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

Source3.cpp@5:0ca9f1bc1fb0, 2012-09-18 (annotated)

Committer:
syundo0730
Date:
Tue Sep 18 06:48:47 2012 +0000
Revision:
5:0ca9f1bc1fb0
Parent:
3:84e5335fab91
Child:
7:7c0621d33781
multithread

Who changed what in which revision?

UserRevisionLine numberNew contents of line
syundo0730 0:d114194bff43 1 #ifndef PWM_H_2012_08_28_
syundo0730 0:d114194bff43 2 #define PWM_H_2012_08_28_
syundo0730 0:d114194bff43 3
syundo0730 0:d114194bff43 4 #include "LPC17xx.h"
syundo0730 0:d114194bff43 5 #include "mbed.h"
syundo0730 5:0ca9f1bc1fb0 6 //#include "PowerControl.h"
syundo0730 0:d114194bff43 7
syundo0730 5:0ca9f1bc1fb0 8 const uint32_t SRV_PERIOD = 2500 - 1;//
syundo0730 5:0ca9f1bc1fb0 9 const uint32_t SRV_MAX_DUTY = 2100 - 1;//
syundo0730 5:0ca9f1bc1fb0 10 const uint32_t SRV_MIN_DUTY = 900 - 1;//
syundo0730 2:8a40834788ba 11
syundo0730 5:0ca9f1bc1fb0 12 const uint8_t SRV_IDX_SHIFT = 3;//
syundo0730 5:0ca9f1bc1fb0 13 const uint8_t SRV_IDX_NUM = 1 << SRV_IDX_SHIFT;//
syundo0730 5:0ca9f1bc1fb0 14 const uint8_t SRV_IDX_MASK = SRV_IDX_NUM - 1;//
syundo0730 5:0ca9f1bc1fb0 15 const uint8_t SRV_BANK_NUM = 3;//
syundo0730 5:0ca9f1bc1fb0 16 const uint8_t SRV_CH_NUM = SRV_IDX_NUM * SRV_BANK_NUM;//
syundo0730 0:d114194bff43 17
syundo0730 5:0ca9f1bc1fb0 18 volatile uint8_t SRV_Idx = 0;//
syundo0730 5:0ca9f1bc1fb0 19 volatile uint32_t SRV_dutyTable[SRV_BANK_NUM][SRV_IDX_NUM];//
syundo0730 0:d114194bff43 20
syundo0730 2:8a40834788ba 21 const uint32_t SRV_PWMTable[SRV_BANK_NUM][SRV_IDX_NUM]={
syundo0730 3:84e5335fab91 22 {0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD},
syundo0730 3:84e5335fab91 23 {0,0,SRV_PERIOD,SRV_PERIOD,0,0,SRV_PERIOD,SRV_PERIOD},
syundo0730 3:84e5335fab91 24 {0,0,0,0,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD}
syundo0730 1:5c2e40445778 25 };
syundo0730 1:5c2e40445778 26
syundo0730 0:d114194bff43 27 void Init_PWM(void);
syundo0730 2:8a40834788ba 28 void SetDuty(uint8_t ch, uint32_t duty);
syundo0730 5:0ca9f1bc1fb0 29 void main_th(void);
syundo0730 0:d114194bff43 30
syundo0730 0:d114194bff43 31 #endif //PWM_H_2012_08_28_
syundo0730 0:d114194bff43 32
syundo0730 0:d114194bff43 33 #ifdef __cplusplus
syundo0730 0:d114194bff43 34 extern "C" {
syundo0730 0:d114194bff43 35 void PWM1_IRQHandler();
syundo0730 0:d114194bff43 36 }
syundo0730 0:d114194bff43 37 #endif
syundo0730 0:d114194bff43 38
syundo0730 5:0ca9f1bc1fb0 39 Ticker flip;
syundo0730 5:0ca9f1bc1fb0 40
syundo0730 0:d114194bff43 41 int main(void) {
syundo0730 0:d114194bff43 42
syundo0730 0:d114194bff43 43 for(int i = 0; i < SRV_CH_NUM; i++)
syundo0730 0:d114194bff43 44 {
syundo0730 0:d114194bff43 45 SetDuty(i, (SRV_MAX_DUTY + SRV_MIN_DUTY) / 2);
syundo0730 0:d114194bff43 46 }
syundo0730 0:d114194bff43 47
syundo0730 1:5c2e40445778 48 Init_PWM();
syundo0730 5:0ca9f1bc1fb0 49 flip.attach(&main_th,5.0);
syundo0730 1:5c2e40445778 50
syundo0730 5:0ca9f1bc1fb0 51 while (1) {
syundo0730 5:0ca9f1bc1fb0 52 //SetDuty(1,SRV_MAX_DUTY);
syundo0730 5:0ca9f1bc1fb0 53 //sleep();
syundo0730 5:0ca9f1bc1fb0 54 }
syundo0730 5:0ca9f1bc1fb0 55 }
syundo0730 5:0ca9f1bc1fb0 56
syundo0730 5:0ca9f1bc1fb0 57 void main_th(void) {
syundo0730 5:0ca9f1bc1fb0 58 SetDuty(1,0);
syundo0730 0:d114194bff43 59 }
syundo0730 0:d114194bff43 60
syundo0730 0:d114194bff43 61 void PWM1_IRQHandler (void) {
syundo0730 1:5c2e40445778 62
syundo0730 3:84e5335fab91 63 LPC_PWM1->MR1 = SRV_PWMTable[0][SRV_Idx];
syundo0730 1:5c2e40445778 64 LPC_PWM1->MR2 = SRV_PWMTable[1][SRV_Idx];
syundo0730 1:5c2e40445778 65 LPC_PWM1->MR3 = SRV_PWMTable[2][SRV_Idx];
syundo0730 0:d114194bff43 66 LPC_PWM1->MR4 = SRV_dutyTable[0][SRV_Idx];
syundo0730 0:d114194bff43 67 LPC_PWM1->MR5 = SRV_dutyTable[1][SRV_Idx];
syundo0730 0:d114194bff43 68 LPC_PWM1->MR6 = SRV_dutyTable[2][SRV_Idx];
syundo0730 1:5c2e40445778 69
syundo0730 3:84e5335fab91 70 LPC_PWM1->LER |= 0x7E;
syundo0730 3:84e5335fab91 71
syundo0730 0:d114194bff43 72 LPC_PWM1->IR |= (1<<0); // reset PWMMR0 flag
syundo0730 0:d114194bff43 73
syundo0730 0:d114194bff43 74 SRV_Idx++;
syundo0730 0:d114194bff43 75
syundo0730 0:d114194bff43 76 if(SRV_Idx >= SRV_IDX_NUM){
syundo0730 0:d114194bff43 77 SRV_Idx = 0;
syundo0730 0:d114194bff43 78 }
syundo0730 0:d114194bff43 79 }
syundo0730 0:d114194bff43 80
syundo0730 0:d114194bff43 81 void Init_PWM(void) {
syundo0730 0:d114194bff43 82 LPC_PINCON->PINSEL3 &= ~(3 << 4); // GPIO (00)
syundo0730 0:d114194bff43 83 LPC_GPIO1->FIODIR |= (1 << 18); // output
syundo0730 0:d114194bff43 84
syundo0730 0:d114194bff43 85 LPC_PINCON->PINSEL4 |= 0x555; // GPIO (00)
syundo0730 0:d114194bff43 86 LPC_GPIO2->FIODIR |= 0x3F; // output
syundo0730 0:d114194bff43 87
syundo0730 0:d114194bff43 88 LPC_SC->PCLKSEL0 &= ~(3 << 12); // PCLK_TIMER0 ck/4 (00)
syundo0730 0:d114194bff43 89 LPC_SC->PCONP |= (1 << 6); // PCPWM1
syundo0730 5:0ca9f1bc1fb0 90
syundo0730 5:0ca9f1bc1fb0 91 LPC_PWM1->IR |= (1<<0);//reset PWMMR0 flag
syundo0730 0:d114194bff43 92 LPC_PWM1->TCR = (1 << 1);//reset
syundo0730 0:d114194bff43 93 LPC_PWM1->PR = SystemCoreClock / 4 / 1000000 - 1; // prescale 1000kHz(1us&#65533;&#65533;&#65533;&#65533;)&#65533;&#65533;&#65533;&#65533;&#65533;&#273538;&#386;&#579;^&#65533;C&#65533;}&#65533;J&#65533;E&#65533;&#65533;&#65533;^&#65533;&#65533;J&#65533;E&#65533;&#65533;&#65533;g&#65533;A&#65533;b&#65533;v&#65533;&#65533;&#65533;&#37033;&#65533;&#386;&#65533;&#65533;&#65533;&#65533;&#1874;&#65533;
syundo0730 0:d114194bff43 94 LPC_PWM1->CTCR = 0;
syundo0730 0:d114194bff43 95 LPC_PWM1->MCR |= (1 << 1)|(1 << 0); // MR0R, MR0
syundo0730 0:d114194bff43 96
syundo0730 0:d114194bff43 97 LPC_PWM1->MR0 = SRV_PERIOD; // PWM(74HC238&#65533;&#65533;G1)&#65533;&#65533;&#65533;2500us
syundo0730 1:5c2e40445778 98 //LPC_PWM1->MR1 = SRV_MAX_DUTY;//SRV_PERIOD; // &#65533;&#1538;&#65533;&#1410;&#65533;&#65533;&#65533;&#65533;(74HC238&#65533;&#65533;A)1
syundo0730 1:5c2e40445778 99 //LPC_PWM1->MR2 = SRV_MAX_DUTY;//SRV_PERIOD; // &#65533;&#1538;&#65533;&#1410;&#65533;&#65533;&#65533;&#65533;(74HC238&#65533;&#65533;B)
syundo0730 1:5c2e40445778 100 //LPC_PWM1->MR3 = SRV_MAX_DUTY;//SRV_PERIOD; // &#65533;&#1538;&#65533;&#1410;&#65533;&#65533;&#65533;&#65533;(74HC238&#65533;&#65533;C)
syundo0730 1:5c2e40445778 101 //LPC_PWM1->MR4 = SRV_MAX_DUTY;//(SRV_MAX_DUTY + SRV_MIN_DUTY) / 2; //PWM(74HC238&#65533;&#65533;G1)&#65533;f&#65533;&#65533;&#65533;[&#65533;e&#65533;B&#65533;[(&#65533;j&#65533;&#65533;&#65533;[&#65533;g&#65533;&#65533;&#65533;&#65533;)
syundo0730 1:5c2e40445778 102 //LPC_PWM1->MR5 = SRV_MAX_DUTY;//(SRV_MAX_DUTY + SRV_MIN_DUTY) / 2;
syundo0730 1:5c2e40445778 103 //LPC_PWM1->MR6 = SRV_MAX_DUTY;//(SRV_MAX_DUTY + SRV_MIN_DUTY) / 2;
syundo0730 0:d114194bff43 104
syundo0730 0:d114194bff43 105 LPC_PWM1->TCR = (1 << 0)|(1 << 3); // enable
syundo0730 0:d114194bff43 106 LPC_PWM1->PCR |= (0x3F << 9);//1-6 pwm
syundo0730 5:0ca9f1bc1fb0 107 LPC_PWM1->LER |= 0x7E;
syundo0730 0:d114194bff43 108
syundo0730 5:0ca9f1bc1fb0 109 //__enable_irq();
syundo0730 5:0ca9f1bc1fb0 110 //__disable_irq();
syundo0730 5:0ca9f1bc1fb0 111 //NVIC_DisableIRQ(PWM1_IRQn);
syundo0730 5:0ca9f1bc1fb0 112
syundo0730 5:0ca9f1bc1fb0 113 NVIC_SetPriority(PWM1_IRQn,0);//priority level (high)0~255(low)
syundo0730 5:0ca9f1bc1fb0 114 NVIC_EnableIRQ(PWM1_IRQn);//enable
syundo0730 0:d114194bff43 115 }
syundo0730 0:d114194bff43 116
syundo0730 2:8a40834788ba 117 void SetDuty(uint8_t ch, uint32_t duty){
syundo0730 0:d114194bff43 118 if(ch >= SRV_CH_NUM){
syundo0730 0:d114194bff43 119 return;
syundo0730 0:d114194bff43 120 }else if(duty < SRV_MIN_DUTY){
syundo0730 0:d114194bff43 121 duty = SRV_MIN_DUTY;
syundo0730 0:d114194bff43 122 }else if(duty > SRV_MAX_DUTY){
syundo0730 0:d114194bff43 123 duty = SRV_MAX_DUTY;
syundo0730 0:d114194bff43 124 }
syundo0730 0:d114194bff43 125 SRV_dutyTable[ch >> SRV_IDX_SHIFT][ch & SRV_IDX_MASK] = duty;
syundo0730 0:d114194bff43 126 }