Jaesung Oh
quadprog++ and Eigen library test
Dependencies: mbed Eigen FastPWM
Revision 0:8a1dc1fdba10, committed 2019-08-12
- Comitter:
- GiJeongKim
- Date:
- Mon Aug 12 09:15:22 2019 +0000
- Child:
- 1:27f1640d930d
- Commit message:
- pwm;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FastPWM.lib Mon Aug 12 09:15:22 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/Sissors/code/FastPWM/#c0b2265cff9c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Aug 12 09:15:22 2019 +0000
@@ -0,0 +1,65 @@
+#include "mbed.h"
+#include "FastPWM.h"
+
+#define PIN_U PA_10
+#define PIN_V PA_9
+#define PIN_W PA_8
+#define PWM_ARR 0x8CA /// timer autoreload value
+
+float dtc_u=0.1;
+float dtc_v=0.2;
+float dtc_w=0.6;
+void Init_PWM();
+
+extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
+ if (TIM1->SR & TIM_SR_UIF ) {
+ TIM1->CCR3 = (PWM_ARR)*(1.0f-dtc_u); // Write duty cycles
+ TIM1->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
+ TIM1->CCR1 = (PWM_ARR)*(1.0f-dtc_w); // CCR1 = channel 1
+ }
+TIM1->SR = 0x0; // reset the status register
+}
+
+
+int main(){
+ Init_PWM();
+ TIM1->CR1 ^= TIM_CR1_UDIS;
+ while(1);
+}
+
+
+
+void Init_PWM(){
+
+ RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // enable the clock to GPIOC
+ RCC->APB1ENR |= 0x00000001; // enable TIM2 clock
+ RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // enable TIM1 clock
+
+ GPIOC->MODER |= (1 << 10); // set pin 5 to be general purpose output for LED
+// gpio->enable = new DigitalOut(ENABLE_PIN);
+// gpio->pwm_u = new FastPWM(PIN_U);
+// gpio->pwm_v = new FastPWM(PIN_V);
+// gpio->pwm_w = new FastPWM(PIN_W);
+ FastPWM pwm_u(PIN_U); // 단순히 핀 설정용
+ FastPWM pwm_v(PIN_V);
+ FastPWM pwm_w(PIN_W);
+
+ //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
+
+ }
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Aug 12 09:15:22 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file