//#############################################################################
//
// FILE:   hrpwm_ex2_slider.c
//
// TITLE:  HRPWM Slider.
//
//! \addtogroup driver_example_list
//! <h1>HRPWM Slider</h1>
//!
//! This example modifies the MEP control registers to show edge displacement
//! due to HRPWM. Control blocks of the respective ePWM module channel A and B
//! will have fine edge movement due to HRPWM logic.
//!
//! Monitor ePWM1 A/B pins on an oscilloscope.
//
//
//#############################################################################
//
// 
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//#############################################################################

//
// Included Files
//
#include "board.h"
#include "SFO_V8.h"

//
// Defines
//

//
// Globals
//
#define EPWM_TIMER_TBPRD 100

uint16_t dutyFine = 1;
uint16_t previousDutyFine = 1;
uint16_t status;

//
// Function Prototypes
//
void error(void);

//
// 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);

    //
    // Initialize the EPWM GPIOs and CHANGE XBAR inputs from using GPIO0
    //
    Board_init();
    //
    // Calling SFO() updates the HRMSTEP register with calibrated MEP_ScaleFactor.
    // HRMSTEP must be populated with a scale factor value prior to enabling
    // high resolution period control.
    //
    while(status == SFO_INCOMPLETE)
    {
        status = SFO();
        if(status == SFO_ERROR)
        {
            error();   // SFO function returns 2 if an error occurs & # of MEP
        }              // steps/coarse step exceeds maximum of 255.
    }

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


    //
    // Enable Global Interrupt (INTM) and realtime interrupt (DBGM)
    //
    EINT;
    ERTM;


    for(;;)
    {
        int i = 0;
        for(i = 0; i < 128; i++)
        {
            HRPWM_setHiResFallingEdgeDelayOnly(myEPWM1_BASE, i);
            DEVICE_DELAY_US(10000);
        }
        status = SFO(); // In the background, the MEP calibration module
                            // continuously updates MEP_ScaleFactor.

            if (status == SFO_ERROR)
            {
                error();   // SFO function returns 2 if an error occurs & #
                           // of MEP steps/coarse step exceeds the maximum
            }  
     }
}

//
// error - Halt debugger when called
//
void error (void)
{
    ESTOP0;         // Stop here and handle error
}

