Proyecto de Tesis en Mecatrónica. Universidad Técnica del Norte. Ernesto Palacios <mecatronica.mid@gmail.com>
Dependencies: EthernetNetIf HTTPServer QEI_hw RPCInterface mbed
setup.cpp@6:b4dae934e1ea, 2012-04-01 (annotated)
- Committer:
- Yo_Robot
- Date:
- Sun Apr 01 20:03:42 2012 +0000
- Revision:
- 6:b4dae934e1ea
- Parent:
- 5:c5aea1eb10bb
- Child:
- 7:d9aca501126f
v0.1 Serial No RPC. sistema base para la comunicacion con la libreria ASM
Who changed what in which revision?
User | Revision | Line number | New 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 | 6:b4dae934e1ea | 18 | extern DigitalOut pin_son; // SON |
Yo_Robot | 6:b4dae934e1ea | 19 | extern DigitalOut pin_dir; // SIGN+ |
Yo_Robot | 6:b4dae934e1ea | 20 | extern DigitalIn pin_alm; // ALM |
Yo_Robot | 6:b4dae934e1ea | 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 | |
Yo_Robot | 6:b4dae934e1ea | 57 | void setSON( int onOff ) |
Yo_Robot | 6:b4dae934e1ea | 58 | { |
Yo_Robot | 6:b4dae934e1ea | 59 | pin_son = onOff; |
Yo_Robot | 6:b4dae934e1ea | 60 | } |
Yo_Robot | 6:b4dae934e1ea | 61 | |
Yo_Robot | 6:b4dae934e1ea | 62 | |
Yo_Robot | 6:b4dae934e1ea | 63 | void setDir( int dir ) |
Yo_Robot | 6:b4dae934e1ea | 64 | { |
Yo_Robot | 6:b4dae934e1ea | 65 | pin_dir = dir; |
Yo_Robot | 6:b4dae934e1ea | 66 | } |
Yo_Robot | 6:b4dae934e1ea | 67 | |
Yo_Robot | 6:b4dae934e1ea | 68 | |
Yo_Robot | 6:b4dae934e1ea | 69 | void setAout( float value ) |
Yo_Robot | 6:b4dae934e1ea | 70 | { |
Yo_Robot | 6:b4dae934e1ea | 71 | aout = value; |
Yo_Robot | 3:8d5a9e3cd680 | 72 | } |
Yo_Robot | 3:8d5a9e3cd680 | 73 | |
Yo_Robot | 3:8d5a9e3cd680 | 74 | |
Yo_Robot | 6:b4dae934e1ea | 75 | void ISR_Alarm() |
Yo_Robot | 6:b4dae934e1ea | 76 | { |
Yo_Robot | 6:b4dae934e1ea | 77 | pc.printf( "\n\n ERROR: ALARMA \n\n " ); |
Yo_Robot | 6:b4dae934e1ea | 78 | |
Yo_Robot | 6:b4dae934e1ea | 79 | setSON( 0 ); |
Yo_Robot | 6:b4dae934e1ea | 80 | stopTimer2(); |
Yo_Robot | 6:b4dae934e1ea | 81 | setAout( 0.5 ); |
Yo_Robot | 6:b4dae934e1ea | 82 | |
Yo_Robot | 6:b4dae934e1ea | 83 | } |
Yo_Robot | 6:b4dae934e1ea | 84 | |
Yo_Robot | 6:b4dae934e1ea | 85 | |
Yo_Robot | 6:b4dae934e1ea | 86 | void ISR_Serial() |
Yo_Robot | 6:b4dae934e1ea | 87 | { |
Yo_Robot | 6:b4dae934e1ea | 88 | int freq; //Frecuencia del PTO |
Yo_Robot | 6:b4dae934e1ea | 89 | char command; //Comando a ejecutar |
Yo_Robot | 6:b4dae934e1ea | 90 | char scale; //Escala de la frecuencia |
Yo_Robot | 6:b4dae934e1ea | 91 | |
Yo_Robot | 6:b4dae934e1ea | 92 | pc.scanf( "%c%d%c", &command, &freq, &scale ) ; |
Yo_Robot | 6:b4dae934e1ea | 93 | LPC_UART0->FCR = 0x06; |
Yo_Robot | 6:b4dae934e1ea | 94 | pc.printf("\n %c%d%c \n", command, freq, scale ); |
Yo_Robot | 6:b4dae934e1ea | 95 | |
Yo_Robot | 6:b4dae934e1ea | 96 | // Establecer nueva frecuencia |
Yo_Robot | 6:b4dae934e1ea | 97 | if( command == 'F') |
Yo_Robot | 6:b4dae934e1ea | 98 | { |
Yo_Robot | 6:b4dae934e1ea | 99 | if( scale == 'H' ) |
Yo_Robot | 6:b4dae934e1ea | 100 | setMR2( getMRvalue( freq ) ); |
Yo_Robot | 6:b4dae934e1ea | 101 | else if( scale == 'K' ) |
Yo_Robot | 6:b4dae934e1ea | 102 | setMR2( getMRvalue( freq * 1000 ) ); |
Yo_Robot | 6:b4dae934e1ea | 103 | } |
Yo_Robot | 6:b4dae934e1ea | 104 | |
Yo_Robot | 6:b4dae934e1ea | 105 | // INICIAR Timer |
Yo_Robot | 6:b4dae934e1ea | 106 | else if( command == 'I') |
Yo_Robot | 6:b4dae934e1ea | 107 | startTimer2( ); |
Yo_Robot | 6:b4dae934e1ea | 108 | |
Yo_Robot | 6:b4dae934e1ea | 109 | // PARAR Timer |
Yo_Robot | 6:b4dae934e1ea | 110 | else if( command == 'P') |
Yo_Robot | 6:b4dae934e1ea | 111 | stopTimer2( ); |
Yo_Robot | 6:b4dae934e1ea | 112 | |
Yo_Robot | 6:b4dae934e1ea | 113 | } |
Yo_Robot | 6:b4dae934e1ea | 114 | |
Yo_Robot | 4:552beeda4722 | 115 | int getMRvalue( int fout ) |
Yo_Robot | 3:8d5a9e3cd680 | 116 | { |
Yo_Robot | 4:552beeda4722 | 117 | float exact, error; |
Yo_Robot | 4:552beeda4722 | 118 | int toRegister; |
Yo_Robot | 4:552beeda4722 | 119 | |
Yo_Robot | 4:552beeda4722 | 120 | exact = (24000000 /(fout*2) ) -1; |
Yo_Robot | 4:552beeda4722 | 121 | toRegister = exact; // Valor redondeado; |
Yo_Robot | 4:552beeda4722 | 122 | error = exact - toRegister; |
Yo_Robot | 4:552beeda4722 | 123 | |
Yo_Robot | 6:b4dae934e1ea | 124 | pc.printf( "\n\n MR value: %d\n error: %f\n" ,toRegister ,error ); |
Yo_Robot | 4:552beeda4722 | 125 | |
Yo_Robot | 4:552beeda4722 | 126 | return toRegister; |
Yo_Robot | 3:8d5a9e3cd680 | 127 | } |
Yo_Robot | 3:8d5a9e3cd680 | 128 | |
Yo_Robot | 3:8d5a9e3cd680 | 129 | |
Yo_Robot | 3:8d5a9e3cd680 | 130 | void setMR2( int newValue ) |
Yo_Robot | 3:8d5a9e3cd680 | 131 | { |
Yo_Robot | 4:552beeda4722 | 132 | LPC_TIM2->MR2 = newValue; // Las dos salidas son identicas |
Yo_Robot | 4:552beeda4722 | 133 | LPC_TIM2->MR3 = newValue; // Para testear el programa. |
Yo_Robot | 3:8d5a9e3cd680 | 134 | } |
Yo_Robot | 3:8d5a9e3cd680 | 135 | |
Yo_Robot | 3:8d5a9e3cd680 | 136 | |
Yo_Robot | 3:8d5a9e3cd680 | 137 | |
Yo_Robot | 3:8d5a9e3cd680 | 138 | void startTimer2() |
Yo_Robot | 3:8d5a9e3cd680 | 139 | { |
Yo_Robot | 3:8d5a9e3cd680 | 140 | // Arrancer el Timer 2 |
Yo_Robot | 3:8d5a9e3cd680 | 141 | LPC_TIM2->TCR = 1; |
Yo_Robot | 3:8d5a9e3cd680 | 142 | } |
Yo_Robot | 3:8d5a9e3cd680 | 143 | |
Yo_Robot | 3:8d5a9e3cd680 | 144 | void stopTimer2() |
Yo_Robot | 3:8d5a9e3cd680 | 145 | { |
Yo_Robot | 4:552beeda4722 | 146 | // Detener el Timer 2 |
Yo_Robot | 3:8d5a9e3cd680 | 147 | LPC_TIM2->TCR = 0x2; |
Yo_Robot | 4:552beeda4722 | 148 | } |
Yo_Robot | 4:552beeda4722 | 149 | |
Yo_Robot | 6:b4dae934e1ea | 150 | |
Yo_Robot | 6:b4dae934e1ea | 151 | |
Yo_Robot | 6:b4dae934e1ea | 152 | |
Yo_Robot | 6:b4dae934e1ea | 153 | |
Yo_Robot | 4:552beeda4722 | 154 | /* LEGACY FUNCTIONS |
Yo_Robot | 4:552beeda4722 | 155 | * |
Yo_Robot | 5:c5aea1eb10bb | 156 | * El codigo actual no hace referencia a estas funciones |
Yo_Robot | 5:c5aea1eb10bb | 157 | * sin embargo no hay problema en definirlas. |
Yo_Robot | 4:552beeda4722 | 158 | */ |
Yo_Robot | 4:552beeda4722 | 159 | void setMR3( int newValue ) |
Yo_Robot | 4:552beeda4722 | 160 | { |
Yo_Robot | 4:552beeda4722 | 161 | LPC_TIM2->MR3 = newValue; |
Yo_Robot | 4:552beeda4722 | 162 | } |
Yo_Robot | 4:552beeda4722 | 163 | |
Yo_Robot | 4:552beeda4722 | 164 | |
Yo_Robot | 4:552beeda4722 | 165 | void setPrescaler( int newValue) |
Yo_Robot | 4:552beeda4722 | 166 | { |
Yo_Robot | 4:552beeda4722 | 167 | LPC_TIM2->PR = newValue; |
Yo_Robot | 4:552beeda4722 | 168 | } |