Proyecto de Tesis en Mecatrónica. Universidad Técnica del Norte. Ernesto Palacios <mecatronica.mid@gmail.com>
Dependencies: EthernetNetIf HTTPServer QEI_hw RPCInterface mbed
setup.cpp@3:8d5a9e3cd680, 2012-03-24 (annotated)
- Committer:
- Yo_Robot
- Date:
- Sat Mar 24 17:37:20 2012 +0000
- Revision:
- 3:8d5a9e3cd680
- Parent:
- 2:a1b556d78a7f
- Child:
- 4:552beeda4722
Programa para probar diferentes configuraciones del PTO. v1.0
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Yo_Robot | 3:8d5a9e3cd680 | 1 | /// Codigo Fuente para configurar al |
Yo_Robot | 3:8d5a9e3cd680 | 2 | |
Yo_Robot | 3:8d5a9e3cd680 | 3 | #include "setup.h" |
Yo_Robot | 3:8d5a9e3cd680 | 4 | #include "mbed.h" |
Yo_Robot | 3:8d5a9e3cd680 | 5 | |
Yo_Robot | 3:8d5a9e3cd680 | 6 | |
Yo_Robot | 3:8d5a9e3cd680 | 7 | // Esta variable global determina |
Yo_Robot | 3:8d5a9e3cd680 | 8 | // los incrementos del Preescaler |
Yo_Robot | 3:8d5a9e3cd680 | 9 | extern uint32_t PRESCALER_STEP; |
Yo_Robot | 3:8d5a9e3cd680 | 10 | |
Yo_Robot | 3:8d5a9e3cd680 | 11 | // Salida Serial de mbed |
Yo_Robot | 3:8d5a9e3cd680 | 12 | extern Serial pc; |
Yo_Robot | 3:8d5a9e3cd680 | 13 | |
Yo_Robot | 3:8d5a9e3cd680 | 14 | |
Yo_Robot | 3:8d5a9e3cd680 | 15 | /** @brief: Esta función configura al Timer2 |
Yo_Robot | 3:8d5a9e3cd680 | 16 | * para que las salidas p5 y p6 del mbed |
Yo_Robot | 3:8d5a9e3cd680 | 17 | * se alternen cada vez que se iguala al |
Yo_Robot | 3:8d5a9e3cd680 | 18 | * registro MR2 y MR3. |
Yo_Robot | 3:8d5a9e3cd680 | 19 | */ |
Yo_Robot | 3:8d5a9e3cd680 | 20 | void Setup_PTO_Timer2() |
Yo_Robot | 3:8d5a9e3cd680 | 21 | { |
Yo_Robot | 3:8d5a9e3cd680 | 22 | // Encender Timer2 (PCONP[22]) |
Yo_Robot | 3:8d5a9e3cd680 | 23 | LPC_SC->PCONP |= 1 << 22; |
Yo_Robot | 3:8d5a9e3cd680 | 24 | |
Yo_Robot | 3:8d5a9e3cd680 | 25 | // Resetear y parar el Timer |
Yo_Robot | 3:8d5a9e3cd680 | 26 | LPC_TIM2->TCR = 0x2; |
Yo_Robot | 3:8d5a9e3cd680 | 27 | LPC_TIM2->CTCR = 0x0; |
Yo_Robot | 3:8d5a9e3cd680 | 28 | |
Yo_Robot | 3:8d5a9e3cd680 | 29 | // Establecer el Preescaler inicial 0.5 seg |
Yo_Robot | 3:8d5a9e3cd680 | 30 | LPC_TIM2->PR = 100; |
Yo_Robot | 3:8d5a9e3cd680 | 31 | |
Yo_Robot | 3:8d5a9e3cd680 | 32 | // Calcular el periodo |
Yo_Robot | 3:8d5a9e3cd680 | 33 | uint32_t periodo = ( SystemCoreClock / 4000 ); |
Yo_Robot | 3:8d5a9e3cd680 | 34 | |
Yo_Robot | 3:8d5a9e3cd680 | 35 | // Establecer los Registros de Coincidencia |
Yo_Robot | 3:8d5a9e3cd680 | 36 | // ( Match Register ) |
Yo_Robot | 3:8d5a9e3cd680 | 37 | LPC_TIM2->MR2 = periodo; |
Yo_Robot | 3:8d5a9e3cd680 | 38 | LPC_TIM2->MR3 = periodo * 2; |
Yo_Robot | 3:8d5a9e3cd680 | 39 | |
Yo_Robot | 3:8d5a9e3cd680 | 40 | LPC_TIM2->MCR |= 1 << 10; // Resetear Timer en MR3 |
Yo_Robot | 3:8d5a9e3cd680 | 41 | |
Yo_Robot | 3:8d5a9e3cd680 | 42 | LPC_TIM2->EMR |= 15UL << 8; // Alternar Pin MAT2.2 |
Yo_Robot | 3:8d5a9e3cd680 | 43 | // y MAT2.3 |
Yo_Robot | 3:8d5a9e3cd680 | 44 | |
Yo_Robot | 3:8d5a9e3cd680 | 45 | LPC_PINCON->PINSEL0 |= 15UL << 16; //Activar MAT2.2 |
Yo_Robot | 3:8d5a9e3cd680 | 46 | // y MAT2.3 como salidas |
Yo_Robot | 3:8d5a9e3cd680 | 47 | |
Yo_Robot | 3:8d5a9e3cd680 | 48 | // Arrancer el Timer 2 |
Yo_Robot | 3:8d5a9e3cd680 | 49 | LPC_TIM2->TCR = 1; |
Yo_Robot | 3:8d5a9e3cd680 | 50 | |
Yo_Robot | 3:8d5a9e3cd680 | 51 | } |
Yo_Robot | 3:8d5a9e3cd680 | 52 | |
Yo_Robot | 3:8d5a9e3cd680 | 53 | |
Yo_Robot | 3:8d5a9e3cd680 | 54 | /** @brief: Esta es la rutina que maneja las interrupciones |
Yo_Robot | 3:8d5a9e3cd680 | 55 | * seriales, al recibir un caracter. |
Yo_Robot | 3:8d5a9e3cd680 | 56 | */ |
Yo_Robot | 3:8d5a9e3cd680 | 57 | void ISR_Serial() |
Yo_Robot | 3:8d5a9e3cd680 | 58 | { |
Yo_Robot | 3:8d5a9e3cd680 | 59 | int newValue; |
Yo_Robot | 3:8d5a9e3cd680 | 60 | char command; |
Yo_Robot | 3:8d5a9e3cd680 | 61 | |
Yo_Robot | 3:8d5a9e3cd680 | 62 | pc.scanf( "%d-%c", &newValue, &command ) ; |
Yo_Robot | 3:8d5a9e3cd680 | 63 | pc.printf("\n %d-%c \n", newValue, command ); |
Yo_Robot | 3:8d5a9e3cd680 | 64 | |
Yo_Robot | 3:8d5a9e3cd680 | 65 | if( command == 'p') |
Yo_Robot | 3:8d5a9e3cd680 | 66 | setPrescaler( newValue ); |
Yo_Robot | 3:8d5a9e3cd680 | 67 | else if( command == 'm') |
Yo_Robot | 3:8d5a9e3cd680 | 68 | setMR2( newValue ); |
Yo_Robot | 3:8d5a9e3cd680 | 69 | else if( command == 'n') |
Yo_Robot | 3:8d5a9e3cd680 | 70 | setMR3( newValue ); |
Yo_Robot | 3:8d5a9e3cd680 | 71 | else if( command == 'a') |
Yo_Robot | 3:8d5a9e3cd680 | 72 | startTimer2(); |
Yo_Robot | 3:8d5a9e3cd680 | 73 | else if( command == 's') |
Yo_Robot | 3:8d5a9e3cd680 | 74 | stopTimer2(); |
Yo_Robot | 3:8d5a9e3cd680 | 75 | |
Yo_Robot | 3:8d5a9e3cd680 | 76 | |
Yo_Robot | 3:8d5a9e3cd680 | 77 | } |
Yo_Robot | 3:8d5a9e3cd680 | 78 | |
Yo_Robot | 3:8d5a9e3cd680 | 79 | |
Yo_Robot | 3:8d5a9e3cd680 | 80 | /** @brief: Esta Funcion cambia el preescaler |
Yo_Robot | 3:8d5a9e3cd680 | 81 | * directamente |
Yo_Robot | 3:8d5a9e3cd680 | 82 | */ |
Yo_Robot | 3:8d5a9e3cd680 | 83 | void setPrescaler( int newValue) |
Yo_Robot | 3:8d5a9e3cd680 | 84 | { |
Yo_Robot | 3:8d5a9e3cd680 | 85 | LPC_TIM2->PR = newValue; |
Yo_Robot | 3:8d5a9e3cd680 | 86 | } |
Yo_Robot | 3:8d5a9e3cd680 | 87 | |
Yo_Robot | 3:8d5a9e3cd680 | 88 | |
Yo_Robot | 3:8d5a9e3cd680 | 89 | void setMR2( int newValue ) |
Yo_Robot | 3:8d5a9e3cd680 | 90 | { |
Yo_Robot | 3:8d5a9e3cd680 | 91 | LPC_TIM2->MR2 = newValue; |
Yo_Robot | 3:8d5a9e3cd680 | 92 | } |
Yo_Robot | 3:8d5a9e3cd680 | 93 | |
Yo_Robot | 3:8d5a9e3cd680 | 94 | |
Yo_Robot | 3:8d5a9e3cd680 | 95 | void setMR3( int newValue ) |
Yo_Robot | 3:8d5a9e3cd680 | 96 | { |
Yo_Robot | 3:8d5a9e3cd680 | 97 | LPC_TIM2->MR3 = newValue; |
Yo_Robot | 3:8d5a9e3cd680 | 98 | } |
Yo_Robot | 3:8d5a9e3cd680 | 99 | |
Yo_Robot | 3:8d5a9e3cd680 | 100 | void startTimer2() |
Yo_Robot | 3:8d5a9e3cd680 | 101 | { |
Yo_Robot | 3:8d5a9e3cd680 | 102 | // Arrancer el Timer 2 |
Yo_Robot | 3:8d5a9e3cd680 | 103 | LPC_TIM2->TCR = 1; |
Yo_Robot | 3:8d5a9e3cd680 | 104 | } |
Yo_Robot | 3:8d5a9e3cd680 | 105 | |
Yo_Robot | 3:8d5a9e3cd680 | 106 | void stopTimer2() |
Yo_Robot | 3:8d5a9e3cd680 | 107 | { |
Yo_Robot | 3:8d5a9e3cd680 | 108 | // Arrancer el Timer 2 |
Yo_Robot | 3:8d5a9e3cd680 | 109 | LPC_TIM2->TCR = 0x2; |
Yo_Robot | 2:a1b556d78a7f | 110 | } |