Shundo Kishi / Mbed 2 deprecated Hobby_Humanoid_controlor

Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.

Dependencies:   Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed

PWM.h@23:0927e605af4b, 2013-11-22 (annotated)

Committer:
syundo0730
Date:
Fri Nov 22 00:30:42 2013 +0000
Revision:
23:0927e605af4b
Parent:
21:a54bcab078ed 
first commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
syundo0730 9:d9ce965299d2 1 #ifndef PWM_H_2012_08_28_
syundo0730 9:d9ce965299d2 2 #define PWM_H_2012_08_28_
syundo0730 9:d9ce965299d2 3
syundo0730 9:d9ce965299d2 4 #include "LPC17xx.h"
syundo0730 9:d9ce965299d2 5 #include "mbed.h"
syundo0730 9:d9ce965299d2 6
syundo0730 9:d9ce965299d2 7 const uint32_t SRV_PERIOD = 2500 - 1;//
syundo0730 9:d9ce965299d2 8 const uint32_t SRV_MAX_DUTY = 2100 - 1;//
syundo0730 9:d9ce965299d2 9 const uint32_t SRV_MIN_DUTY = 900 - 1;//
syundo0730 9:d9ce965299d2 10
syundo0730 9:d9ce965299d2 11 const uint8_t SRV_IDX_SHIFT = 3;//
syundo0730 9:d9ce965299d2 12 const uint8_t SRV_IDX_NUM = 1 << SRV_IDX_SHIFT;//
syundo0730 9:d9ce965299d2 13 const uint8_t SRV_IDX_MASK = SRV_IDX_NUM - 1;//
syundo0730 9:d9ce965299d2 14 const uint8_t SRV_BANK_NUM = 3;//
syundo0730 9:d9ce965299d2 15 const uint8_t SRV_CH_NUM = SRV_IDX_NUM * SRV_BANK_NUM;//
syundo0730 9:d9ce965299d2 16
syundo0730 11:1539d181e159 17 const uint32_t SRV_PWMTable[SRV_BANK_NUM][SRV_IDX_NUM] = {
syundo0730 11:1539d181e159 18 {0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD},
syundo0730 11:1539d181e159 19 {0,0,SRV_PERIOD,SRV_PERIOD,0,0,SRV_PERIOD,SRV_PERIOD},
syundo0730 11:1539d181e159 20 {0,0,0,0,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD}
syundo0730 11:1539d181e159 21 };
syundo0730 11:1539d181e159 22
syundo0730 9:d9ce965299d2 23 class PWM {
syundo0730 9:d9ce965299d2 24 public:
syundo0730 9:d9ce965299d2 25 PWM();
syundo0730 9:d9ce965299d2 26 public:
syundo0730 9:d9ce965299d2 27 void InitPWM();
syundo0730 21:a54bcab078ed 28 void setDuty(uint8_t ch, uint32_t duty);
syundo0730 9:d9ce965299d2 29 public:
syundo0730 9:d9ce965299d2 30 static volatile uint8_t SRV_Idx;
syundo0730 9:d9ce965299d2 31 static volatile uint32_t SRV_dutyTable[SRV_BANK_NUM][SRV_IDX_NUM];
syundo0730 9:d9ce965299d2 32 };
syundo0730 9:d9ce965299d2 33
syundo0730 9:d9ce965299d2 34 #ifdef __cplusplus
syundo0730 9:d9ce965299d2 35 extern "C" {
syundo0730 9:d9ce965299d2 36 void PWM1_IRQHandler();
syundo0730 9:d9ce965299d2 37 }
syundo0730 9:d9ce965299d2 38 #endif
syundo0730 9:d9ce965299d2 39
syundo0730 9:d9ce965299d2 40 #endif //PWM_H_2012_08_28_