finalcode

	/*******************************************************************************
 * File Name          : Automatic_Sliding_Door.c
 * Description        : this program turn on PWM in Timer1 to controol the speed
 * of dc motor. this DC motor with some mechanical arrangemant
 *                      will help door to slide.
 
 ******************************************************************************
 */

/* Includes----- */
#include <stdio.h>
#include <stdint.h>
#include <ctype.h>
#include <string.h>
#include "common.h"
#include "main.h"

TIM_HandleTypeDef tim1; // to run the DC motor
TIM_HandleTypeDef tim17; // to provide delay

int16_t speed;
int32_t delay;
int16_t PB = 1;

//Function declaration
void gpio_init_RGB(); // Gpio Init for RGB LED and Enable pin of ic
void gpio_init_Switch();// gpio for switch
void gpio_init_DCMotor(); //PWM init for DC motor
void timer_init_DCMotor(uint16_t); //Timer init for DC motor
void timer_init_Delay();// timer init for delay function
void start_DCMotor(uint16_t,uint16_t); // to start PWM
void stop_DCMotor(uint16_t); // to stop PWM
void RGB(int red, int green, int blue); //to contol RGB LED
void Delay(int32_t delay); // delay function

//timer 6 peripheral register declaration
uint32_t *ptrcr1 = (uint32_t *) 0x40001000 ;//pointer to control register 1
uint32_t *ptrdier = (uint32_t *) 0x4000100c ;//pointer to DIER register
uint32_t *ptrsr = (uint32_t *) 0x40001010 ; //pointer to STATUS REGISTER
uint32_t *ptrpre = (uint32_t *) 0x40001028 ;//pointer to PRESCALER
uint32_t *ptrarr = (uint32_t *) 0x4000102c ;//pointer to AUTO RELOAD REGISTER

/*******************************************************************************
 * Function Name      : timer_init
 * Description        : This function will  initialize the timer 6 parameter.
 *
 * PARAMETERS         : N/A
 *
 * RETURNS            : N/A

 ******************************************************************************
 */
void timer_init()
{
__HAL_RCC_TIM6_CLK_ENABLE();//enable clock to timer 6
*ptrdier= 0x01;//enable interupt
*ptrarr=0xffff;//initialize ARR register
*ptrpre=0x1000;//initialize PRESCALER
HAL_NVIC_EnableIRQ(54);//enable interupt in NVIC Register for timer 6
}

/*******************************************************************************
 * Function Name      : CmddcInit
 * Description        : This function will call functions to initialize gpio and timer.
 *
 * PARAMETERS         : int mode
 *
 * RETURNS            : CmdReturnOk
 
 ******************************************************************************
 */
ParserReturnVal_t CmdDisable(int mode)
{

if (mode != CMD_INTERACTIVE)
    return CmdReturnOk;

       WDTFeed();
       RGB(0,0,0);//turn off the RGB LED
       stop_DCMotor(0);//stop motion of DCMmotor in forward direction
       stop_DCMotor(4);//stop motion of DCMmotor in reverse direction
       
       WDTFeed();
       *ptrsr=0x0;
return CmdReturnOk;
}
ADD_CMD("Disable",CmdDisable,"   Disable the entire system")

/*******************************************************************************
 * Function Name      : CmdEnable
 * Description        : This function will scane two argument delay and speed from user.
 *                      According to enterd value the motor will change it's speed and delay
 *                      and continuasly chen at the push button.                      
 *
 * PARAMETERS         : int mode
 *
 * RETURNS            : CmdReturnOk

 ******************************************************************************
 */
ParserReturnVal_t CmdEnable(int mode)
{
               //variable initialization
     
      HAL_StatusTypeDef  rc;
     
         
if (mode != CMD_INTERACTIVE)
return CmdReturnOk;

rc = fetch_int16_arg(&speed);// scan the value of spped
if(rc != HAL_OK)
{
   printf("please enter speed in percantage !!!\n");//print the message
   return CmdReturnOk;
}

                rc = fetch_int32_arg(&delay);// scan the value of delay
                if(rc != HAL_OK)
{
   printf("please enter delay !!!\n");// print the message
   return CmdReturnOk;
}

       speed = (speed * 32767)/100; //convert prtcentage to value
       speed = 32768 - speed;  

gpio_init_Switch(); //init gpio for switch
        gpio_init_RGB();      //init gpio for RGB LED
        gpio_init_DCMotor();  //init gpio for DC Motor
        timer_init_Delay();   //init timer17 for delay
        timer_init_DCMotor(0);//init timer1 chennal 1 for DC Motor
        timer_init_DCMotor(4);//init timer1 channel 2 for DC Motor
timer_init();
*ptrcr1=0x1;

 
return CmdReturnOk;
}

ADD_CMD("Enable",CmdEnable,"<speed> <delay>         Enable the System")

/*******************************************************************************
 * Function Name      : TIM6_DAC_IRQHandler
 * Description        : This  handler is for timer 6 this will execute at every 100ms.
 *                      this will turn on and off motor according to the status of GPIO pin
 *                      and speed and delay will be provided by user.    
 *
 * PARAMETERS         : int mode
 *
 * RETURNS            : CmdReturnOk

 ******************************************************************************
 */
void TIM6_DAC_IRQHandler(void)
{
                   *ptrsr=0x0;
   
  PB = HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_12); // read GPIO PIN 12 of Port B where the push button is connected in pull up mode
 
  WDTFeed();// reset watch dog timer
 
  if(PB == 0)
  {
 
 /* run Motor In Forward Direction for 10 sec */  
 RGB(0,1,1); //turn on the RGB LED with sky color
 stop_DCMotor(0);//stop motion of DCMmotor in forward direction
 stop_DCMotor(4);//stop motion of DCMmotor in reverse direction
// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_14,1); // Send 1 signal on enable pin of IC
 start_DCMotor(0,speed); //start motion of DCMmotor in forward direction
 
 Delay(delay);
 
 /* stop motor for 10 sec */        
         RGB(0,1,0); //turn on the RGB LED with green color
 stop_DCMotor(0);//stop motion of DCMmotor in forward direction
 stop_DCMotor(4);//stop motion of DCMmotor in reverse direction
 HAL_GPIO_WritePin(GPIOB,GPIO_PIN_14,0);// Send 0 signal on enable pin of IC
 
 Delay(delay);
 
 /* run Motor In reverse Direction for 10 sec */
 RGB(1,0,0); //turn on the RGB LED with red color
 stop_DCMotor(0);//stop motion of DCMmotor in forward direction
 stop_DCMotor(4);//stop motion of DCMmotor in reverse direction
 //HAL_GPIO_WritePin(GPIOB,GPIO_PIN_14,1);// Send 1 signal on enable pin of IC
 start_DCMotor(4,speed); //stop motion of DCMmotor in reverse direction
 
 Delay(delay);
 
 /* stop motor */
 RGB(0,0,0); //turn off the RGB LED
 stop_DCMotor(0);//stop motion of DCMmotor in forward direction
 stop_DCMotor(4);//stop motion of DCMmotor in reverse direction
// HAL_GPIO_WritePin(GPIOB,GPIO_PIN_14,0);// Send 0 signal on enable pin of IC
  }
 
  else
 {
        RGB(0,0,0); //turn off the RGB LED
        stop_DCMotor(0);//stop motion of DCMmotor in forward direction
stop_DCMotor(4);//stop motion of DCMmotor in reverse direction
//HAL_GPIO_WritePin(GPIOB,GPIO_PIN_14,0); // Send 0 signal on enable pin of IC
 }
 

 WDTFeed();//reset watch dog timer

}
/*******************************************************************************
 * Function Name      : timer_init_Delay
 * Description        : This function will Initialise the timer 17.
 *
 * PARAMETERS         : N/A
 *
 * RETURNS            : N/A

 ******************************************************************************
 */
void timer_init_Delay()
{
    __HAL_RCC_TIM17_CLK_ENABLE(); //enable clock for Timer 17

tim17.Instance = TIM17;
tim17.Init.Prescaler     = (HAL_RCC_GetPCLK2Freq() / 1000000) - 1; //set prescaler
tim17.Init.CounterMode   = TIM_COUNTERMODE_UP; //set counter mode to up
tim17.Init.Period        =     0xffff; // set period
tim17.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
tim17.Init.RepetitionCounter = 0; // repetation counter
HAL_TIM_Base_Init(&tim17);

HAL_TIM_Base_Start(&tim17); // start timer
}

/*******************************************************************************
 * Function Name      : Delay
 * Description        : This function will provide delay in us.
 *                      
 *
 * PARAMETERS         : delay
 *
 * RETURNS            : N/A
 ******************************************************************************
 */
void Delay(int32_t delay)
{
   uint16_t timerVal;
   
   if (delay > 65535)
{

     while(delay > 65535)
     {
 TIM17->CNT = 0; //set timer register with 0

 /* Reset counter */
 while(TIM17->CNT < 65535)
 {
WDTFeed(); //watchdog timer feed function call
asm volatile ("nop\n");
 }
 
 delay = delay-65535;

      }
   
       timerVal = delay; //storing delayVal's data into timerVal variable
       TIM17->CNT = 0; //set timer register with 0
 
       /* Reset counter */
       while(TIM17->CNT < timerVal)
       {
   WDTFeed(); //watchdog timer feed function call
   asm volatile ("nop\n");
       }
 
       
}

else
{
              timerVal = delay; //storing delayVal's data into timerVal variable
TIM17->CNT = 0;  //set timer register with 0
   
      /* Reset counter */
while(TIM17->CNT < timerVal)
{
WDTFeed(); //watchdog timer feed function call
asm volatile ("nop\n");
}
}
}

/*******************************************************************************
 * Function Name      : RGB
 * Description        : This function will turn on the specific color in  RGB LED
 *                      as per the value in parameter.
 *                      
 *
 * PARAMETERS         : red & green & blue
 *
 * RETURNS            : N/A
 ******************************************************************************
 */
void RGB(int red, int green, int blue)
{
 
  HAL_GPIO_WritePin(GPIOB,GPIO_PIN_10,red); // send signal to R pin of RGB LED
  HAL_GPIO_WritePin(GPIOB,GPIO_PIN_9,green);// send signal to R pin of RGB LED
  HAL_GPIO_WritePin(GPIOB,GPIO_PIN_8,blue); // send signal to R pin of RGB LED
   
}

/*******************************************************************************
 * Function Name      : gpio_init_RGB
 * Description        : This function will initialize the GPIO pin 8, 9 and 10 of port B.
 *                      
 *
 * PARAMETERS         : N/A
 *
 * RETURNS            : N/A
 ******************************************************************************
 */
void gpio_init_RGB()//function definition to initialize gpio pins
{
__HAL_RCC_GPIOB_CLK_ENABLE();//enable clock to the gpio peripheral

GPIO_InitTypeDef GPIO_Init_Struct = {0};//typedef struct variable
GPIO_Init_Struct.Pin = (GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10);
GPIO_Init_Struct.Pull = GPIO_NOPULL;
GPIO_Init_Struct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_Init_Struct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_Init_Struct.Alternate =0;

HAL_GPIO_Init(GPIOB,&GPIO_Init_Struct);


}

/*******************************************************************************
 * Function Name      : gpio_init_Switch
 * Description        : This function will initialize the GPIO pin 12 of port A.
 *                      
 *
 * PARAMETERS         : N/A
 *
 * RETURNS            : N/A
  ******************************************************************************
 */
void gpio_init_Switch()//function definition to initialize gpio pins
{

__HAL_RCC_GPIOA_CLK_ENABLE();//enable clock to the gpio peripheral

GPIO_InitTypeDef GPIO_Init_Struct = {0};//typedef struct variable
GPIO_Init_Struct.Pin = GPIO_PIN_12;
GPIO_Init_Struct.Pull = GPIO_NOPULL;
GPIO_Init_Struct.Mode = GPIO_MODE_INPUT;
GPIO_Init_Struct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_Init_Struct.Alternate =0;

HAL_GPIO_Init(GPIOA,&GPIO_Init_Struct);
}


/*******************************************************************************
 * Function Name      : gpio_init_DCMotor
 * Description        : This function will initialize the GPIO pin 0 and 1 of
 * port c for PWM.
 *                      
 *
 * PARAMETERS         : N/A
 *
 * RETURNS            : N/A

 ******************************************************************************
 */
void gpio_init_DCMotor()//function definition to initialize gpio pins
{
__HAL_RCC_GPIOC_CLK_ENABLE();//enable clock to the gpio peripheral

GPIO_InitTypeDef GPIO_Init_Struct;//typedef struct variable
GPIO_Init_Struct.Pin = GPIO_PIN_0 | GPIO_PIN_1;  
GPIO_Init_Struct.Mode = GPIO_MODE_AF_PP;
GPIO_Init_Struct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_Init_Struct.Alternate =GPIO_AF2_TIM1;

HAL_GPIO_Init(GPIOC,&GPIO_Init_Struct);
}

/*******************************************************************************
 * Function Name      : timer_init_DCMotor
 * Description        : This function will initialize the timer 1 and configure
 *                      the channel as per paramerter enterd.
 *                      
 *
 * PARAMETERS         : timchannel
 *
 * RETURNS            : N/A
 
 ******************************************************************************
 */
void timer_init_DCMotor(uint16_t timchannel)//function to initialize timer1 in pwm mode
{
__HAL_RCC_TIM1_CLK_ENABLE();//enalbe clock to timer1

tim1.Instance=TIM1;//initialize to timer1 pointer
tim1.Init.Prescaler=24;//set the prescaler
tim1.Init.CounterMode=TIM_COUNTERMODE_UP;
tim1.Init.Period=0xffff;//period is set to ffff
tim1.Init.ClockDivision=TIM_CLOCKDIVISION_DIV1;
tim1.Init.RepetitionCounter=0;//repition counter is set to 0

HAL_TIM_PWM_Init(&tim1);//initilizer timer in pwm mode

TIM_OC_InitTypeDef sconfig;//output compare mode

sconfig.OCMode=TIM_OCMODE_PWM1;
sconfig.Pulse=0;
sconfig.OCPolarity=TIM_OCPOLARITY_HIGH;
sconfig.OCNPolarity=TIM_OCNPOLARITY_LOW;
sconfig.OCFastMode=TIM_OCFAST_DISABLE;
sconfig.OCIdleState=TIM_OCIDLESTATE_RESET;
sconfig.OCNIdleState=TIM_OCNIDLESTATE_RESET;

HAL_TIM_PWM_ConfigChannel(&tim1,&sconfig,timchannel);//config outuput channel in pwm mode
}

/*******************************************************************************
 * Function Name      : start_DCMotor
 * Description        : This function will start pwm and load CCR resister of timer 1
 *                      as per entered parameter ans the this value will control the speed.
 *                      
 *
 * PARAMETERS         : timchannel & speed
 *
 * RETURNS            : N/A

 ******************************************************************************
 */
void start_DCMotor(uint16_t timchannel,uint16_t speed)//function to start timer pwm
{
if(timchannel==0)
{
TIM1->CCR1=speed; //load register for channel 1
}
else
{
TIM1->CCR2=speed; //load register for channel 2
}

HAL_TIM_PWM_Start(&tim1,timchannel);//start pwm
}

/*******************************************************************************
 * Function Name      : stop_DCMotor
 * Description        : This function will stop timer.                      
 *
 * PARAMETERS         : timchannel
 *
 * RETURNS            : N/A
 ******************************************************************************
 */
void stop_DCMotor(uint16_t timchannel)//functio to stop pwm timer
{
HAL_TIM_PWM_Stop(&tim1,timchannel);//stop PWM
}