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Dah el mechanism elly kna 3ammleno 
Motor el spinning we el Arm we el valve
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@omarwalid96
omarwalid96 authored Jan 24, 2017
1 parent 1235724 commit 2fa44b1
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257 changes: 257 additions & 0 deletions Spinning Mechanism 101.c
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// 0. Documentation Section
/*
This program controlls two Motors and a pneumatic valve (Spinning 101)
Using Systick timer and PWM on tiva (TM4C123)
Pirates
24-1-2017
*/


// 1. Pre-processor Directives Section

/*
Port F base : 0x40025000
DATA offset : 0x3FC
DIR offset : 0x400
AFSEL offset : 0x420
PUR offset : 0x510
DEN offset : 0x51C
LOCK offset : 0x520
CR offset : 0x524
AMSEL offset : 0x528
PCTL offset : 0x52C
GPIO_LOCK_KEY 0x4C4F434B // Unlocks the GPIO_CR register
*/

#define GPIO_PORTF_DATA_R (*((volatile unsigned long *)0x400253FC))
#define GPIO_PORTF_DIR_R (*((volatile unsigned long *)0x40025400))
#define GPIO_PORTF_AFSEL_R (*((volatile unsigned long *)0x40025420))
#define GPIO_PORTF_PUR_R (*((volatile unsigned long *)0x40025510))
#define GPIO_PORTF_DEN_R (*((volatile unsigned long *)0x4002551C))
#define GPIO_PORTF_LOCK_R (*((volatile unsigned long *)0x40025520))
#define GPIO_PORTF_CR_R (*((volatile unsigned long *)0x40025524))
#define GPIO_PORTF_AMSEL_R (*((volatile unsigned long *)0x40025528))
#define GPIO_PORTF_PCTL_R (*((volatile unsigned long *)0x4002552C))
#define PF4 (*((volatile unsigned long *)0x40025040))
#define PF3 (*((volatile unsigned long *)0x40025020))
#define PF2 (*((volatile unsigned long *)0x40025010))
#define PF1 (*((volatile unsigned long *)0x40025008))
#define PF0 (*((volatile unsigned long *)0x40025004))
#define GPIO_LOCK_KEY 0x4C4F434B // Unlocks the GPIO_CR register
#define SYSCTL_RCGC2_R (*((volatile unsigned long *)0x400FE108)) // system clock GPIO



/*
PWM Module 0 base : 0x40028000
These values of registers are for PWM Module 1 (M7 PF3)
Generator 3 (CMPA,CMPB,LOAD,COUT)
PWM Module 1 base : 0x40029000
0 , 1 , 2 , 3
GENA offsets : 0x060 , 0x0A0 , 0x0E0 , 0x120
GENB offsets : 0x064 , 0x0A4 , 0x0E4 , 0x124
CMPA offsets : 0x058 , 0x098 , 0x0D8 , 0x118
CMPB offsets : 0x05C , 0x09C , 0x0DC , 0x11C
COUNT offsets : 0x054 , 0x094 , 0x0D4 , 0x114
LOAD offsets : 0x050 , 0x090 , 0x0D0 , 0x110
CTL offsets : 0x040 , 0x080 , 0x0C0 , 0x100
PWM RCGC : 0x640
RCC : 0x060
PWM ENABLE : 0x08
*/

#define SYSCTL_PWM_RCGC_R (*((volatile unsigned long *) 0x400FE640)) // Clock source to PWM D1 or D0 bits of RCGCPWM register (1 PWM M0) (2 PWM M1)
#define SYSCTL_RCC_R (*((volatile unsigned long *) 0x400FE060)) //system clock ( used for PWM divider.(D20 enable)(D19->D17 values) 2, 4, 8, 16, 32, and 64
#define GPIO_PWM_CTL_R (*((volatile unsigned long *) 0x40029100)) // PWMx Control) register to enable the Generator (Counter).
#define GPIO_PWM1_LOAD_R (*((volatile unsigned long *) 0x40029110)) //LOAD register To set the maximum value for the Counter
#define GPIO_PWM1_COUNT_R (*((volatile unsigned long *) 0x40029114)) // Counter reg current count----READ ONLY------
#define GPIO_PWM1_CMPA_R (*((volatile unsigned long *) 0x40029118)) // Comparetor A
#define GPIO_PWM1_CMPB_R (*((volatile unsigned long *) 0x4002911C)) // Comparetor B
#define GPIO_PWM1_ENABLE_R (*((volatile unsigned long *) 0x40029008)) //each PWM generator has an enable register PWMENABLE
#define GPIO_PWM1_GENA_R (*((volatile unsigned long *) 0x40029120)) // Generator A
#define GPIO_PWM1_GENB_R (*((volatile unsigned long *) 0x40029124)) // Generator B

/* Grant coprocessor access */
/* This is required since TM4C123G has a floating point coprocessor */

#define SCB_R (*((volatile unsigned long *) 0xE000ED88))


// Systic timer
// Registers
#define NVIC_ST_CTRL_R (*((volatile unsigned long *)0xE000E010))
#define NVIC_ST_RELOAD_R (*((volatile unsigned long *)0xE000E014))
#define NVIC_ST_CURRENT_R (*((volatile unsigned long *)0xE000E018))
// Values
#define NVIC_ST_CTRL_COUNT 0x00010000 // Count flag
#define NVIC_ST_CTRL_CLK_SRC 0x00000004 // Clock Source
#define NVIC_ST_CTRL_INTEN 0x00000002 // Interrupt enable
#define NVIC_ST_CTRL_ENABLE 0x00000001 // Counter mode
#define NVIC_ST_RELOAD_M 0x000FFFFF // Counter load value -----------------------TIMER VALUE------------------------


//-------------------------------------------------------------------------------------------------------------------------------------



/*
2.Function Prototypes
Subroutines Section
*/

void PortF_INIT(void) ;
void SystemInit(void) ;
void delayMs(int n);
void SysTick_Init(void);
void delayUs(int n);

//------------------------------------------------------------------------------------------------------------------------------------


/*
3.Global declerations section
*/

volatile unsigned long i ;
volatile unsigned long x=0 ;

//----------------------------------------------------------------------------------------------------------------------------------------




// 4. MAIN: Mandatory for a C Program to be executable

int main(void)
{
PortF_INIT();
SystemInit();
SysTick_Init();

GPIO_PWM1_ENABLE_R =0x00;

while(1)
{

if( PF4==0)
{
PF1 |= 0x02; // close valve
delayUs(500); // delay before spinning
GPIO_PWM1_ENABLE_R = 0x40 ; // enble spinning motor
delayUs(500); // delay

while(1)
{
if(PF0==0)
{
PF1 &= ~0x02;
GPIO_PWM1_ENABLE_R =0x00;
x=0;
break; }

NVIC_ST_CTRL_R = NVIC_ST_CTRL_ENABLE+NVIC_ST_CTRL_CLK_SRC; // enable systick control system clock and enable
GPIO_PWM1_ENABLE_R |= 0x80;

if(NVIC_ST_CTRL_R == 0x10005) // check systick flag satus
{
NVIC_ST_CTRL_R = 0; // disable systick control
PF1 &= ~0x02; // open valve
GPIO_PWM1_ENABLE_R &= ~0x80; // Stop Motor
x=0;
delayUs(150000);
GPIO_PWM1_ENABLE_R &= ~0x40 ;
break;
if(PF0==0)
{
PF1 &= ~0x02;
GPIO_PWM1_ENABLE_R =0x00;
x=0;
break; }
}
}
}
if(PF0==0)
{
PF1 &= ~0x02;
GPIO_PWM1_ENABLE_R =0x00;
x=0; }

}
}

//--------------------------------------------------------------------------------------------------------------------------

//5. Functions

void PortF_INIT(void)
{
SYSCTL_PWM_RCGC_R |=0x02; // enable clock to PWM1
SYSCTL_RCGC2_R |= 0x00000020; // 1) activate clock for Port F
SYSCTL_RCC_R &= ~0x00100000 ; // don't use pre-divide for PWM clock (default)

GPIO_PORTF_AFSEL_R = 0x0C ; // enable alt funct on PF3 and PF2

GPIO_PORTF_PCTL_R &= ~0x0000FF00; // make PF3 PWM outputn PWM pin & PF2 output PWM pins
GPIO_PORTF_PCTL_R |= 0x00005500;

GPIO_PORTF_DATA_R = 0x0000000000;
GPIO_PORTF_LOCK_R = 0x4C4F434B; // 2) unlock GPIO Port F
GPIO_PORTF_CR_R = 0x1F; // allow changes to PF4-0
GPIO_PORTF_PUR_R = 0x11; // enable pull-up on PF0 and PF4
GPIO_PORTF_DEN_R = 0x1F;
GPIO_PORTF_DIR_R = 0x0E; // 5) PF4,PF0 in, PF3-1 out

GPIO_PWM_CTL_R =0x00; // stop counter
GPIO_PWM1_GENA_R = 0x0000080C ; // M1PWM6 output set when reload clear when match PWM CMP A ch6
GPIO_PWM1_GENB_R = 0x00000008C ; // M1PWM7 output set when reload clear when match PWM CMP B ch7
GPIO_PWM1_LOAD_R = 160000; // set load value for 1kHz (16MHz/16000)
GPIO_PWM1_CMPA_R = 10000; // set duty cycle to min PWM1 ch 7 -------- MOTOR-------
GPIO_PWM1_CMPB_R = 10000; // set duty cycle to min PWM1 ch 6 ---------SPINNING-----
GPIO_PWM_CTL_R =0x01; // start timer
// GPIO_PWM1_ENABLE_R = 0xC0 ; // start PWM1 ch7 and PWM1 ch6
// GPIO_PWM1_ENABLE_R = 0x40 ; // start PWM1 ch6
// GPIO_PWM1_ENABLE_R = 0x80 ; // start PWM1 ch7
/*for(;;) // LOOP
{
}*/

}




//Systick Function initialization

void SysTick_Init(void){
NVIC_ST_CTRL_R = 0; // disable SysTick during setup
NVIC_ST_RELOAD_R = NVIC_ST_RELOAD_M; // maximum reload value
NVIC_ST_CURRENT_R = 0; // any write to current clears it
// enable SysTick with core clock
//NVIC_ST_CTRL_R = NVIC_ST_CTRL_ENABLE+NVIC_ST_CTRL_CLK_SRC;

}


// Delay function
void delayUs(int n)
{ int i, j;
for(i = 0 ; i < n; i++)
for(j = 0; j < 3; j++)
{} // do nothing for 1 us
}




/* Grant coprocessor access */
/* This is required since TM4C123G has a floating point coprocessor */
void SystemInit(void)
{
SCB_R |= 0x00f00000;
}
//-----------------------------------------------------------------------------------------

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