Shahariar
Published © GPL3+

Gesture Drive: Accelerate with Freedom

The Idea is to control both Direction+Acceleration of a Bluetooth Robotic Car with the movement of Forearm using Kinetis K82 Freedom board.

IntermediateFull instructions provided20 hours3,983

Things used in this project

Hardware components

Kinetis Freedom Board with FlexIO
NXP Kinetis Freedom Board with FlexIO
×1
Arduino UNO & Genuino UNO
Arduino UNO & Genuino UNO
×1
HC-05 Bluetooth Module
HC-05 Bluetooth Module
×2
200 RPM Gear Motor
×1
Gear Motor Mounts
×1
3 mm LED: Green
3 mm LED: Green
×1
5 mm LED: Red
5 mm LED: Red
×3
3 mm LED: Yellow
3 mm LED: Yellow
×3
Male Header 40 Position 1 Row (0.1")
Male Header 40 Position 1 Row (0.1")
×1
Dual H-Bridge motor drivers L298
SparkFun Dual H-Bridge motor drivers L298
×1
Seeed Blue LED
×8
4x6 Proto Board
×1
Intercom Box
×1
3.7 V LiPo Battery
×1
Old Wrist Watch
×1

Software apps and online services

NXP Kinetis Design Studio
Arduino IDE
Arduino IDE

Hand tools and fabrication machines

Soldering iron (generic)
Soldering iron (generic)
Hot glue gun (generic)
Hot glue gun (generic)
Seeed Drill Motor

Story

Read more

Schematics

Shield Layers

Power Pack & Dial Shields

Bluetooth HC-05 Connection

HC-05 plugged to K82

Car Circuit

Ardu+ L298 Motor Driver + Gear Motor

K82 Freedom + LEDs

LED Connection

Code

main c

C/C++
/*
 * Copyright (c) 2015, Freescale Semiconductor, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *
 * o Redistributions of source code must retain the above copyright notice, this list
 *   of conditions and the following disclaimer.
 *
 * o Redistributions in binary form must reproduce the above copyright notice, this
 *   list of conditions and the following disclaimer in the documentation and/or
 *   other materials provided with the distribution.
 *
 * o Neither the name of Freescale Semiconductor, Inc. nor the names of its
 *   contributors may be used to endorse or promote products derived from this
 *   software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
 * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "fsl_debug_console.h"
#include "board.h"
#include "math.h"
#include "fsl_fxos.h"
#include "fsl_i2c.h"
#include "fsl_ftm.h"
#include "fsl_lpuart.h"
#include "fsl_common.h"
#include "pin_mux.h"
/*******************************************************************************
 * Definitions
 ******************************************************************************/
#define BOARD_TIMER_BASEADDR TPM3

//============= Change Made here for 3rd channel ==================//
#define BOARD_FIRST_TIMER_CHANNEL 6U
#define BOARD_SECOND_TIMER_CHANNEL 5U
#define BOARD_THIRD_TIMER_CHANNEL 4U


/* Get source clock for TPM driver */
#define BOARD_TIMER_SOURCE_CLOCK CLOCK_GetFreq(BUS_CLK)
/* I2C source clock */
#define ACCEL_I2C_CLK_SRC I2C3_CLK_SRC
#define I2C_BAUDRATE 100000U
/* Upper bound and lower bound angle values */

// UART for BT
#define BT_LPUART LPUART1
#define LPUART_CLKSRC kCLOCK_Osc0ErClk


//======================= Change Made here for Gearing Range ===========//
int ANGLE_UPPER_BOUND = 90U;
int ANGLE_LOWER_BOUND = 10U;

int16_t xData = 0;
 int16_t yData = 0;
 int16_t xAngle = 0;
 int16_t xAngle_Gear=0;
 int16_t yAngle_Left = 0;
 int16_t yAngle_Right = 0;
// Make Function to Update Power level from gear counter and accele counter and angle
 uint8_t power_level=160;

 uint8_t car_cmd[5];

 fxos_handle_t fxosHandle = {0};
    fxos_data_t sensorData = {0};

    uint8_t  Ardu_Left_Wheel_Pwr_Min=1;
    uint8_t  Ardu_Right_Wheel_Pwr_Min=1;


    uint8_t  Ardu_Left_Wheel_Pwr_Max=240;
    uint8_t  Ardu_Right_Wheel_Pwr_Max=240;
    uint8_t Accel_Level=1; // max 8

/*******************************************************************************
 * Prototypes
 ******************************************************************************/


/*******************************************************************************
 * Variables
 ******************************************************************************/
i2c_master_handle_t g_MasterHandle;
/* FXOS device address */
const uint8_t g_accel_address[] = {0x1CU, 0x1DU, 0x1EU, 0x1FU};
uint8_t gear_counter=1U;

/*******************************************************************************
 * Code
 ******************************************************************************/
/* Initialize timer module */
static void Timer_Init(void)
{
    ftm_config_t ftmInfo;

    //============================== Change made here for 3 PWM ==========================//
    //ftm_chnl_pwm_signal_param_t ftmParam[2];
    ftm_chnl_pwm_signal_param_t ftmParam[3];
    /* Configure ftm params with frequency 24kHZ */
    ftmParam[0].chnlNumber = (ftm_chnl_t)BOARD_FIRST_TIMER_CHANNEL;
    ftmParam[0].level = kFTM_LowTrue;
    ftmParam[0].dutyCyclePercent = 0U;
    ftmParam[0].firstEdgeDelayPercent = 0U;

    ftmParam[1].chnlNumber = (ftm_chnl_t)BOARD_SECOND_TIMER_CHANNEL;
    ftmParam[1].level = kFTM_LowTrue;
    ftmParam[1].dutyCyclePercent = 0U;
    ftmParam[1].firstEdgeDelayPercent = 0U;

// ================== 3rf PWM ========================================
    ftmParam[2].chnlNumber = (ftm_chnl_t)BOARD_THIRD_TIMER_CHANNEL;
    ftmParam[2].level = kFTM_LowTrue;
    ftmParam[2].dutyCyclePercent = 0U;
    ftmParam[2].firstEdgeDelayPercent = 0U;

    /*
     * ftmInfo.prescale = kFTM_Prescale_Divide_1;
     * ftmInfo.bdmMode = kFTM_BdmMode_0;
     * ftmInfo.pwmSyncMode = kFTM_SoftwareTrigger;
     * ftmInfo.reloadPoints = 0;
     * ftmInfo.faultMode = kFTM_Fault_Disable;
     * ftmInfo.faultFilterValue = 0;
     * ftmInfo.deadTimePrescale = kFTM_Deadtime_Prescale_1;
     * ftmInfo.deadTimeValue = 0;
     * ftmInfo.extTriggers = 0;
     * ftmInfo.chnlInitState = 0;
     * ftmInfo.chnlPolarity = 0;
     * ftmInfo.useGlobalTimeBase = false;
     */
    FTM_GetDefaultConfig(&ftmInfo);
    /* Initialize FTM module */
    FTM_Init(BOARD_FTM_BASEADDR, &ftmInfo);

    // CHanged Here from 2U to 3U for 3 channel support //
    FTM_SetupPwm(BOARD_FTM_BASEADDR, ftmParam, 3U, kFTM_EdgeAlignedPwm, 2000U, BOARD_TIMER_SOURCE_CLOCK);
    FTM_StartTimer(BOARD_FTM_BASEADDR, kFTM_SystemClock);
}

/* Update the duty cycle of an active pwm signal */
// =================Changed HERE for 3 PWM ======================//
static void Board_UpdatePwm(uint16_t x, uint16_t y,uint16_t a)
{
    /* Start PWM mode with updated duty cycle */
    FTM_UpdatePwmDutycycle(BOARD_FTM_BASEADDR, (ftm_chnl_t)BOARD_FIRST_TIMER_CHANNEL, kFTM_EdgeAlignedPwm, x);
    FTM_UpdatePwmDutycycle(BOARD_FTM_BASEADDR, (ftm_chnl_t)BOARD_SECOND_TIMER_CHANNEL, kFTM_EdgeAlignedPwm, y);

    FTM_UpdatePwmDutycycle(BOARD_FTM_BASEADDR, (ftm_chnl_t)BOARD_THIRD_TIMER_CHANNEL, kFTM_EdgeAlignedPwm, a);

    /* Software trigger to update registers */
    FTM_SetSoftwareTrigger(BOARD_FTM_BASEADDR, true);
}

/*===============================
 *
 * CHANGE MAFE HERE
 *
=============================================================//
 */

void DIAL_OFF(void)
{
				GPIO_WritePinOutput (GPIOC, 3U, 0);
                GPIO_WritePinOutput (GPIOC, 5U, 0);
                GPIO_WritePinOutput (GPIOD, 1U, 0);
                GPIO_WritePinOutput (GPIOD, 2U, 0);
                GPIO_WritePinOutput (GPIOD, 3U, 0);
                GPIO_WritePinOutput (GPIOD, 4U, 0);
                GPIO_WritePinOutput (GPIOB, 21U, 0);
                GPIO_WritePinOutput (GPIOB, 20U, 0);

}


void Change_Accel_level(void)
{
int level=0;
if (xAngle>yAngle_Left)
{
if(xAngle>yAngle_Right)
	{
	level=xAngle/10;
	}
	else
		{level=yAngle_Right/10;}
}
else
{
	level=yAngle_Left/10;

}

if (level==1)
{
	//          GPIO_WritePinOutput (GPIOC, 3U, 0);
                GPIO_WritePinOutput (GPIOC, 5U, 0);
                GPIO_WritePinOutput (GPIOD, 1U, 0);
                GPIO_WritePinOutput (GPIOD, 2U, 0);
                GPIO_WritePinOutput (GPIOD, 3U, 0);
                GPIO_WritePinOutput (GPIOD, 4U, 0);
                GPIO_WritePinOutput (GPIOB, 21U, 0);
                GPIO_WritePinOutput (GPIOB, 20U, 1);
}
if (level==2)
{
	  //        GPIO_WritePinOutput (GPIOC, 3U, 0);
                GPIO_WritePinOutput (GPIOC, 5U, 0);
                GPIO_WritePinOutput (GPIOD, 1U, 0);
                GPIO_WritePinOutput (GPIOD, 2U, 0);
                GPIO_WritePinOutput (GPIOD, 3U, 0);
                GPIO_WritePinOutput (GPIOD, 4U, 0);
                GPIO_WritePinOutput (GPIOB, 21U, 1);
                GPIO_WritePinOutput (GPIOB, 20U, 1);
}

if (level==3)
{
	  //          GPIO_WritePinOutput (GPIOC, 3U, 0);
                GPIO_WritePinOutput (GPIOC, 5U, 0);
                GPIO_WritePinOutput (GPIOD, 1U, 1);
                GPIO_WritePinOutput (GPIOD, 2U, 0);
                GPIO_WritePinOutput (GPIOD, 3U, 0);
                GPIO_WritePinOutput (GPIOD, 4U, 0);
                GPIO_WritePinOutput (GPIOB, 21U, 1);
                GPIO_WritePinOutput (GPIOB, 20U, 1);
}
if (level==4)
{
	  //        GPIO_WritePinOutput (GPIOC, 3U, 0);
                GPIO_WritePinOutput (GPIOC, 5U, 1);
                GPIO_WritePinOutput (GPIOD, 1U, 1);
                GPIO_WritePinOutput (GPIOD, 2U, 0);
                GPIO_WritePinOutput (GPIOD, 3U, 0);
                GPIO_WritePinOutput (GPIOD, 4U, 0);
                GPIO_WritePinOutput (GPIOB, 21U, 1);
                GPIO_WritePinOutput (GPIOB, 20U, 1);
}
if (level==5)
{
	     //     GPIO_WritePinOutput (GPIOC, 3U,1);
                GPIO_WritePinOutput (GPIOC, 5U, 1);
                GPIO_WritePinOutput (GPIOD, 1U, 1);
                GPIO_WritePinOutput (GPIOD, 2U, 0);
                GPIO_WritePinOutput (GPIOD, 3U, 0);
                GPIO_WritePinOutput (GPIOD, 4U, 0);
                GPIO_WritePinOutput (GPIOB, 21U, 1);
                GPIO_WritePinOutput (GPIOB, 20U, 1);
}

if (level==6)
{
	       //   GPIO_WritePinOutput (GPIOC, 3U,1);
                GPIO_WritePinOutput (GPIOC, 5U, 1);
                GPIO_WritePinOutput (GPIOD, 1U, 1);
                GPIO_WritePinOutput (GPIOD, 2U, 1);
                GPIO_WritePinOutput (GPIOD, 3U, 0);
                GPIO_WritePinOutput (GPIOD, 4U, 0);
                GPIO_WritePinOutput (GPIOB, 21U, 1);
                GPIO_WritePinOutput (GPIOB, 20U, 1);
}
if (level==7)
{
	        //    GPIO_WritePinOutput (GPIOC, 3U,1);
                GPIO_WritePinOutput (GPIOC, 5U, 1);
                GPIO_WritePinOutput (GPIOD, 1U, 1);
                GPIO_WritePinOutput (GPIOD, 2U, 0);
                GPIO_WritePinOutput (GPIOD, 3U, 1);
                GPIO_WritePinOutput (GPIOD, 4U, 1);
                GPIO_WritePinOutput (GPIOB, 21U, 1);
                GPIO_WritePinOutput (GPIOB, 20U, 1);
}
if (level>=8)
{
	         //   GPIO_WritePinOutput (GPIOC, 3U,1);
                GPIO_WritePinOutput (GPIOC, 5U, 1);
                GPIO_WritePinOutput (GPIOD, 1U, 1);
                GPIO_WritePinOutput (GPIOD, 2U, 1);
                GPIO_WritePinOutput (GPIOD, 3U, 1);
                GPIO_WritePinOutput (GPIOD, 4U, 1);
                GPIO_WritePinOutput (GPIOB, 21U, 1);
                GPIO_WritePinOutput (GPIOB, 20U, 1);
}


//Func ends here//
}

void DIAL_SPIN_CW(void)
{

}
void DIAL_SPIN_CCW(void)
{

}

void RGY_OFF(void)
{

	GPIO_WritePinOutput (GPIOA, 5U, 0);
	GPIO_WritePinOutput (GPIOA, 12U, 0);
	GPIO_WritePinOutput (GPIOA, 13U, 0);
	GPIO_WritePinOutput (GPIOA, 14U, 0);
	GPIO_WritePinOutput (GPIOA, 17U, 0);
	GPIO_WritePinOutput (GPIOC, 7U, 0);
}

void GEAR_Change(void)

{



if (gear_counter>=6)
{gear_counter=6;}
if (gear_counter<=1)
{gear_counter=1;}

if (gear_counter==1)
{
	GPIO_WritePinOutput (GPIOA, 5U, 0);
		GPIO_WritePinOutput (GPIOA, 12U,1);
		GPIO_WritePinOutput (GPIOA, 13U, 0);
		GPIO_WritePinOutput (GPIOA, 14U, 0);
		GPIO_WritePinOutput (GPIOA, 17U, 0);
		GPIO_WritePinOutput (GPIOC, 7U, 0);

}
if (gear_counter==2)
{
	GPIO_WritePinOutput (GPIOA, 5U, 0);
		GPIO_WritePinOutput (GPIOA, 12U,1);
		GPIO_WritePinOutput (GPIOA, 13U, 1);
		GPIO_WritePinOutput (GPIOA, 14U, 0);
		GPIO_WritePinOutput (GPIOA, 17U, 0);
		GPIO_WritePinOutput (GPIOC, 7U, 0);

}
if (gear_counter==3)
{
	GPIO_WritePinOutput (GPIOA, 5U, 0);
		GPIO_WritePinOutput (GPIOA, 12U,1);
		GPIO_WritePinOutput (GPIOA, 13U, 1);
		GPIO_WritePinOutput (GPIOA, 14U, 0);
		GPIO_WritePinOutput (GPIOA, 17U, 1);
		GPIO_WritePinOutput (GPIOC, 7U, 0);

}
if (gear_counter==4)
{
	GPIO_WritePinOutput (GPIOA, 5U, 0);
		GPIO_WritePinOutput (GPIOA, 12U,1);
		GPIO_WritePinOutput (GPIOA, 13U, 1);
		GPIO_WritePinOutput (GPIOA, 14U, 1);
		GPIO_WritePinOutput (GPIOA, 17U, 1);
		GPIO_WritePinOutput (GPIOC, 7U, 0);

}
if (gear_counter==5)
{
	GPIO_WritePinOutput (GPIOA, 5U, 0);
		GPIO_WritePinOutput (GPIOA, 12U,1);
		GPIO_WritePinOutput (GPIOA, 13U, 1);
		GPIO_WritePinOutput (GPIOA, 14U, 1);
		GPIO_WritePinOutput (GPIOA, 17U, 1);
		GPIO_WritePinOutput (GPIOC, 7U, 1);

}
if (gear_counter==6)
{
	GPIO_WritePinOutput (GPIOA, 5U, 1);
		GPIO_WritePinOutput (GPIOA, 12U,1);
		GPIO_WritePinOutput (GPIOA, 13U, 1);
		GPIO_WritePinOutput (GPIOA, 14U, 1);
		GPIO_WritePinOutput (GPIOA, 17U, 1);
		GPIO_WritePinOutput (GPIOC, 7U, 1);

}


// Gear Func stops here
}



void Delay(uint32_t n)
{
	  SysTick->CTRL |= SysTick_CTRL_CLKSOURCE_Msk;                      /* use core clock */
	    SysTick->CTRL &= ~SysTick_CTRL_TICKINT_Msk;                       /* disable interrupt */
	    SysTick->LOAD = n * ((CLOCK_GetFreq(kCLOCK_CoreSysClk)) / 1000U); /* n ms */
	    SysTick->VAL = 0U;                                                /* clear COUNTFLAG */

	    SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;

	    /* wait for timeout */
	    while (0U == (SysTick->CTRL & SysTick_CTRL_COUNTFLAG_Msk))
	    {
	    }

	    SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk;
}

void Update_Angles(void)
{
    /* Get new accelerometer data. */
        FXOS_ReadSensorData(&fxosHandle, &sensorData);

        /* Get the X and Y data from the sensor data structure.fxos_data */
        xData = (int16_t)((uint16_t)((uint16_t)sensorData.accelXMSB << 8) | (uint16_t)sensorData.accelXLSB);
        yData = (int16_t)((uint16_t)((uint16_t)sensorData.accelYMSB << 8) | (uint16_t)sensorData.accelYLSB);

        // Convert raw data to angle ( -90:0:90 degrees).

        //=======xData and yData Swapped ===========///
        xAngle = (int16_t)floor((double)yData * 0.011);
      //===================Changed Here ==================
        if (xAngle >= 0)
                {
        	xAngle_Gear=xAngle;
        	xAngle=0;

                }
        if (xAngle < 0)
        {

            xAngle *= -1;
            xAngle_Gear=0;


        }
        yAngle_Left = (int16_t)floor((double)xData * 0.011);
        if (yAngle_Left < 0)
        {
        //    yAngle *= -1;
        	yAngle_Right=yAngle_Left*(-1);
        	yAngle_Left=0;
        }
}

void Send_Car_Cmd(void)

{
if(xAngle>5)
	{
	if ((xAngle+10>yAngle_Left)&(xAngle+10>yAngle_Right))
			{
		power_level=xAngle*gear_counter/2;
		car_cmd[0]='B';
		car_cmd[1]=0x30+(power_level/100);
		car_cmd[2]=0x30+((power_level%100) /10);
		car_cmd[3]=0x30+((power_level%10) /1);
		car_cmd[4]='\n';

	    LPUART_WriteBlocking(BT_LPUART, car_cmd, sizeof(car_cmd) - 1);
			}
	 if((yAngle_Left)<(yAngle_Right))
	{
		power_level=yAngle_Right*gear_counter/2;
		car_cmd[0]='R';
			car_cmd[1]=0x30+(power_level/100);
			car_cmd[2]=0x30+((power_level%100) /10);
			car_cmd[3]=0x30+((power_level%10) /1);
			car_cmd[4]='\n';

		    LPUART_WriteBlocking(BT_LPUART, car_cmd, sizeof(car_cmd) - 1);

	}

	if((yAngle_Left)>(yAngle_Right))
		{
		power_level=yAngle_Left*gear_counter/2;
		car_cmd[0]='G';
		car_cmd[1]=0x30+(power_level/100);
		car_cmd[2]=0x30+((power_level%100) /10);
		car_cmd[3]=0x30+((power_level%10) /1);
		car_cmd[4]='\n';

	    LPUART_WriteBlocking(BT_LPUART, car_cmd, sizeof(car_cmd) - 1);
}

	}



}


//==========================================================//

int main(void)
{

    i2c_master_config_t i2cConfig = {0};
    uint32_t i2cSourceClock = 0;

    // =================Changed HERE for 3 PWM ======================//




    uint8_t i = 0;
    uint8_t regResult = 0;
    uint8_t array_addr_size = 0;
    bool foundDevice = false;

    i2cSourceClock = CLOCK_GetFreq(ACCEL_I2C_CLK_SRC);
    fxosHandle.base = BOARD_ACCEL_I2C_BASEADDR;
    fxosHandle.i2cHandle = &g_MasterHandle;


    /*=======================================================
     * Changes made here
     *
     * ======================================================
     */
    gpio_pin_config_t pin_config =

        {
        kGPIO_DigitalOutput,1,
        };

    // LPUART (BT Config)
    lpuart_config_t config_lpuart;


    //=========================================================//
    /* Board pin, clock, debug console init */
    BOARD_InitPins();
    BOARD_BootClockRUN();
    BOARD_InitDebugConsole();
    CLOCK_SetLpuartClock(2U);
    LPUART_GetDefaultConfig(&config_lpuart);


    /*=======================================================
     * Changes made here
     *

     * ======================================================
     */

    config_lpuart.baudRate_Bps = 115200;
    config_lpuart.enableTx = true;
    config_lpuart.enableRx = true;

    LPUART_Init(BT_LPUART, &config_lpuart, CLOCK_GetFreq(LPUART_CLKSRC));



  //  	GPIO_PinInit(GPIOC, 3U, &pin_config);
        GPIO_PinInit(GPIOC, 5U, &pin_config);
        GPIO_PinInit(GPIOB, 21U, &pin_config);
        GPIO_PinInit(GPIOB, 20U, &pin_config);
        GPIO_PinInit(GPIOD, 1U, &pin_config);
        GPIO_PinInit(GPIOD, 2U, &pin_config);
        GPIO_PinInit(GPIOD, 3U, &pin_config);
        GPIO_PinInit(GPIOD, 4U, &pin_config);

        //=========================================================//
        GPIO_PinInit(GPIOA, 5U, &pin_config);
           GPIO_PinInit(GPIOA, 12U, &pin_config);
           GPIO_PinInit(GPIOA, 13U, &pin_config);
           GPIO_PinInit(GPIOA, 14U, &pin_config);
           GPIO_PinInit(GPIOA, 17U, &pin_config);
           GPIO_PinInit(GPIOC, 7U, &pin_config);
       RGY_OFF();

    /*
     * i2cConfig.baudRate_Bps = 100000U;
     * i2cConfig.enableHighDrive = false;
     * i2cConfig.enableStopHold = false;
     * i2cConfig.glitchFilterWidth = 0U;
     * i2cConfig.enableMaster = true;
     */
    I2C_MasterGetDefaultConfig(&i2cConfig);
    I2C_MasterInit(BOARD_ACCEL_I2C_BASEADDR, &i2cConfig, i2cSourceClock);
    I2C_MasterTransferCreateHandle(BOARD_ACCEL_I2C_BASEADDR, &g_MasterHandle, NULL, NULL);

    /* Find sensor devices */
    array_addr_size = sizeof(g_accel_address) / sizeof(g_accel_address[0]);
    for (i = 0; i < array_addr_size; i++)
    {
        fxosHandle.xfer.slaveAddress = g_accel_address[i];
        if (FXOS_ReadReg(&fxosHandle, WHO_AM_I_REG, &regResult, 1) == kStatus_Success)
        {
            foundDevice = true;
            break;
        }
        if ((i == (array_addr_size - 1)) && (!foundDevice))
        {
        //    PRINTF("\r\nDo not found sensor device\r\n");
        	// GLOW AN LED HERE
            while (1)
            {
            };
        }
    }

    /* Init accelerometer sensor */
    FXOS_Init(&fxosHandle);
    /* Init timer */
    Timer_Init();

   //* Print a note to terminal */
 //   PRINTF("\r\nWelcome to BUBBLE example\r\n");
//    PRINTF("\r\nYou will see the change of LED brightness when change angles of board\r\n");

    // reset Gear dial


    /* Main loop. Get sensor data and update duty cycle */


    while (1)
    {
    	Update_Angles();
    	Board_UpdatePwm(xAngle, yAngle_Left,yAngle_Right);
    	Change_Accel_level();
    	Send_Car_Cmd();
    	 for(int x=0;x<16;x++){Delay(1000000);}







// Gear Control Here

        while(xAngle_Gear>0)
        {
        	DIAL_OFF();
        		power_level=0;
        		car_cmd[0]='S';
        			car_cmd[1]=0x30;
        			car_cmd[2]=0x30;
        			car_cmd[3]=0x30;
        			car_cmd[4]='\n';
        			   LPUART_WriteBlocking(BT_LPUART, car_cmd, sizeof(car_cmd) - 1);
        		    	 for(int x=0;x<16;x++){Delay(1000000);}

        			   if(xAngle_Gear>50)
        			   {
        						power_level=yAngle_Left*gear_counter/2;
        						car_cmd[0]='O';
        						car_cmd[1]=0x30+(power_level/100);
        						car_cmd[2]=0x30+((power_level%100) /10);
        						car_cmd[3]=0x30+((power_level%10) /1);
        						car_cmd[4]='\n';
        					    LPUART_WriteBlocking(BT_LPUART, car_cmd, sizeof(car_cmd) - 1);

        				}


        		    	 for(int x=0;x<16;x++){Delay(1000000);}

        	// Car is stop for gear change

        	Update_Angles();
        	 Board_UpdatePwm(xAngle, yAngle_Left,yAngle_Right);
                  while(yAngle_Left>30)
                  {
                	  gear_counter++;
                	  GEAR_Change();
                	  Update_Angles();
                	  Board_UpdatePwm(xAngle, yAngle_Left,yAngle_Right);
                	  for(int x=0;x<6;x++){Delay(1000000);}
                  }

                  while(yAngle_Right>30)
                                    {
                	  gear_counter--;
                	  GEAR_Change();
                	  Update_Angles();
                	  Board_UpdatePwm(xAngle, yAngle_Left,yAngle_Right);
                	  for(int x=0;x<6;x++){Delay(1000000);}

                                    }

                  }
        }




        /* Print out the raw accelerometer data. */
      //  PRINTF("x= %d y = %d\r\n", xData, yData);

   // infinity loop ends here
    }

pin_mux.c

C/C++
/*
 * Copyright (c) 2015, Freescale Semiconductor, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *
 * o Redistributions of source code must retain the above copyright notice, this list
 *   of conditions and the following disclaimer.
 *
 * o Redistributions in binary form must reproduce the above copyright notice, this
 *   list of conditions and the following disclaimer in the documentation and/or
 *   other materials provided with the distribution.
 *
 * o Neither the name of Freescale Semiconductor, Inc. nor the names of its
 *   contributors may be used to endorse or promote products derived from this
 *   software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
 * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "fsl_port.h"
#include "pin_mux.h"
#include "fsl_gpio.h"

//==================== header added for TSI ====================//
#include "fsl_common.h"

/*******************************************************************************
 * Code
 ******************************************************************************/
void BOARD_InitPins(void)
{
    port_pin_config_t pinConfig = {0};
    port_pin_config_t ftmPinConfig = {0};

    pinConfig.pullSelect = kPORT_PullUp;
    pinConfig.mux = kPORT_MuxAlt4;
    pinConfig.openDrainEnable = kPORT_OpenDrainEnable;

    /* Initialize LPUART4 pins below */
    /* Ungate the port A B C D clocks */

    CLOCK_EnableClock(kCLOCK_PortA);
    CLOCK_EnableClock(kCLOCK_PortB);
    CLOCK_EnableClock(kCLOCK_PortC);
    CLOCK_EnableClock(kCLOCK_PortD);

    /* Affects PORTC_PCR14 register */
    PORT_SetPinMux(PORTC, 14U, kPORT_MuxAlt3);
    /* Affects PORTC_PCR15 register */
    PORT_SetPinMux(PORTC, 15U, kPORT_MuxAlt3);

    //LPUART for Bluetooth Link

    // Port C pin 3,4 are low Power UART that connects to Bluetooth HC05

    PORT_SetPinMux(PORTC, 3U, kPORT_MuxAlt3);
        /* Affects PORTC_PCR15 register */
        PORT_SetPinMux(PORTC, 4U, kPORT_MuxAlt3);


    /* Release I2C bus */
    BOARD_I2C_ReleaseBus();

    /* PIN_MUX and I2C3_pull_up resistor setting */
    PORT_SetPinConfig(PORTA, 1U, &pinConfig);
    PORT_SetPinConfig(PORTA, 2U, &pinConfig);

    /* FTM3 */
    /* Affects PORTC_PCR10 register */
    ftmPinConfig.driveStrength = kPORT_LowDriveStrength;
    ftmPinConfig.slewRate = kPORT_SlowSlewRate;
    ftmPinConfig.pullSelect = kPORT_PullDisable;
    ftmPinConfig.mux = kPORT_MuxAlt3;

    /*=====================================================//
    CHANGES MAGE HERE FOR RGB
    */
    PORT_SetPinConfig(PORTC, 10U, &ftmPinConfig);
    PORT_SetPinConfig(PORTC, 9U, &ftmPinConfig);
    PORT_SetPinConfig(PORTC, 8U, &ftmPinConfig);

    /*=====================================================//
        CHANGES MAGE HERE FOR BLUE DIAL
        void DIALOFF (void)
{
	GPIO_WritePinOutput (GPIOC, 3U, 0);
    GPIO_WritePinOutput (GPIOC, 5U, 0);
    GPIO_WritePinOutput (GPIOD, 1U, 0);
    GPIO_WritePinOutput (GPIOD, 2U, 0);
    GPIO_WritePinOutput (GPIOD, 3U, 0);
    GPIO_WritePinOutput (GPIOD, 4U, 0);
    GPIO_WritePinOutput (GPIOB, 21U, 0);
    GPIO_WritePinOutput (GPIOB, 20U, 0);

     */
// Enabling these pins  as GPIO to drive Blue LED Dial

  //  PORT_SetPinMux(PORTC, 3U,kPORT_MuxAsGpio);
    PORT_SetPinMux(PORTC, 5U, kPORT_MuxAsGpio);
    PORT_SetPinMux(PORTB, 20U, kPORT_MuxAsGpio);
    PORT_SetPinMux(PORTB, 21U,kPORT_MuxAsGpio);
    PORT_SetPinMux(PORTD, 1U, kPORT_MuxAsGpio);
    PORT_SetPinMux(PORTD, 2U, kPORT_MuxAsGpio);
    PORT_SetPinMux(PORTD, 3U, kPORT_MuxAsGpio);
    PORT_SetPinMux(PORTD, 4U, kPORT_MuxAsGpio);

    // Enabling these pins  as GPIO to drive RGY LED Dial

    PORT_SetPinMux(PORTA, 5U, kPORT_MuxAsGpio);
     PORT_SetPinMux(PORTA, 12U,kPORT_MuxAsGpio);
     PORT_SetPinMux(PORTA, 13U, kPORT_MuxAsGpio);
     PORT_SetPinMux(PORTA, 14U, kPORT_MuxAsGpio);
     PORT_SetPinMux(PORTA, 17U, kPORT_MuxAsGpio);
     PORT_SetPinMux(PORTC, 7U, kPORT_MuxAsGpio);



}

void BOARD_I2C_ReleaseBus(void)
{
    port_pin_config_t i2c_pin_config = {0};
    gpio_pin_config_t pin_config;
    uint8_t i = 0;
    uint8_t j = 0;

    /* Config pin mux as gpio */
    i2c_pin_config.pullSelect = kPORT_PullUp;
    i2c_pin_config.mux = kPORT_MuxAsGpio;

    pin_config.pinDirection = kGPIO_DigitalOutput;
    pin_config.outputLogic = 1U;

    PORT_SetPinConfig(PORTA, 1U, &i2c_pin_config);
    PORT_SetPinConfig(PORTA, 2U, &i2c_pin_config);

    GPIO_PinInit(GPIOA, 1U, &pin_config);
    GPIO_PinInit(GPIOA, 2U, &pin_config);

    /* Send 9 pulses on SCL and keep SDA high */
    for (i = 0; i < 9; i++)
    {
        GPIO_WritePinOutput(GPIOA, 2U, 0U);
        for (j = 0; j < 255; j++)
        {
            __asm("nop");
        }
        GPIO_WritePinOutput(GPIOA, 2U, 1U);
        for (j = 0; j < 255; j++)
        {
            __asm("nop");
        }
    }
    /* Send STOP */
    GPIO_WritePinOutput(GPIOA, 2U, 1U);
    GPIO_WritePinOutput(GPIOA, 1U, 1U);
}

main c

C/C++
update 2
/*
 * Copyright (c) 2015, Freescale Semiconductor, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *
 * o Redistributions of source code must retain the above copyright notice, this list
 *   of conditions and the following disclaimer.
 *
 * o Redistributions in binary form must reproduce the above copyright notice, this
 *   list of conditions and the following disclaimer in the documentation and/or
 *   other materials provided with the distribution.
 *
 * o Neither the name of Freescale Semiconductor, Inc. nor the names of its
 *   contributors may be used to endorse or promote products derived from this
 *   software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
 * ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "fsl_debug_console.h"
#include "board.h"
#include "math.h"
#include "fsl_fxos.h"
#include "fsl_i2c.h"
#include "fsl_ftm.h"

#include "fsl_common.h"
#include "pin_mux.h"
/*******************************************************************************
 * Definitions
 ******************************************************************************/
#define BOARD_TIMER_BASEADDR TPM3

//============= Change Made here for 3rd channel ==================//
#define BOARD_FIRST_TIMER_CHANNEL 6U
#define BOARD_SECOND_TIMER_CHANNEL 5U
#define BOARD_THIRD_TIMER_CHANNEL 4U


/* Get source clock for TPM driver */
#define BOARD_TIMER_SOURCE_CLOCK CLOCK_GetFreq(BUS_CLK)
/* I2C source clock */
#define ACCEL_I2C_CLK_SRC I2C3_CLK_SRC
#define I2C_BAUDRATE 100000U
/* Upper bound and lower bound angle values */

//======================= Change Made here for Gearing Range ===========//
int ANGLE_UPPER_BOUND = 85U;
int ANGLE_LOWER_BOUND =5U;

/*******************************************************************************
 * Prototypes
 ******************************************************************************/


/*******************************************************************************
 * Variables
 ******************************************************************************/
i2c_master_handle_t g_MasterHandle;
/* FXOS device address */
const uint8_t g_accel_address[] = {0x1CU, 0x1DU, 0x1EU, 0x1FU};

/*******************************************************************************
 * Code
 ******************************************************************************/
/* Initialize timer module */
static void Timer_Init(void)
{
    ftm_config_t ftmInfo;

    //============================== Change made here for 3 PWM ==========================//
    //ftm_chnl_pwm_signal_param_t ftmParam[2];
    ftm_chnl_pwm_signal_param_t ftmParam[3];
    /* Configure ftm params with frequency 24kHZ */
    ftmParam[0].chnlNumber = (ftm_chnl_t)BOARD_FIRST_TIMER_CHANNEL;
    ftmParam[0].level = kFTM_LowTrue;
    ftmParam[0].dutyCyclePercent = 0U;
    ftmParam[0].firstEdgeDelayPercent = 0U;

    ftmParam[1].chnlNumber = (ftm_chnl_t)BOARD_SECOND_TIMER_CHANNEL;
    ftmParam[1].level = kFTM_LowTrue;
    ftmParam[1].dutyCyclePercent = 0U;
    ftmParam[1].firstEdgeDelayPercent = 0U;

// ================== 3rf PWM ========================================
    ftmParam[2].chnlNumber = (ftm_chnl_t)BOARD_THIRD_TIMER_CHANNEL;
    ftmParam[2].level = kFTM_LowTrue;
    ftmParam[2].dutyCyclePercent = 0U;
    ftmParam[2].firstEdgeDelayPercent = 0U;

    /*
     * ftmInfo.prescale = kFTM_Prescale_Divide_1;
     * ftmInfo.bdmMode = kFTM_BdmMode_0;
     * ftmInfo.pwmSyncMode = kFTM_SoftwareTrigger;
     * ftmInfo.reloadPoints = 0;
     * ftmInfo.faultMode = kFTM_Fault_Disable;
     * ftmInfo.faultFilterValue = 0;
     * ftmInfo.deadTimePrescale = kFTM_Deadtime_Prescale_1;
     * ftmInfo.deadTimeValue = 0;
     * ftmInfo.extTriggers = 0;
     * ftmInfo.chnlInitState = 0;
     * ftmInfo.chnlPolarity = 0;
     * ftmInfo.useGlobalTimeBase = false;
     */
    FTM_GetDefaultConfig(&ftmInfo);
    /* Initialize FTM module */
    FTM_Init(BOARD_FTM_BASEADDR, &ftmInfo);

    // CHanged Here from 2U to 3U for 3 channel support //
    FTM_SetupPwm(BOARD_FTM_BASEADDR, ftmParam, 3U, kFTM_EdgeAlignedPwm, 24000U, BOARD_TIMER_SOURCE_CLOCK);
    FTM_StartTimer(BOARD_FTM_BASEADDR, kFTM_SystemClock);
}

/* Update the duty cycle of an active pwm signal */
// =================Changed HERE for 3 PWM ======================//
static void Board_UpdatePwm(uint16_t x, uint16_t y,uint16_t a)
{
    /* Start PWM mode with updated duty cycle */
    FTM_UpdatePwmDutycycle(BOARD_FTM_BASEADDR, (ftm_chnl_t)BOARD_FIRST_TIMER_CHANNEL, kFTM_EdgeAlignedPwm, x);
    FTM_UpdatePwmDutycycle(BOARD_FTM_BASEADDR, (ftm_chnl_t)BOARD_SECOND_TIMER_CHANNEL, kFTM_EdgeAlignedPwm, y);

    FTM_UpdatePwmDutycycle(BOARD_FTM_BASEADDR, (ftm_chnl_t)BOARD_THIRD_TIMER_CHANNEL, kFTM_EdgeAlignedPwm, a);

    /* Software trigger to update registers */
    FTM_SetSoftwareTrigger(BOARD_FTM_BASEADDR, true);
}

/*===============================
 *
 * CHANGE MAFE HERE
 *
=============================================================//
 */

void DIAL_OFF(void)
{
				GPIO_WritePinOutput (GPIOC, 3U, 0);
                GPIO_WritePinOutput (GPIOC, 5U, 0);
                GPIO_WritePinOutput (GPIOD, 1U, 0);
                GPIO_WritePinOutput (GPIOD, 2U, 0);
                GPIO_WritePinOutput (GPIOD, 3U, 0);
                GPIO_WritePinOutput (GPIOD, 4U, 0);
                GPIO_WritePinOutput (GPIOB, 21U, 0);
                GPIO_WritePinOutput (GPIOB, 20U, 0);

}


void DIAL_SPIN_CW(void)
{

}
void DIAL_SPIN_CCW(void)
{

}

//==========================================================//

int main(void)
{
    fxos_handle_t fxosHandle = {0};
    fxos_data_t sensorData = {0};
    i2c_master_config_t i2cConfig = {0};
    uint32_t i2cSourceClock = 0;
    int16_t xData = 0;
    int16_t yData = 0;
    int16_t xAngle = 0;
    // =================Changed HERE for 3 PWM ======================//

    int16_t yAngle_Left = 0;
    int16_t yAngle_Right = 0;


    uint8_t i = 0;
    uint8_t regResult = 0;
    uint8_t array_addr_size = 0;
    bool foundDevice = false;

    i2cSourceClock = CLOCK_GetFreq(ACCEL_I2C_CLK_SRC);
    fxosHandle.base = BOARD_ACCEL_I2C_BASEADDR;
    fxosHandle.i2cHandle = &g_MasterHandle;


    /*=======================================================
     * Changes made here
     *
     * ======================================================
     */
    gpio_pin_config_t pin_config =

        {
        kGPIO_DigitalOutput,1,
        };
    //=========================================================//
    /* Board pin, clock, debug console init */
    BOARD_InitPins();
    BOARD_BootClockRUN();
    BOARD_InitDebugConsole();


    /*=======================================================
     * Changes made here
     *
     * ======================================================
     */

    	GPIO_PinInit(GPIOC, 3U, &pin_config);
        GPIO_PinInit(GPIOC, 5U, &pin_config);
        GPIO_PinInit(GPIOB, 21U, &pin_config);
        GPIO_PinInit(GPIOB, 20U, &pin_config);
        GPIO_PinInit(GPIOD, 1U, &pin_config);
        GPIO_PinInit(GPIOD, 2U, &pin_config);
        GPIO_PinInit(GPIOD, 3U, &pin_config);
        GPIO_PinInit(GPIOD, 4U, &pin_config);

        //=========================================================//

    /*
     * i2cConfig.baudRate_Bps = 100000U;
     * i2cConfig.enableHighDrive = false;
     * i2cConfig.enableStopHold = false;
     * i2cConfig.glitchFilterWidth = 0U;
     * i2cConfig.enableMaster = true;
     */
    I2C_MasterGetDefaultConfig(&i2cConfig);
    I2C_MasterInit(BOARD_ACCEL_I2C_BASEADDR, &i2cConfig, i2cSourceClock);
    I2C_MasterTransferCreateHandle(BOARD_ACCEL_I2C_BASEADDR, &g_MasterHandle, NULL, NULL);

    /* Find sensor devices */
    array_addr_size = sizeof(g_accel_address) / sizeof(g_accel_address[0]);
    for (i = 0; i < array_addr_size; i++)
    {
        fxosHandle.xfer.slaveAddress = g_accel_address[i];
        if (FXOS_ReadReg(&fxosHandle, WHO_AM_I_REG, &regResult, 1) == kStatus_Success)
        {
            foundDevice = true;
            break;
        }
        if ((i == (array_addr_size - 1)) && (!foundDevice))
        {
        //    PRINTF("\r\nDo not found sensor device\r\n");
        	// GLOW AN LED HERE
            while (1)
            {
            };
        }
    }

    /* Init accelerometer sensor */
    FXOS_Init(&fxosHandle);
    /* Init timer */
    Timer_Init();

   //* Print a note to terminal */
 //   PRINTF("\r\nWelcome to BUBBLE example\r\n");
//    PRINTF("\r\nYou will see the change of LED brightness when change angles of board\r\n");

    /* Main loop. Get sensor data and update duty cycle */

    while (1)
    {
        /* Get new accelerometer data. */
        FXOS_ReadSensorData(&fxosHandle, &sensorData);

        /* Get the X and Y data from the sensor data structure.fxos_data */
        xData = (int16_t)((uint16_t)((uint16_t)sensorData.accelXMSB << 8) | (uint16_t)sensorData.accelXLSB);
        yData = (int16_t)((uint16_t)((uint16_t)sensorData.accelYMSB << 8) | (uint16_t)sensorData.accelYLSB);

        /* Convert raw data to angle (normalize to 0-90 degrees). No negative angles. */

        //=======xData and yData Swapped ===========///
        xAngle = (int16_t)floor((double)yData * 0.011);
      //===================Changed Here ==================
        if (xAngle >= 0)
                {
        	xAngle=0;
                }
        if (xAngle < 0)
        {
            xAngle *= -1;

        }
        yAngle_Left = (int16_t)floor((double)xData * 0.011);
        if (yAngle_Left < 0)
        {
        //    yAngle *= -1;
        	yAngle_Right=yAngle_Left*(-1);
        	yAngle_Left=0;
        }
        /* Update angles to turn on LEDs when angles ~ 90 */
        if (xAngle > ANGLE_UPPER_BOUND)
        {
            xAngle = 100;
        }
        // ==========CHange Made Here =========//
        if (yAngle_Left > ANGLE_UPPER_BOUND)
        {
            yAngle_Left = 100;
        }

        if (yAngle_Right > ANGLE_UPPER_BOUND)
                {
                    yAngle_Right = 100;
                }

        /* Update angles to turn off LEDs when angles ~ 0 */
        if (xAngle < ANGLE_LOWER_BOUND)
        {
            xAngle = 0;
        }
        if (yAngle_Left < ANGLE_LOWER_BOUND)
        {
            yAngle_Left = 0;
        }

        if (yAngle_Right < ANGLE_LOWER_BOUND)
        {
            yAngle_Right = 0;
        }

        Board_UpdatePwm(xAngle, yAngle_Left,yAngle_Right);
        if ((xAngle>40)&(yAngle_Left>40))
        {
        	GPIO_WritePinOutput (GPIOC, 3U, 1);
            GPIO_WritePinOutput (GPIOC, 5U, 1);
            GPIO_WritePinOutput (GPIOD, 1U, 1);
            GPIO_WritePinOutput (GPIOD, 2U, 1);
            GPIO_WritePinOutput (GPIOD, 3U, 1);
            GPIO_WritePinOutput (GPIOD, 4U, 1);
            GPIO_WritePinOutput (GPIOB, 21U, 1);
            GPIO_WritePinOutput (GPIOB, 20U, 1);
        }
        else

        {DIAL_OFF();}





        /* Print out the raw accelerometer data. */
      //  PRINTF("x= %d y = %d\r\n", xData, yData);
    }
}

Arduino Receiving end code

Arduino
// Gesture Driving Receiving End Code
/* NXP Kinetis K82 Board will send 
Speed & Wheel Select Info

For Example If only Left wheel needs rotate
send G60
Code By Shahariar
*/

String K82_CMD = "";         // a string to hold incoming data
int speed_val=0;

void setup()
{
  
Serial.begin(115200);
 K82_CMD.reserve(200);
Serial.flush();
pinMode(12,OUTPUT);
pinMode(13,OUTPUT);

pinMode(10,OUTPUT);
pinMode(11,OUTPUT);

pinMode(8,OUTPUT);
pinMode(9,OUTPUT);

}


void loop()
{

    
    // Left Wheel Rotation
  if(Serial.available()>0)
  
  {
    K82_CMD=Serial.readStringUntil('\n');
    
    if(K82_CMD[0]=='G')
    {
      digitalWrite(12,HIGH);
      digitalWrite(13,LOW);
      
      digitalWrite(8,LOW);
      digitalWrite(9,LOW);
 
    
      speed_val=(K82_CMD[1]-0x30)*100+(K82_CMD[2]-0x30)*10+(K82_CMD[3]-0x30);
      analogWrite(11,speed_val);
  }
    
    // Right Wheel Rotation
        if(K82_CMD[0]=='R')
    {
      digitalWrite(12,LOW);
      digitalWrite(13,LOW);
      
      digitalWrite(8,HIGH);
      digitalWrite(9,LOW);
      speed_val=(K82_CMD[1]-0x30)*100+(K82_CMD[2]-0x30)*10+(K82_CMD[3]-0x30);
      analogWrite(10,speed_val);
    }
     // Both Wheel Rotation
      if(K82_CMD[0]=='B')
    {
      digitalWrite(12,HIGH);
      digitalWrite(13,LOW);
      
      digitalWrite(8,HIGH);
      digitalWrite(9,LOW);
      
      speed_val=(K82_CMD[1]-0x30)*100+(K82_CMD[2]-0x30)*10+(K82_CMD[3]-0x30);
      analogWrite(10,speed_val);
      analogWrite(11,speed_val);
      
    }
    
    // Opposite Both Wheel Rotation
    
    if(K82_CMD[0]=='O')
    {
      digitalWrite(12,LOW);
      digitalWrite(13,LOW);
      
      digitalWrite(8,HIGH);
      digitalWrite(9,HIGH);
      speed_val=(K82_CMD[1]-0x30)*100+(K82_CMD[2]-0x30)*10+(K82_CMD[3]-0x30);
      analogWrite(11,speed_val);
      analogWrite(10,speed_val);
            
      
  }
  
  // stop Wheels
      if(K82_CMD[0]=='S')
    {
      digitalWrite(12,LOW);
      digitalWrite(13,LOW);
      
      digitalWrite(8,LOW);
      digitalWrite(9,LOW);
      
      //speed_val=000;
      analogWrite(10,0);
      analogWrite(11,0);
      
    }
    K82_CMD="";
    delay(10);
  }
}

KDS Files

C/C++
No preview (download only).

Credits

Shahariar

Shahariar

5 projects • 184 followers
"What Kills a 'Great life' is a 'Good Life', which is Living a Life Inside While Loop"

Comments