Diff: main.cpp

Revision:

1:fad61b6e660b

Parent:

0:9826a0b36948

Child:

2:7ca8b2154664

--- a/main.cpp	Sat Aug 01 18:32:09 2015 +0000
+++ b/main.cpp	Tue Aug 04 21:22:56 2015 +0000
@@ -1,52 +1,94 @@
 #include "mbed.h"
-// CT16B0 --> MOTORA
-// CT32B0 --> MOTORB
- 
-int init_drive(void) {
-    // Enable match outputs of CT16B0 and CT32B0
-    LPC_IOCON->PIO0_8 |= 0x2; //CT16B0_MAT0
-    LPC_IOCON->PIO0_9 |= 0x2; //CT16B0_MAT1
-    LPC_IOCON->PIO0_18 |= 0x2; //CT32B0_MAT0
-    LPC_IOCON->PIO0_19 |= 0x2; //CT32B0_MAT1
-    // Enable clock for CT16B0 (7) and CT32B0 (9)
-    LPC_SYSCON->SYSAHBCLKCTRL |= (1<<7)||(1<<9);
-    // Reset on match (MAT3), MR3 will determine the PWM cycle length
-    LPC_CT16B0->MCR |= (1<<10);
-    LPC_CT32B0->MCR |= (1<<10); 
-    // Enable PWM mode for CT16B0 and CT32B0 
-    //LPC_CT16B0->PWMC |= (1<<0)||(1<<1); // MAT0, MAT1
-    //LPC_CT32B0->PWMC |= (1<<0)||(1<<1); // MAT0, MAT1
-    LPC_CT16B0->EMR |= (0x3<<4);
-    // Set PWM cycle length to 100 counts   
-    LPC_CT16B0->MR3 = 100;
-    LPC_CT32B0->MR3 = 100;
-    // Set prescale register 
-    LPC_CT16B0->PR = 20;
-    LPC_CT32B0->PR = 20;
-    
-    // Enable CT16B0 and CT32B0
-    LPC_CT16B0->TCR |= (1<<0);
-    LPC_CT32B0->TCR |= (1<<0);
+/*
+MOTOR A
+ENA - p21
+IN1 - p5    --> OUT1 - MOTORA+
+IN2 - p6    --> OUT2 - MOTORA-
+MOTOR B
+ENB - p22
+IN3 - p26   --> OUT3 - MOTORB+
+IN4 - p25   --> OUT4 - MOTORB-
+*/
+
+PwmOut in1(p5);
+PwmOut in2(p6);
+
+PwmOut in3(p26);
+PwmOut in4(p25);
+
+DigitalOut en_a(p21);
+DigitalOut en_b(p22);
+
+DigitalOut LED(LED1);
+
+Serial bluetooth(p9, p10);
+//Serial pc(USBTX, USBRX);
+
+
+/* Initialize timers for the H-bridge*/
+int init_drive()
+{
+// Set PWM frequency to 10 kHz
+    in1.period_us(100);
+    in2.period_us(100);
+    in3.period_us(100);
+    in4.period_us(100);
+    /* Set enable pin high. NEVER set this pins low during driving.
+    There are no protection diodes and with EN low, H-bridge is in Hi-Z mode.
+    This can generate a high voltage that breaks the H-bridge.*/
+    en_a.write(1);
+    en_b.write(1);
+
+    return 1;
+}
+
+/*Handler for Bluetooth messages*/
+void rxCallback()
+{
+    char a;
+    a = bluetooth.getc();
+    if(a == 'g') {
+        LED = 1;
+    }
+}
+
+/* Initialize the bluetooth module*/
+int init_bluetooth()
+{
+    bluetooth.baud(9600);
+    //wait(0.2);
+    //bluetooth.printf("AT+NAMETHOR1\r\n");
+    bluetooth.attach(&rxCallback, Serial::RxIrq);
     
     return 1;
-    
+}
+
+/* Initialize ADC ports*/
+int init_ADC()
+{
+    return 1;
+}
+
+
+/* Initialize GPIO's*/
+int init_GPIO()
+{
+    return 1;
 }
 
-DigitalOut myled(LED1);
+int main()
+{
 
-int main() {
     init_drive();
+    init_bluetooth();
     
-    LPC_CT16B0->MR0 = 50;
-    LPC_CT16B0->MR1 = 50;
-    LPC_CT32B0->MR0 = 50;
-    LPC_CT32B0->MR1 = 50;
-    
-    // Program ends
     while(1) {
-        myled = 1;
-        wait(0.2);
-        myled = 0;
-        wait(0.2);
+/*        if(pc.readable()) {
+            bluetooth.putc(pc.getc());
+        }
+        if(bluetooth.readable()) {
+            pc.putc(bluetooth.getc());
+        }*/
     }
-}
+
+}
\ No newline at end of file