//模数转换器实验程序解析
//头文件
#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_types.h"
#include "inc/hw_memmap.h"
#include "inc/hw_ints.h"
#include "inc/hw_gpio.h"
#include "driverlib/fpu.h"
#include "driverlib/sysctl.h"
#include "driverlib/rom.h"
#include "driverlib/pin_map.h"
#include "grlib/grlib.h"
#include "driverlib/gpio.h"
#include "driverlib/adc.h"
#include "driverlib/pwm.h"
#include "driverlib/uart.h"
#include "utils/uartstdio.h"
#include "driverlib/interrupt.h"

uint32_t S0=0,S1=0,S2=0,S3=0,S4=0,S5=0;
uint32_t ADC0_Value[6],Data[6]={0},goal[3];
uint32_t count;

void PWM_INIT(void)
{
        //使能M0PWM模块
        SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
        //使能M0PWM0和M0PWM1输出所在GPIOB和GPIOG
        SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
        SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
       
        //配置相应GPIO为PWM功能
        GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_6|GPIO_PIN_7|GPIO_PIN_4|GPIO_PIN_5);
        GPIOPinTypePWM(GPIO_PORTE_BASE, GPIO_PIN_5|GPIO_PIN_4);//不同：PG4、PG5
        // PWM时钟配置：不分频
        SysCtlPWMClockSet(SYSCTL_PWMDIV_1);
        //配置M0PWM发生器：加减计数
        PWMGenConfigure(PWM0_BASE,PWM_GEN_0,PWM_GEN_MODE_UP_DOWN| PWM_GEN_MODE_NO_SYNC);
        //设置M0PWM发生器的周期,时钟频率/PWM分频数/n,周期=80M/1/6000=
        PWMGenPeriodSet(PWM0_BASE, PWM_GEN_0, 6000);
        PWMGenPeriodSet(PWM0_BASE, PWM_GEN_1, 6000);
        PWMGenPeriodSet(PWM0_BASE, PWM_GEN_2, 6000);
        //设置M0PWM0/M0PWM1输出的脉冲宽度
        PWMPulseWidthSet(PWM0_BASE, PWM_OUT_0, S0);//此处S0+S1<=6000
        PWMPulseWidthSet(PWM0_BASE, PWM_OUT_1, S1);
        PWMPulseWidthSet(PWM0_BASE, PWM_OUT_2, S2);
        PWMPulseWidthSet(PWM0_BASE, PWM_OUT_3, S3);
        PWMPulseWidthSet(PWM0_BASE, PWM_OUT_5, S4);
        PWMPulseWidthSet(PWM0_BASE, PWM_OUT_4, S5);
        //使能M0PWM0和M0PWM1的输出
        //PWMOutputState(PWM0_BASE, (PWM_OUT_0_BIT |PWM_OUT_1_BIT), true);
        //PWMOutputState(PWM0_BASE, (PWM_OUT_2_BIT |PWM_OUT_3_BIT), true);
        //PWMOutputState(PWM0_BASE, (PWM_OUT_4_BIT |PWM_OUT_5_BIT), true);
        //使能M0PWM发生器生成模块0
        PWMGenEnable(PWM0_BASE, PWM_GEN_0);
        PWMGenEnable(PWM0_BASE, PWM_GEN_1);
        PWMGenEnable(PWM0_BASE, PWM_GEN_2);
}

void PWM_CTRL(uint32_t count,uint8_t a)//控制三相电机的启动、停止、正反转
{
        if(a==0)
        {
                if(count>=128)
                {S0=4800;S1=0;PWMOutputState(PWM0_BASE, (PWM_OUT_0_BIT |PWM_OUT_1_BIT), true);}//正转
                else if(0<count<128)
                {PWMOutputState(PWM0_BASE, (PWM_OUT_0_BIT |PWM_OUT_1_BIT), false);}//不转
                else
                {S0=0;S1=4800;PWMOutputState(PWM0_BASE, (PWM_OUT_0_BIT |PWM_OUT_1_BIT), true);}//反转
        }
        if(a==1)
        {
                if(count>=128)
                {S2=4800;S3=0;PWMOutputState(PWM0_BASE, (PWM_OUT_2_BIT |PWM_OUT_3_BIT), true);}//正转
                else if(0<count<128)
                {PWMOutputState(PWM0_BASE, (PWM_OUT_2_BIT |PWM_OUT_3_BIT), false);}//不转
                else
                {S2=0;S3=4800;PWMOutputState(PWM0_BASE, (PWM_OUT_2_BIT |PWM_OUT_3_BIT), true);}//反转
        }
        if(a==2)
        {
                if(count>=128)
                {S4=4800;S5=0;PWMOutputState(PWM0_BASE, (PWM_OUT_4_BIT |PWM_OUT_5_BIT), true);}//正转
                else if(0<count<128)
                {PWMOutputState(PWM0_BASE, (PWM_OUT_4_BIT |PWM_OUT_5_BIT), false);}//不转
                else
                {S4=0;S5=4800;PWMOutputState(PWM0_BASE, (PWM_OUT_4_BIT |PWM_OUT_5_BIT), true);}//反转
        }
}

void ADC_INIT(void)
{
        //初始化ADC0/PE3
        //SysCtlADCSpeedSet(SYSCTL_ADCSPEED_500KSPS);//设置采样速度，默认1MHZ
        SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
        SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
        SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
        GPIOPinTypeADC(GPIO_PORTD_BASE, GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);
        GPIOPinTypeADC(GPIO_PORTE_BASE, GPIO_PIN_0|GPIO_PIN_1|GPIO_PIN_2|GPIO_PIN_3);

        //设置ADC参考电压为外部3V，TM4C123GH6PM只能使用内部参考电压，3.3V
        //ADCReferenceSet(ADC0_BASE, ADC_REF_EXT_3V);//若ADC_REF_INT，则指使用内部3V参考电压
        //配置ADC采集序列
        ADCSequenceConfigure(ADC0_BASE, 0,ADC_TRIGGER_PROCESSOR, 0);
        ADCSequenceStepConfigure(ADC0_BASE, 0, 0, ADC_CTL_CH0 );//PE3
        ADCSequenceStepConfigure(ADC0_BASE, 0, 1, ADC_CTL_CH1 );//PE2
        ADCSequenceStepConfigure(ADC0_BASE, 0, 2, ADC_CTL_CH2 );//PE1
        ADCSequenceStepConfigure(ADC0_BASE, 0, 3, ADC_CTL_CH3 );//PE0
        ADCSequenceStepConfigure(ADC0_BASE, 0, 4, ADC_CTL_CH4 );//PD3
        ADCSequenceStepConfigure(ADC0_BASE, 0, 5, ADC_CTL_CH5 );//PD2
        ADCSequenceStepConfigure(ADC0_BASE, 0, 6, ADC_CTL_CH6 | ADC_CTL_IE |ADC_CTL_END);//PD1
        //ADCSequenceStepConfigure(ADC0_BASE, 0, 7, ADC_CTL_CH7 | ADC_CTL_IE |ADC_CTL_END);//PD0未使用

        //使能ADC采集序列
        ADCSequenceEnable(ADC0_BASE, 0);
        //IntEnable(INT_ADC0SS0);
        IntMasterEnable();
        ADCIntEnable(ADC0_BASE, 0);
        //ADCIntEnableEx(ADC0_BASE,ADC_INT_DMA_SS0);//中断触发设置
        ADCIntClear(ADC0_BASE, 0);
}

int main(void)
{
        uint8_t a=0,b=0;
        //使能FPU
        FPUEnable();
        FPULazyStackingEnable();
        //设置系统时钟为50MHz (400/2/4=50)
        SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL |SYSCTL_XTAL_16MHZ | SYSCTL_OSC_MAIN);
        UATR_INIT();
        ADC_INIT();
        PWM_INIT();
while(1)
{
        //触发采集
        ADCProcessorTrigger(ADC0_BASE, 0);
        //等待采集结束
        while(!ADCIntStatus(ADC0_BASE, 0, false));
        //获取采集结果
        ADCSequenceDataGet(ADC0_BASE, 0, ADC0_Value);
                //延时
        //SysCtlDelay(SysCtlClockGet() / 12);
        PWM_CTRL(count,a);
}
}