Ernesto Palacios / Mbed 2 deprecated DeslizadorUTN

Proyecto de Tesis en Mecatrónica. Universidad Técnica del Norte. Ernesto Palacios <mecatronica.mid@gmail.com>

Dependencies:   EthernetNetIf HTTPServer QEI_hw RPCInterface mbed

setup.cpp@7:d9aca501126f, 2012-04-02 (annotated)

Committer:
Yo_Robot
Date:
Mon Apr 02 19:47:49 2012 +0000
Revision:
7:d9aca501126f
Parent:
6:b4dae934e1ea
Child:
8:958dfe5052b9
Child:
10:0ebc4955cbe7
v0.2 Serial no RPC. PTO funciona bien, Aout falta revisar.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yo_Robot 4:552beeda4722 1 /**
Yo_Robot 4:552beeda4722 2 * @brief Tren de impulsos con Timer2
Yo_Robot 4:552beeda4722 3 * @file setup.cpp
Yo_Robot 4:552beeda4722 4 * @author Ernesto Palacios
Yo_Robot 4:552beeda4722 5 *
Yo_Robot 4:552beeda4722 6 * Created on 25 de Marzo de 2012
Yo_Robot 4:552beeda4722 7 *
Yo_Robot 4:552beeda4722 8 * Licencia GPL v3.0
Yo_Robot 4:552beeda4722 9 * http://www.gnu.org/licenses/gpl-3.0.html
Yo_Robot 4:552beeda4722 10 */
Yo_Robot 4:552beeda4722 11
Yo_Robot 3:8d5a9e3cd680 12
Yo_Robot 3:8d5a9e3cd680 13 #include "setup.h"
Yo_Robot 3:8d5a9e3cd680 14 #include "mbed.h"
Yo_Robot 3:8d5a9e3cd680 15
Yo_Robot 3:8d5a9e3cd680 16 // Salida Serial de mbed
Yo_Robot 3:8d5a9e3cd680 17 extern Serial pc;
Yo_Robot 7:d9aca501126f 18 extern DigitalOut pin_son; // SON
Yo_Robot 7:d9aca501126f 19 extern DigitalOut pin_dir; // SIGN+
Yo_Robot 7:d9aca501126f 20 extern InterruptIn pin_alm; // ALM
Yo_Robot 7:d9aca501126f 21 extern AnalogOut aout; // +-10V
Yo_Robot 6:b4dae934e1ea 22
Yo_Robot 3:8d5a9e3cd680 23
Yo_Robot 3:8d5a9e3cd680 24
Yo_Robot 4:552beeda4722 25 void setTimer2()
Yo_Robot 3:8d5a9e3cd680 26 {
Yo_Robot 3:8d5a9e3cd680 27 // Encender Timer2 (PCONP[22])
Yo_Robot 3:8d5a9e3cd680 28 LPC_SC->PCONP |= 1 << 22;
Yo_Robot 3:8d5a9e3cd680 29
Yo_Robot 3:8d5a9e3cd680 30 // Resetear y parar el Timer
Yo_Robot 3:8d5a9e3cd680 31 LPC_TIM2->TCR = 0x2;
Yo_Robot 3:8d5a9e3cd680 32 LPC_TIM2->CTCR = 0x0;
Yo_Robot 3:8d5a9e3cd680 33
Yo_Robot 4:552beeda4722 34 // Establecer el Preescaler en cero
Yo_Robot 4:552beeda4722 35 // SIn Preesclaer
Yo_Robot 4:552beeda4722 36 LPC_TIM2->PR = 0;
Yo_Robot 3:8d5a9e3cd680 37
Yo_Robot 4:552beeda4722 38 // Calcular el periodo Inicial
Yo_Robot 4:552beeda4722 39 uint32_t periodo = ( SystemCoreClock / 400 );
Yo_Robot 3:8d5a9e3cd680 40
Yo_Robot 3:8d5a9e3cd680 41 // Establecer los Registros de Coincidencia
Yo_Robot 3:8d5a9e3cd680 42 // ( Match Register )
Yo_Robot 3:8d5a9e3cd680 43 LPC_TIM2->MR2 = periodo;
Yo_Robot 4:552beeda4722 44 LPC_TIM2->MR3 = periodo; // Legacy, salidas identicas
Yo_Robot 3:8d5a9e3cd680 45
Yo_Robot 4:552beeda4722 46 LPC_TIM2->MCR |= 1 << 7; // Resetear Timer en MR2
Yo_Robot 3:8d5a9e3cd680 47
Yo_Robot 3:8d5a9e3cd680 48 LPC_TIM2->EMR |= 15UL << 8; // Alternar Pin MAT2.2
Yo_Robot 3:8d5a9e3cd680 49 // y MAT2.3
Yo_Robot 3:8d5a9e3cd680 50
Yo_Robot 3:8d5a9e3cd680 51 LPC_PINCON->PINSEL0 |= 15UL << 16; //Activar MAT2.2
Yo_Robot 6:b4dae934e1ea 52 // y MAT2.3 como salidas
Yo_Robot 6:b4dae934e1ea 53 }
Yo_Robot 6:b4dae934e1ea 54
Yo_Robot 6:b4dae934e1ea 55
Yo_Robot 6:b4dae934e1ea 56 void ISR_Serial()
Yo_Robot 6:b4dae934e1ea 57 {
Yo_Robot 7:d9aca501126f 58 int value; // Nuevo Valor
Yo_Robot 7:d9aca501126f 59 char command; // Comando al que aplicar el nuevo valor
Yo_Robot 6:b4dae934e1ea 60
Yo_Robot 7:d9aca501126f 61 pc.scanf( "%d-%c", &value, &command ) ;
Yo_Robot 7:d9aca501126f 62 pc.printf("\n %d-%c \n", value, command );
Yo_Robot 6:b4dae934e1ea 63
Yo_Robot 6:b4dae934e1ea 64 // Establecer nueva frecuencia
Yo_Robot 7:d9aca501126f 65 if( command == 'H')
Yo_Robot 7:d9aca501126f 66 setPTO( value );
Yo_Robot 7:d9aca501126f 67
Yo_Robot 7:d9aca501126f 68 else if( command == 'K' )
Yo_Robot 7:d9aca501126f 69 setPTO( value * 1000 );
Yo_Robot 7:d9aca501126f 70
Yo_Robot 7:d9aca501126f 71
Yo_Robot 7:d9aca501126f 72
Yo_Robot 7:d9aca501126f 73 // Nuevo voltaje de salida
Yo_Robot 7:d9aca501126f 74 // Alguna formula para calcular el Vout necesario
Yo_Robot 7:d9aca501126f 75 // -100% a +100%
Yo_Robot 7:d9aca501126f 76 else if( command == 'A')
Yo_Robot 7:d9aca501126f 77 aout = ( value + 100 ) / 200;
Yo_Robot 7:d9aca501126f 78
Yo_Robot 7:d9aca501126f 79
Yo_Robot 7:d9aca501126f 80 // Cambiar la direccion
Yo_Robot 7:d9aca501126f 81 else if( command == 'D')
Yo_Robot 7:d9aca501126f 82 pin_dir = value;
Yo_Robot 7:d9aca501126f 83
Yo_Robot 7:d9aca501126f 84
Yo_Robot 7:d9aca501126f 85 //Encender el Servo
Yo_Robot 7:d9aca501126f 86 else if( command == 'S')
Yo_Robot 7:d9aca501126f 87 pin_son = value;
Yo_Robot 7:d9aca501126f 88
Yo_Robot 7:d9aca501126f 89 //else if( command == 'E')
Yo_Robot 7:d9aca501126f 90 // setDir( value );
Yo_Robot 6:b4dae934e1ea 91
Yo_Robot 7:d9aca501126f 92 }
Yo_Robot 7:d9aca501126f 93
Yo_Robot 7:d9aca501126f 94
Yo_Robot 7:d9aca501126f 95 void setPTO( int freq )
Yo_Robot 7:d9aca501126f 96 {
Yo_Robot 7:d9aca501126f 97 if( freq != 0 )
Yo_Robot 7:d9aca501126f 98 {
Yo_Robot 7:d9aca501126f 99 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 7:d9aca501126f 100 setMR2( getMRvalue( freq ) );
Yo_Robot 7:d9aca501126f 101 startTimer2();
Yo_Robot 7:d9aca501126f 102
Yo_Robot 7:d9aca501126f 103 }else{
Yo_Robot 6:b4dae934e1ea 104
Yo_Robot 7:d9aca501126f 105 stopTimer2();
Yo_Robot 7:d9aca501126f 106 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 7:d9aca501126f 107 }
Yo_Robot 7:d9aca501126f 108 }
Yo_Robot 7:d9aca501126f 109
Yo_Robot 7:d9aca501126f 110 void ISR_Alarm()
Yo_Robot 7:d9aca501126f 111 {
Yo_Robot 7:d9aca501126f 112 pin_son = 0 ;
Yo_Robot 7:d9aca501126f 113 stopTimer2();
Yo_Robot 7:d9aca501126f 114 aout = 0.5 ;
Yo_Robot 7:d9aca501126f 115
Yo_Robot 7:d9aca501126f 116 pc.printf( "\n\n ERROR: ALARMA \n\n " );
Yo_Robot 7:d9aca501126f 117
Yo_Robot 6:b4dae934e1ea 118 }
Yo_Robot 6:b4dae934e1ea 119
Yo_Robot 4:552beeda4722 120 int getMRvalue( int fout )
Yo_Robot 3:8d5a9e3cd680 121 {
Yo_Robot 4:552beeda4722 122 float exact, error;
Yo_Robot 4:552beeda4722 123 int toRegister;
Yo_Robot 4:552beeda4722 124
Yo_Robot 4:552beeda4722 125 exact = (24000000 /(fout*2) ) -1;
Yo_Robot 4:552beeda4722 126 toRegister = exact; // Valor redondeado;
Yo_Robot 7:d9aca501126f 127 //error = exact - toRegister;
Yo_Robot 4:552beeda4722 128
Yo_Robot 7:d9aca501126f 129 //pc.printf( "\n\n MR value: %d\n error: %f\n" ,toRegister ,error );
Yo_Robot 4:552beeda4722 130
Yo_Robot 4:552beeda4722 131 return toRegister;
Yo_Robot 3:8d5a9e3cd680 132 }
Yo_Robot 3:8d5a9e3cd680 133
Yo_Robot 3:8d5a9e3cd680 134
Yo_Robot 3:8d5a9e3cd680 135 void setMR2( int newValue )
Yo_Robot 3:8d5a9e3cd680 136 {
Yo_Robot 4:552beeda4722 137 LPC_TIM2->MR2 = newValue; // Las dos salidas son identicas
Yo_Robot 4:552beeda4722 138 LPC_TIM2->MR3 = newValue; // Para testear el programa.
Yo_Robot 3:8d5a9e3cd680 139 }
Yo_Robot 3:8d5a9e3cd680 140
Yo_Robot 3:8d5a9e3cd680 141
Yo_Robot 3:8d5a9e3cd680 142
Yo_Robot 3:8d5a9e3cd680 143 void startTimer2()
Yo_Robot 3:8d5a9e3cd680 144 {
Yo_Robot 7:d9aca501126f 145 // Arrancar el Timer 2
Yo_Robot 3:8d5a9e3cd680 146 LPC_TIM2->TCR = 1;
Yo_Robot 3:8d5a9e3cd680 147 }
Yo_Robot 3:8d5a9e3cd680 148
Yo_Robot 3:8d5a9e3cd680 149 void stopTimer2()
Yo_Robot 3:8d5a9e3cd680 150 {
Yo_Robot 4:552beeda4722 151 // Detener el Timer 2
Yo_Robot 3:8d5a9e3cd680 152 LPC_TIM2->TCR = 0x2;
Yo_Robot 4:552beeda4722 153 }
Yo_Robot 4:552beeda4722 154
Yo_Robot 6:b4dae934e1ea 155
Yo_Robot 6:b4dae934e1ea 156
Yo_Robot 6:b4dae934e1ea 157
Yo_Robot 6:b4dae934e1ea 158
Yo_Robot 4:552beeda4722 159 /* LEGACY FUNCTIONS
Yo_Robot 4:552beeda4722 160 *
Yo_Robot 5:c5aea1eb10bb 161 * El codigo actual no hace referencia a estas funciones
Yo_Robot 5:c5aea1eb10bb 162 * sin embargo no hay problema en definirlas.
Yo_Robot 4:552beeda4722 163 */
Yo_Robot 4:552beeda4722 164 void setMR3( int newValue )
Yo_Robot 4:552beeda4722 165 {
Yo_Robot 4:552beeda4722 166 LPC_TIM2->MR3 = newValue;
Yo_Robot 4:552beeda4722 167 }
Yo_Robot 4:552beeda4722 168
Yo_Robot 4:552beeda4722 169
Yo_Robot 4:552beeda4722 170 void setPrescaler( int newValue)
Yo_Robot 4:552beeda4722 171 {
Yo_Robot 4:552beeda4722 172 LPC_TIM2->PR = newValue;
Yo_Robot 4:552beeda4722 173 }