//###########################################################################
//
// FILE:   epwm_ex13_up_aq.c
//
// TITLE:  Action Qualifier Module - Using up count.
//
//! \addtogroup driver_example_list
//! <h1> EPWM Action Qualifier (epwm_up_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 count mode for this example.
//!
//! View the EPWM1A/B(GPIO0 & GPIO1), EPWM2A/B(GPIO2 & GPIO3)
//! and EPWM3A/B(GPIO4 & GPIO5) waveforms via an oscilloscope.
//!
//
//###########################################################################
//
//
// 
// C2000Ware v6.00.00.00
//
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// $
//###########################################################################

//
// Included Files
//
#include "driverlib.h"
#include "device.h"
#include "board.h"

volatile uint16_t compAVal = 1000U;
volatile uint16_t compBVal = 1500U;

void updateCompare();

//
// Main
//
void main(void)
{
    //
    // Initialize device clock and peripherals
    //
    Device_init();

    //
    // Disable pin locks and enable internal pull-ups.
    //
    Device_initGPIO();

    //
    // Initialize PIE and clear PIE registers. Disables CPU interrupts.
    //
    Interrupt_initModule();

    //
    // Initialize the PIE vector table with pointers to the shell Interrupt
    // Service Routines (ISR).
    //
    Interrupt_initVectorTable();

    //
    // Disable sync(Freeze clock to PWM as well)
    //
    SysCtl_disablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);

    //
    // Configure GPIO pins and EPWM Modules
    //
    Board_init();

    //
    // Enable sync and clock to PWM
    //
    SysCtl_enablePeripheral(SYSCTL_PERIPH_CLK_TBCLKSYNC);

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

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

//
// epwm1ISR - EPWM1 ISR to update compare values
//
__attribute__((interrupt("HPI"))) void INT_myEPWM1_ISR(void)
{

    //
    // Update the CMPA and CMPB values
    //
    updateCompare();

    //
    // Clear interrupt flags for the next trigger
    //
    EPWM_clearEventTriggerInterruptFlag(myEPWM1_BASE);
    Interrupt_clearACKGroup(INT_myEPWM1_INTERRUPT_ACK_GROUP);
}


//
// updateCompare - Update the compare values for the specified EPWM
//
void updateCompare()
{
    EPWM_setCounterCompareValue(myEPWM1_BASE, EPWM_COUNTER_COMPARE_A, compAVal);
    EPWM_setCounterCompareValue(myEPWM1_BASE, EPWM_COUNTER_COMPARE_B, compBVal);
}
//
// End of file
//
