Control multi PWM signal

#include "include.h"
#include "inc/hw_gpio.h"
#include "driverlib/qei.h"
#include "driverlib/pwm.h"
#include "driverlib/fpu.h"
#include "driverlib/rom.h"

inline void ConfigSystem(void)
{
	// Config clock
	ROM_SysCtlClockSet(SYSCTL_SYSDIV_2_5 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_16MHZ);
}

void ConfigPWM(void)
{
	//Configures the rate of the clock provided to the PWM module
	//= System Clock / 1
	ROM_SysCtlPWMClockSet(SYSCTL_PWMDIV_1);

	//Enable PWM0
	ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);


	//Enable GPIO B
	ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
	//Enable GPIO D
	ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);

	//Configures PB6, PB7 for use by the PWM0 peripheral.
	ROM_GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_7 | GPIO_PIN_6);
	ROM_GPIOPinConfigure(GPIO_PB7_M0PWM1);
	ROM_GPIOPinConfigure(GPIO_PB6_M0PWM0);

	//Configures PB4, PB5 for use by the PWM1 peripheral.
	ROM_GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_4 | GPIO_PIN_5);
	ROM_GPIOPinConfigure(GPIO_PB4_M0PWM2);
	ROM_GPIOPinConfigure(GPIO_PB5_M0PWM3);

	//Configures PD0, PD1 for use by the PWM2 peripheral.
	ROM_GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
	ROM_GPIOPinConfigure(GPIO_PD0_M0PWM6);
	ROM_GPIOPinConfigure(GPIO_PD1_M0PWM7);


	//Set the mode of operation for a PWM generator 0
	ROM_PWMGenConfigure(PWM0_BASE, PWM_GEN_0, PWM_GEN_MODE_DOWN |
                    PWM_GEN_MODE_NO_SYNC);
	//Set the mode of operation for a PWM generator 1
	ROM_PWMGenConfigure(PWM0_BASE, PWM_GEN_1, PWM_GEN_MODE_DOWN |
	                    PWM_GEN_MODE_NO_SYNC);
	//Set the mode of operation for a PWM generator 2
	ROM_PWMGenConfigure(PWM0_BASE, PWM_GEN_3, PWM_GEN_MODE_DOWN |
		                    PWM_GEN_MODE_NO_SYNC);


	//Sets the period of the specified PWM0 generator block - Chu ky = ROM_SysCtlClockGet() / DEFAULT
	ROM_PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, ROM_SysCtlClockGet() / DEFAULT);
	//Sets the period of the specified PWM0 generator block - Chu ky = ROM_SysCtlClockGet() / DEFAULT
	ROM_PWMGenPeriodSet(PWM0_BASE, PWM_GEN_1, ROM_SysCtlClockGet() / DEFAULT);
	//Sets the period of the specified PWM0 generator block - Chu ky = ROM_SysCtlClockGet() / DEFAULT
	ROM_PWMGenPeriodSet(PWM0_BASE, PWM_GEN_3, ROM_SysCtlClockGet() / DEFAULT);

	//Sets the pulse width for the specified PWM0 output
	//25%-75%
	ROM_PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0,
    			(ROM_SysCtlClockGet() / DEFAULT) / 4);
	ROM_PWMPulseWidthSet(PWM0_BASE, PWM_OUT_1,
    			(ROM_SysCtlClockGet() / DEFAULT) / 4);
	//Enable specified PWM0 output
	ROM_PWMOutputState(PWM0_BASE, PWM_OUT_0_BIT, true);
	ROM_PWMOutputState(PWM0_BASE, PWM_OUT_1_BIT, true);
	//Select the inversion mode for the selected PWM0 outputs
	ROM_PWMOutputInvert(PWM0_BASE, PWM_OUT_0_BIT, false);
	ROM_PWMOutputInvert(PWM0_BASE, PWM_OUT_1_BIT, true);


	//Sets the pulse width for the specified PWM1 output
	//25%-75%
	ROM_PWMPulseWidthSet(PWM0_BASE, PWM_OUT_2,
	    			(ROM_SysCtlClockGet() / DEFAULT) / 4);
	ROM_PWMPulseWidthSet(PWM0_BASE, PWM_OUT_3,
	    			(ROM_SysCtlClockGet() / DEFAULT) / 4);
	//Enable specified PWM0 output
		ROM_PWMOutputState(PWM0_BASE, PWM_OUT_2_BIT, true);
		ROM_PWMOutputState(PWM0_BASE, PWM_OUT_3_BIT, true);
	//Select the inversion mode for the selected PWM0 outputs
		ROM_PWMOutputInvert(PWM0_BASE, PWM_OUT_2_BIT, false);
		ROM_PWMOutputInvert(PWM0_BASE, PWM_OUT_3_BIT, true);

	//Sets the pulse width for the specified PWM2 output
	//25%-75%
	ROM_PWMPulseWidthSet(PWM0_BASE, PWM_OUT_6,
		    			(ROM_SysCtlClockGet() / DEFAULT) / 4);
	ROM_PWMPulseWidthSet(PWM0_BASE, PWM_OUT_7,
		    			(ROM_SysCtlClockGet() / DEFAULT) / 4);
	//Enable specified PWM0 output
	ROM_PWMOutputState(PWM0_BASE, PWM_OUT_6_BIT, true);
	ROM_PWMOutputState(PWM0_BASE, PWM_OUT_7_BIT, true);
	//Select the inversion mode for the selected PWM0 outputs
	ROM_PWMOutputInvert(PWM0_BASE, PWM_OUT_6_BIT, false);
	ROM_PWMOutputInvert(PWM0_BASE, PWM_OUT_7_BIT, true);


	//Enable PWM generator 0
	ROM_PWMGenEnable(PWM0_BASE, PWM_GEN_0);

	//Enable PWM generator 1
	ROM_PWMGenEnable(PWM0_BASE, PWM_GEN_1);
	//Enable PWM generator 2
	ROM_PWMGenEnable(PWM0_BASE, PWM_GEN_3);
}