3 subtimer B
IntDefaultHandler, // I2C1 Master and Slave
IntDefaultHandler, // CAN0
Expand Down

0 comments on commit 8fe9630

Please sign in to comment.