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quadprog++ and Eigen library test
Dependencies: mbed Eigen FastPWM
main.cpp
- Committer:
- GiJeongKim
- Date:
- 2019-08-21
- Revision:
- 1:27f1640d930d
- Parent:
- 0:8a1dc1fdba10
- Child:
- 2:e843c1b0b25c
File content as of revision 1:27f1640d930d:
#include "mbed.h" #include "FastPWM.h" #define PIN_A PA_8 // channel 1 #define PIN_B PA_7 // complementary #define PWM_ARR 0x8CA /// timer autoreload value 40k loop, 40k pwm float dtc_a=0.1; float dtc_b=0.2; void Init_PWM(); DigitalOut check(PC_9); DigitalIn a1(PB_7); DigitalIn a2(PB_6); extern "C" void TIM1_UP_TIM10_IRQHandler(void) { if (TIM1->SR & TIM_SR_UIF ) { check=1; TIM1->CCR1 = (PWM_ARR)*(1.0f-dtc_a); // Write duty cycles check=0; } TIM1->SR = 0x0; // reset the status register } int main(){ check=1; Init_PWM(); TIM1->CR1 ^= TIM_CR1_UDIS; while(1); } void Init_PWM(){ RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // enable TIM1 clock FastPWM pwm_a(PIN_A); // 단순히 핀 설정용 FastPWM pwm_b(PIN_B); //ISR Setup NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ TIM1->DIER |= TIM_DIER_UIE; // enable update interrupt TIM1->CR1 = 0x40; // CMS = 10, interrupt only when counting up // Center-aligned mode TIM1->CR1 |= TIM_CR1_UDIS; TIM1->CR1 |= TIM_CR1_ARPE; // autoreload on, TIM1->RCR |= 0x001; // update event once per up/down count of tim1 TIM1->EGR |= TIM_EGR_UG; //PWM Setup TIM1->PSC = 0x0; // no prescaler, timer counts up in sync with the peripheral clock TIM1->ARR = PWM_ARR; // set auto reload, 40 khz // TIM1->CCER |= ~(TIM_CCER_CC1NP); // Interupt when low side is on. TIM1->CR1 |= TIM_CR1_CEN; // enable TIM1 // for complementary TIM1->CCER|=0b1111; }