#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_ints.h"
#include "driverlib/debug.h"
#include "driverlib/gpio.h"
#include "driverlib/pwm.h"
#include "driverlib/sysctl.h"
#include "rit128x96x4.h"
#include "driverlib/interrupt.h"
#include "driverlib/systick.h"

void PWMInit(void);
void ButtonInit(void);

float PulseWidth = 0.075;
int t=0, iVal=0, i=0;


void PWMInterrupt(void)
{
	PWMGenIntClear(PWM_BASE, PWM_GEN_1, PWM_INT_CNT_ZERO); 
}


void PWMInit(void)
{
	SysCtlPWMClockSet(SYSCTL_PWMDIV_64);
	SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM);
	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
	GPIOPadConfigSet(GPIO_PORTB_BASE, GPIO_PIN_0, GPIO_STRENGTH_8MA, GPIO_PIN_TYPE_STD);
	GPIOPinConfigure(GPIO_PB0_PWM2);
	GPIOPinTypePWM(GPIO_PORTB_BASE, GPIO_PIN_0);
	PWMGenConfigure(PWM_BASE, PWM_GEN_1, PWM_GEN_MODE_DOWN | PWM_GEN_MODE_NO_SYNC);
	PWMGenPeriodSet(PWM_BASE, PWM_GEN_1, 2500); 						//20ms = 50Hz
    	PWMGenIntTrigEnable(PWM_BASE, PWM_GEN_1, PWM_INT_CNT_ZERO);
 
    	IntEnable(INT_PWM2);
    	PWMIntEnable(PWM_BASE,PWM_INT_GEN_1);
    	PWMOutputState(PWM_BASE, PWM_OUT_2_BIT, true);
    	PWMGenEnable(PWM_BASE, PWM_GEN_1);
}


void ButtonInterrupt(void)
{
	iVal=GPIOPinIntStatus(GPIO_PORTE_BASE,true); 
	if(iVal == 4)
	{
		t=1;	// linker Switch wurde aktiviert 
	}
	if(iVal == 8)
	{
		t=2;	// rechter Switch wurde aktiviert
	}
	GPIOPinIntClear(GPIO_PORTE_BASE, GPIO_PIN_2 | GPIO_PIN_3);
}


void ButtonInit(void)
{
	SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
	GPIOPinTypeGPIOInput(GPIO_PORTE_BASE, GPIO_PIN_2 | GPIO_PIN_3);
    	GPIOPadConfigSet(GPIO_PORTE_BASE, GPIO_PIN_2 | GPIO_PIN_3, GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
	GPIOIntTypeSet(GPIO_PORTE_BASE, GPIO_PIN_2 | GPIO_PIN_3, GPIO_FALLING_EDGE);
	GPIOPinIntEnable(GPIO_PORTE_BASE, GPIO_PIN_2 | GPIO_PIN_3);
	IntEnable(INT_GPIOE); 
}

void main(void)
{
	SysCtlClockSet(SYSCTL_SYSDIV_1 | SYSCTL_USE_OSC | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ);
	
	PWMInit();
	ButtonInit();    
	while(1)
	{	
		if(t==1 && i< 1)
		{
			while(PulseWidth>=0.045) // = 0,9 ms					// langsam nach links fahren
			{
				PulseWidth = PulseWidth-0.000001;
				PWMPulseWidthSet(PWM_BASE, PWM_OUT_2, 2500 * PulseWidth);
			}
			while(PulseWidth<=0.075) 						// langsam wieder zurück fahren
			{
				PulseWidth = PulseWidth+0.000001;
				PWMPulseWidthSet(PWM_BASE, PWM_OUT_2, 2500 * PulseWidth);
			}
			i++;
		}
		else if(t==2 && i< 50000)
		{
			PulseWidth = 0.105;	// = 2.1 ms					// sofort nach rechts fahren
			i++;
		}
		else
		{
			PulseWidth = 0.075;	// = 1,5 ms
			t=0;
			i=0;
		}

		PWMPulseWidthSet(PWM_BASE, PWM_OUT_2, 2500 * PulseWidth);
   	}
}