Ernesto Palacios / Mbed 2 deprecated CD_Rom

This is a program to drive a stepper servomotor from SerialUSB without any other interrution but the serial one.

Dependencies:   mbed

config.cpp@0:da3eb35a2787, 2012-04-09 (annotated)

Committer:
Yo_Robot
Date:
Mon Apr 09 03:10:30 2012 +0000
Revision:
0:da3eb35a2787
version0.2  PTO using Timer2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yo_Robot 0:da3eb35a2787 1 /// Codigo Fuente para configurar al
Yo_Robot 0:da3eb35a2787 2
Yo_Robot 0:da3eb35a2787 3 #include "config.h"
Yo_Robot 0:da3eb35a2787 4 #include "mbed.h"
Yo_Robot 0:da3eb35a2787 5
Yo_Robot 0:da3eb35a2787 6 // Salida Serial de mbed
Yo_Robot 0:da3eb35a2787 7 extern Serial pc;
Yo_Robot 0:da3eb35a2787 8
Yo_Robot 0:da3eb35a2787 9
Yo_Robot 0:da3eb35a2787 10 /** @brief: Esta funcion configura al Timer2
Yo_Robot 0:da3eb35a2787 11 * para que las salidas p5 y p6 del mbed
Yo_Robot 0:da3eb35a2787 12 * se alternen cada vez que se iguala al
Yo_Robot 0:da3eb35a2787 13 * registro MR2 y MR3.
Yo_Robot 0:da3eb35a2787 14 */
Yo_Robot 0:da3eb35a2787 15 void Setup_PTO_Timer2()
Yo_Robot 0:da3eb35a2787 16 {
Yo_Robot 0:da3eb35a2787 17 // Encender Timer2 (PCONP[22])
Yo_Robot 0:da3eb35a2787 18 LPC_SC->PCONP |= 1 << 22;
Yo_Robot 0:da3eb35a2787 19
Yo_Robot 0:da3eb35a2787 20 // Resetear y parar el Timer
Yo_Robot 0:da3eb35a2787 21 LPC_TIM2->TCR = 0x2;
Yo_Robot 0:da3eb35a2787 22 LPC_TIM2->CTCR = 0x0;
Yo_Robot 0:da3eb35a2787 23
Yo_Robot 0:da3eb35a2787 24 // Establecer el Preescaler inicial 0.5 seg
Yo_Robot 0:da3eb35a2787 25 LPC_TIM2->PR = 100;
Yo_Robot 0:da3eb35a2787 26
Yo_Robot 0:da3eb35a2787 27 // Calcular el periodo
Yo_Robot 0:da3eb35a2787 28 uint32_t periodo = 240;
Yo_Robot 0:da3eb35a2787 29
Yo_Robot 0:da3eb35a2787 30 // Establecer los Registros de Coincidencia
Yo_Robot 0:da3eb35a2787 31 // ( Match Register )
Yo_Robot 0:da3eb35a2787 32 LPC_TIM2->MR2 = periodo;
Yo_Robot 0:da3eb35a2787 33 LPC_TIM2->MR3 = periodo * 2;
Yo_Robot 0:da3eb35a2787 34
Yo_Robot 0:da3eb35a2787 35 LPC_TIM2->MCR |= 1 << 10; // Resetear Timer en MR3
Yo_Robot 0:da3eb35a2787 36
Yo_Robot 0:da3eb35a2787 37 LPC_TIM2->EMR |= 15UL << 8; // Alternar Pin MAT2.2
Yo_Robot 0:da3eb35a2787 38 // y MAT2.3
Yo_Robot 0:da3eb35a2787 39
Yo_Robot 0:da3eb35a2787 40 LPC_PINCON->PINSEL0 |= 15UL << 16; //Activar MAT2.2
Yo_Robot 0:da3eb35a2787 41 // y MAT2.3 como salidas
Yo_Robot 0:da3eb35a2787 42
Yo_Robot 0:da3eb35a2787 43 }
Yo_Robot 0:da3eb35a2787 44
Yo_Robot 0:da3eb35a2787 45
Yo_Robot 0:da3eb35a2787 46 /** @brief: Esta es la rutina que maneja las interrupciones
Yo_Robot 0:da3eb35a2787 47 * seriales, al recibir un caracter.
Yo_Robot 0:da3eb35a2787 48 */
Yo_Robot 0:da3eb35a2787 49 void ISR_Serial()
Yo_Robot 0:da3eb35a2787 50 {
Yo_Robot 0:da3eb35a2787 51 int newValue;
Yo_Robot 0:da3eb35a2787 52 char command;
Yo_Robot 0:da3eb35a2787 53
Yo_Robot 0:da3eb35a2787 54 pc.scanf( "%d-%c", &newValue, &command ) ;
Yo_Robot 0:da3eb35a2787 55 pc.printf("\n %d-%c \n", newValue, command );
Yo_Robot 0:da3eb35a2787 56
Yo_Robot 0:da3eb35a2787 57 if( command == 'p')
Yo_Robot 0:da3eb35a2787 58 setPrescaler( newValue );
Yo_Robot 0:da3eb35a2787 59 else if( command == 'm')
Yo_Robot 0:da3eb35a2787 60 setMR2( newValue );
Yo_Robot 0:da3eb35a2787 61 else if( command == 'n')
Yo_Robot 0:da3eb35a2787 62 setMR3( newValue );
Yo_Robot 0:da3eb35a2787 63 else if( command == 'a')
Yo_Robot 0:da3eb35a2787 64 startTimer2();
Yo_Robot 0:da3eb35a2787 65 else if( command == 's')
Yo_Robot 0:da3eb35a2787 66 stopTimer2();
Yo_Robot 0:da3eb35a2787 67 else if( command == 'l' )
Yo_Robot 0:da3eb35a2787 68 setPhaseAB();
Yo_Robot 0:da3eb35a2787 69 else if( command == 'r' )
Yo_Robot 0:da3eb35a2787 70 setPhaseBA();
Yo_Robot 0:da3eb35a2787 71 }
Yo_Robot 0:da3eb35a2787 72
Yo_Robot 0:da3eb35a2787 73
Yo_Robot 0:da3eb35a2787 74 /** @brief: Esta Funcion cambia el preescaler
Yo_Robot 0:da3eb35a2787 75 * directamente
Yo_Robot 0:da3eb35a2787 76 */
Yo_Robot 0:da3eb35a2787 77 void setPrescaler( int newValue)
Yo_Robot 0:da3eb35a2787 78 {
Yo_Robot 0:da3eb35a2787 79 LPC_TIM2->PR = newValue;
Yo_Robot 0:da3eb35a2787 80 }
Yo_Robot 0:da3eb35a2787 81
Yo_Robot 0:da3eb35a2787 82
Yo_Robot 0:da3eb35a2787 83 void setMR2( int newValue )
Yo_Robot 0:da3eb35a2787 84 {
Yo_Robot 0:da3eb35a2787 85 LPC_TIM2->MR2 = newValue;
Yo_Robot 0:da3eb35a2787 86 }
Yo_Robot 0:da3eb35a2787 87
Yo_Robot 0:da3eb35a2787 88
Yo_Robot 0:da3eb35a2787 89 void setMR3( int newValue )
Yo_Robot 0:da3eb35a2787 90 {
Yo_Robot 0:da3eb35a2787 91 LPC_TIM2->MR3 = newValue;
Yo_Robot 0:da3eb35a2787 92 }
Yo_Robot 0:da3eb35a2787 93
Yo_Robot 0:da3eb35a2787 94 void startTimer2()
Yo_Robot 0:da3eb35a2787 95 {
Yo_Robot 0:da3eb35a2787 96 // Arrancer el Timer 2
Yo_Robot 0:da3eb35a2787 97 LPC_TIM2->TCR = 1;
Yo_Robot 0:da3eb35a2787 98 }
Yo_Robot 0:da3eb35a2787 99
Yo_Robot 0:da3eb35a2787 100 void stopTimer2()
Yo_Robot 0:da3eb35a2787 101 {
Yo_Robot 0:da3eb35a2787 102 // Arrancer el Timer 2
Yo_Robot 0:da3eb35a2787 103 LPC_TIM2->TCR = 0x2;
Yo_Robot 0:da3eb35a2787 104 }
Yo_Robot 0:da3eb35a2787 105
Yo_Robot 0:da3eb35a2787 106 void setPhaseAB()
Yo_Robot 0:da3eb35a2787 107 {
Yo_Robot 0:da3eb35a2787 108 // Calcular el periodo
Yo_Robot 0:da3eb35a2787 109 uint32_t periodo = 240;
Yo_Robot 0:da3eb35a2787 110
Yo_Robot 0:da3eb35a2787 111 // Establecer los Registros de Coincidencia
Yo_Robot 0:da3eb35a2787 112 // ( Match Register )
Yo_Robot 0:da3eb35a2787 113 LPC_TIM2->MR2 = periodo;
Yo_Robot 0:da3eb35a2787 114 LPC_TIM2->MR3 = periodo * 2;
Yo_Robot 0:da3eb35a2787 115
Yo_Robot 0:da3eb35a2787 116 LPC_TIM2->MCR |= 1 << 10; // Resetear Timer en MR3
Yo_Robot 0:da3eb35a2787 117 LPC_TIM2->MCR &= ~( 1 << 7 ); // Resetear Timer en MR3
Yo_Robot 0:da3eb35a2787 118 }
Yo_Robot 0:da3eb35a2787 119
Yo_Robot 0:da3eb35a2787 120
Yo_Robot 0:da3eb35a2787 121 void setPhaseBA()
Yo_Robot 0:da3eb35a2787 122 {
Yo_Robot 0:da3eb35a2787 123 // Calcular el periodo
Yo_Robot 0:da3eb35a2787 124 uint32_t periodo = 240;
Yo_Robot 0:da3eb35a2787 125
Yo_Robot 0:da3eb35a2787 126 // Establecer los Registros de Coincidencia
Yo_Robot 0:da3eb35a2787 127 // ( Match Register )
Yo_Robot 0:da3eb35a2787 128 LPC_TIM2->MR2 = periodo * 2;
Yo_Robot 0:da3eb35a2787 129 LPC_TIM2->MR3 = periodo;
Yo_Robot 0:da3eb35a2787 130
Yo_Robot 0:da3eb35a2787 131 LPC_TIM2->MCR |= 1 << 7; // Resetear Timer en MR2
Yo_Robot 0:da3eb35a2787 132 LPC_TIM2->MCR &= ~( 1 << 10 ); // Resetear Timer en MR3
Yo_Robot 0:da3eb35a2787 133 }