//!
//! This example configures ePWM1 to produce an 2 sec
//! waveform with independent modulation on EPWMxA and
//! EPWMxB.
//!
//! The compare values CMPA modified within the ePWM's ISR.
//!
//! The TB counter is in up count mode for this example.
//!
//! View the EPWM1A(PA0_GPIO0)

/*
    For Default maxSysclkout = 200 Mhz. and maxEpwmclkout = 100Mhz

    to change the maxEpwmclkout use  ClkCfgRegs.PERCLKDIVSEL.bit.EPWMCLKDIV = 1 0r 2

    TBCLK = 10Mhz / (HSPCLKDIV * CLKDIV) = 10M/(10*1) = 10Mhz

    As we know TBPRD = FTBCLK/FTPWM = 10Mhz / 25Khz to change the the FTPWM then change period TBPRD
    so we get required pwm for particular frequency.

    In this we are using 100% duty cycle. means CMPA = TBPRD.

    for up-down = TBPRD = (10M/25k)*1/2 = 200

    for up = TBPRD = (10M/25k)-1 = 399

    #####----IMP- there is two PWM o/p EPWMA and EMPWMB

    Duty modulation for EPWMxA is set by CMPA, and is active low, that is, low time duty proportional to CMPA.

    Duty modulation for EPWMxB is set by CMPB and is active high, that is, high time duty proportional to CMPB.

    We can set EPWMxA is by CMPA and CMPB.
 */

// Included Files

#include "F28x_Project.h"

#include "DPlib.h"
//
// Defines
//
#define EPWM1_TIMER_TBPRD    1250  // Period register
#define EPWM1_MAX_CMPA       1000
#define EPWM1_MIN_CMPA          5
#define EPWM1_MAX_CMPB        625
#define EPWM1_MIN_CMPB          5

#define EPWM_CMP_UP           1
#define EPWM_CMP_DOWN         0

float32 buffer1[10];

// DLOG instance
DLOG_1ch_F_C dlog1ch ;

//int var = 0;
// Globals

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;

EPWM_INFO epwm1_info;

//  Function Prototypes

void InitEPwm1Example(void);

__interrupt void epwm1_isr(void);

void update_compare(EPWM_INFO*);

void my_clock(void);

int count = 0;

// Main

void main(void)
{

    // Step 1. Initialize System Control:
    // PLL, WatchDog, enable Peripheral Clocks
    // This example function is found in the F2837xD_SysCtrl.c file.


    InitSysCtrl();

    //  InitSysPll(INT_OSC2,IMULT_1,FMULT_0,PLLCLK_BY_1);

    // Step 2. Initialize GPIO:
    // This example function is found in the F2837xD_Gpio.c file and
    // illustrates how to set the GPIO to it's default state.

    //  InitGpio();


    // Enable PWM1
    CpuSysRegs.PCLKCR2.bit.EPWM1=1;


    DLOG_1ch_F_C_INIT(dlog1ch);

    dlog1ch.OutputBuff = buffer1 ;
    dlog1ch.PreScaler = 8;
    dlog1ch.TrigVal = 0.54;
    dlog1ch.Size = 50;


    // For this case just init GPIO pins for ePWM1, ePWM2, ePWM3
    // These functions are in the F2837xD_EPwm.c file

    InitEPwm1Gpio();



    // 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 F2837xD_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 F2837xD_DefaultIsr.c.
    // This function is found in F2837xD_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;

    EDIS;   // This is needed to disable write to EALLOW protected registers


    // For this example, only initialize the ePWM
    // The TBCLKSYNC bit in the peripheral clock enable registers allows all users to globally synchronize all
    // enabled ePWM modules to the time-base clock (TBCLK).

    EALLOW;
    CpuSysRegs.PCLKCR0.bit.TBCLKSYNC = 0;
    ClkCfgRegs.PERCLKDIVSEL.bit.EPWMCLKDIV = 1;   //  200 / 2 = 100Mhz
    EDIS;

    InitEPwm1Example();


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

    //
    // Step 4. 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;


    //
    // Enable global Interrupts and higher priority real-time debug events:
    //
    EINT;  // Enable Global interrupt INTM
    ERTM;  // Enable Global realtime interrupt DBGM
    //
    // Step 5. IDLE loop. Just sit and loop forever (optional):
    //
    for(;;)
    {
        asm ("  NOP");
    }
}


// epwm1_isr - EPWM1 ISR to update compare values

__interrupt void epwm1_isr(void)
{
    //static int16 var;
    //
    // Update the CMPA and CMPB value s
    //
    count++;
    //var = GpioDataRegs.GPADAT.bit.GPIO0 ;

    dlog1ch.Input = count;


    DLOG_1ch_F_C(dlog1ch);

    //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;
}


void my_clock(void)
{
    //   Clock Setting need -> 500khz clock for pwm
    //   INTOSC1 (10 MHz) -> Clock Setting for System Clock/PLLSYSCLK
    //EALLOW;
    /*ClkCfgRegs.CLKSRCCTL1.bit.XTALOFF = 1;
    ClkCfgRegs.CLKSRCCTL1.bit.OSCCLKSRCSEL = 0x00;          // 10 Mhz -- INTOSC2
    ClkCfgRegs.SYSPLLMULT.bit.IMULT = 0x1;                 // 10 (1+0)
    ClkCfgRegs.SYSPLLMULT.bit.FMULT = 0x00;
    ClkCfgRegs.SYSCLKDIVSEL.bit.PLLSYSCLKDIV = 0x00;        // 10Mhz /1 = 10MHz
    ClkCfgRegs.SYSPLLCTL1.bit.PLLCLKEN = 0x1;              // Enable clock
     */
    ClkCfgRegs.PERCLKDIVSEL.bit.EPWMCLKDIV = 1;    // 100M
    // EDIS;
}



//
// InitEPwm1Example - Initialize EPWM1 values
//
void InitEPwm1Example()
{
    //
    // Setup Time Base - TBCLK
    //
    EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN; // Count up-down
    EPwm1Regs.TBPRD = EPWM1_TIMER_TBPRD;       // Set timer period
    EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE;    // Disable phase loading
    EPwm1Regs.TBPHS.bit.TBPHS = 0x0000;        // Phase is 0
    EPwm1Regs.TBCTR = 0x0000;                  // Clear counter

    //EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0x5;      // Clock ratio to SYSCLKOUT
    //EPwm1Regs.TBCTL.bit.CLKDIV = 0x01;
    EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0x05;      // Clock ratio to SYSCLKOUT -- 100m/(10*1) = 10M
    EPwm1Regs.TBCTL.bit.CLKDIV = 0x00;
    //
    // Setup shadow register load on ZERO
    //
    EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
    EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
    EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;
    EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;

    //
    // Set Compare values
    //
    EPwm1Regs.CMPA.bit.CMPA = EPWM1_MAX_CMPA;     // Set compare A value
    EPwm1Regs.CMPB.bit.CMPB = EPWM1_MAX_CMPB;     // Set Compare B value


    // Set actions

    //EPwm1Regs.AQCTLA.bit.ZRO = AQ_CLEAR;        // Clear on Zero
    //EPwm1Regs.AQCTLA.bit.CBD = AQ_SET;          // Set on CMPB down

    EPwm1Regs.AQCTLA.bit.CAU = AQ_SET;          // SET OF CMPA UP
    EPwm1Regs.AQCTLA.bit.CBD = AQ_CLEAR;        // CLEAR ON CMPB DOWN

    //EPwm1Regs.AQCTLB.bit.ZRO = AQ_SET;           // Set PWM1B on Zero
    //EPwm1Regs.AQCTLB.bit.CBU = AQ_CLEAR;         // Clear PWM1B on event B,


    //
    // 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 & CMPB
    //epwm1_info.EPwm_CMPB_Direction = EPWM_CMP_UP;
    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;
}



// update_compare - Update the compare values for the specified EPWM

void update_compare(EPWM_INFO *epwm_info)
{
    // TO GET VARING PWM UNCOMMENT THE BELOW

    /*

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



    //  else
    //  {
    epwm_info->EPwmTimerIntCount++;
    //  }

    return;
}


// End of file

/* Clock Setting need -> 500khz clock for pwm
 *
 * INTOSC1 (10 MHz) -> Clock Setting for System Clock/PLLSYSCLK

 *  ClkCfgRegs.CLKSRCCTL1.bit.OSCCLKSRCSEL = 0;     // 10 Mhz -- INTOSC2
    ClkCfgRegs.SYSPLLMULT.IMULT = 1;                // 10 (1+0)
    ClkCfgRegs.SYSPLLMULT.FMULT = 0;
    ClkCfgRegs.SYSCLKDIVSEL.PLLSYSCLKDIV = 0;      // 10Mhz /1 = 10MHz
    ClkCfgRegs.SYSPLLCTL1.PLLCLKEN = 1              // Enable clock

    ClkCfgRegs.PERCLKDIVSEL.EPWMCLKDIV = 0
 *
 *  So TBCLK = 10MHz
 *-------------------------------------------------------------------------
   For PWM Setting to get TBCLK ->

   EPwm1Regs.TBCTL.bit.HSPCLKDIV = 0x05;   // Clock ratio to SYSCLKOUT as in Register data sheet
   EPwm1Regs.TBCTL.bit.CLKDIV = 0x01;

   CLKDIV = 10Mhz/2
   HSPCLKDIV = CLKDIV/10
   Fpwm = 500Khz
  --------------------------------------------------------------------------

  TBPRD = Ftbclk / Fpwm - 1  = 10Mhz/500kHz = 199 (TBPRD)

  CMPA = (100% - 50(Duty Cycle) )* (199 + 1) - 1   = 99

  -------------------------------------------------------------------------
  Every 2 us pwm is generated

 * */