Motor.h

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#ifndef MOTOR_H_
#define MOTOR_H_

#define PWMPERIOD 4000

// MOTOR 1 HALL SENSOR PINS
#define M1H_PERIPH SYSCTL_PERIPH_GPIOM
#define M1H_PORT GPIO_PORTM_BASE // IF YOU CHANGE THIS PORT YOU MUST CHANGE THE INT HANDLER IN tm4c1294ncpdt_startup_css.c
#define M1H_PORT_INT INT_GPIOM
#define M1H_PIN_A GPIO_PIN_0
#define M1H_PIN_B GPIO_PIN_1
#define M1H_PIN_C GPIO_PIN_2
#define M1H_PINS (M1H_PIN_A | M1H_PIN_B | M1H_PIN_C)

// MOTOR 1 COMMUTATION DATA
#define M1_HALLSTATE_0 (M1H_PIN_A | M1H_PIN_B)
#define M1_HALLSTATE_1 M1H_PIN_A
#define M1_HALLSTATE_2 (M1H_PIN_A | M1H_PIN_C)
#define M1_HALLSTATE_3 M1H_PIN_C
#define M1_HALLSTATE_4 (M1H_PIN_B | M1H_PIN_C)
#define M1_HALLSTATE_5 M1H_PIN_B

// MOTOR 1 CONTROL PINS
#define M1_INL_PERIPH_A SYSCTL_PERIPH_GPIOP
#define M1_INL_PORT_A GPIO_PORTP_BASE
#define M1_INL_PIN_A GPIO_PIN_0
#define M1_INL_PERIPH_B SYSCTL_PERIPH_GPIOP
#define M1_INL_PORT_B GPIO_PORTP_BASE
#define M1_INL_PIN_B GPIO_PIN_1
#define M1_INL_PERIPH_C SYSCTL_PERIPH_GPIOP
#define M1_INL_PORT_C GPIO_PORTP_BASE
#define M1_INL_PIN_C GPIO_PIN_2

// MOTOR 2 HALL SENSOR PINS
#define M2H_PERIPH SYSCTL_PERIPH_GPION
#define M2H_PORT GPIO_PORTN_BASE // IF YOU CHANGE THIS PORT YOU MUST CHANGE THE INT HANDLER IN tm4c1294ncpdt_startup_css.c
#define M2H_PORT_INT INT_GPION
#define M2H_PIN_A GPIO_PIN_0
#define M2H_PIN_B GPIO_PIN_1
#define M2H_PIN_C GPIO_PIN_2
#define M2H_PINS (M2H_PIN_A | M2H_PIN_B | M2H_PIN_C)

// MOTOR 2 CONTROL PINS
#define M2_INL_PERIPH_A SYSCTL_PERIPH_GPIOM
#define M2_INL_PORT_A GPIO_PORTM_BASE
#define M2_INL_PIN_A GPIO_PIN_5
#define M2_INL_PERIPH_B SYSCTL_PERIPH_GPIOM
#define M2_INL_PORT_B GPIO_PORTM_BASE
#define M2_INL_PIN_B GPIO_PIN_6
#define M2_INL_PERIPH_C SYSCTL_PERIPH_GPIOM
#define M2_INL_PORT_C GPIO_PORTM_BASE
#define M2_INL_PIN_C GPIO_PIN_7

// MOTOR 2 COMMUTATION DATA
#define M2_HALLSTATE_0 (M2H_PIN_A | M2H_PIN_B)
#define M2_HALLSTATE_1 M2H_PIN_A
#define M2_HALLSTATE_2 (M2H_PIN_A | M2H_PIN_C)
#define M2_HALLSTATE_3 M2H_PIN_C
#define M2_HALLSTATE_4 (M2H_PIN_B | M2H_PIN_C)
#define M2_HALLSTATE_5 M2H_PIN_B


extern void M1HIntHandler(void);


extern void M2HIntHandler(void);

void motor1Commutate(int State, int control);

void motor2Commutate(int State, int control);


extern void motor1PWM(int pwm1, int pwm2, int pwm3);

extern void motor2PWM(int pwm1, int pwm2, int pwm3);


extern void motor1ControlPWM(int control);

extern void motor2ControlPWM(int control);



extern void motorInit(void);


void M1_INL_WRITE(int a, int b, int c);

void M2_INL_WRITE(int a, int b, int c);


int getmotor1PWM(void);


int getmotor2PWM(void);

int32_t getmotor1HALLS(void);


int32_t getmotor2HALLS(void);


extern void MotorSPIinit(void);



extern void motorDriverInit(void);


extern void pwmInit(void);

#endif /* MOTOR_H_ */