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

Committer:
syundo0730
Date:
2012-09-18
Revision:
5:0ca9f1bc1fb0
Parent:
3:84e5335fab91
Child:
7:7c0621d33781

File content as of revision 5:0ca9f1bc1fb0:

#ifndef PWM_H_2012_08_28_
#define PWM_H_2012_08_28_

#include "LPC17xx.h"
#include "mbed.h"
//#include "PowerControl.h"

const uint32_t SRV_PERIOD = 2500 - 1;//
const uint32_t SRV_MAX_DUTY = 2100 - 1;//
const uint32_t SRV_MIN_DUTY = 900 - 1;//

const uint8_t SRV_IDX_SHIFT = 3;//
const uint8_t SRV_IDX_NUM = 1 << SRV_IDX_SHIFT;//
const uint8_t SRV_IDX_MASK = SRV_IDX_NUM - 1;//
const uint8_t SRV_BANK_NUM = 3;//
const uint8_t SRV_CH_NUM = SRV_IDX_NUM * SRV_BANK_NUM;//

volatile uint8_t SRV_Idx = 0;//
volatile uint32_t SRV_dutyTable[SRV_BANK_NUM][SRV_IDX_NUM];//

const uint32_t SRV_PWMTable[SRV_BANK_NUM][SRV_IDX_NUM]={
{0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD,0,SRV_PERIOD},
{0,0,SRV_PERIOD,SRV_PERIOD,0,0,SRV_PERIOD,SRV_PERIOD},
{0,0,0,0,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD,SRV_PERIOD}
};

void Init_PWM(void);
void SetDuty(uint8_t ch, uint32_t duty);
void main_th(void);

#endif  //PWM_H_2012_08_28_

#ifdef __cplusplus
extern "C" {
    void PWM1_IRQHandler();
}
#endif

Ticker flip;

int main(void) {
    
    for(int i = 0; i < SRV_CH_NUM; i++)
    {
        SetDuty(i, (SRV_MAX_DUTY + SRV_MIN_DUTY) / 2);
    }
    
    Init_PWM();
    flip.attach(&main_th,5.0);
    
    while (1) {
        //SetDuty(1,SRV_MAX_DUTY);
        //sleep();
    }
}

void main_th(void) {
    SetDuty(1,0);
}

void PWM1_IRQHandler (void) {
    
    LPC_PWM1->MR1 = SRV_PWMTable[0][SRV_Idx];
    LPC_PWM1->MR2 = SRV_PWMTable[1][SRV_Idx];
    LPC_PWM1->MR3 = SRV_PWMTable[2][SRV_Idx];
    LPC_PWM1->MR4 = SRV_dutyTable[0][SRV_Idx];
    LPC_PWM1->MR5 = SRV_dutyTable[1][SRV_Idx];
    LPC_PWM1->MR6 = SRV_dutyTable[2][SRV_Idx];
    
    LPC_PWM1->LER |= 0x7E;
    
    LPC_PWM1->IR |= (1<<0); // reset PWMMR0 flag
    
    SRV_Idx++;

    if(SRV_Idx >= SRV_IDX_NUM){
        SRV_Idx = 0;
    }
}

void Init_PWM(void) {
    LPC_PINCON->PINSEL3 &= ~(3 << 4); // GPIO (00)
    LPC_GPIO1->FIODIR |= (1 << 18);  // output
    
    LPC_PINCON->PINSEL4 |= 0x555; // GPIO (00)
    LPC_GPIO2->FIODIR |= 0x3F;  // output

    LPC_SC->PCLKSEL0 &= ~(3 << 12); // PCLK_TIMER0 ck/4 (00)
    LPC_SC->PCONP |= (1 << 6); // PCPWM1
    
    LPC_PWM1->IR |= (1<<0);//reset PWMMR0 flag
    LPC_PWM1->TCR = (1 << 1);//reset
    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;
    LPC_PWM1->CTCR = 0;
    LPC_PWM1->MCR |= (1 << 1)|(1 << 0); // MR0R, MR0

    LPC_PWM1->MR0 = SRV_PERIOD; // PWM(74HC238&#65533;&#65533;G1)&#65533;&#65533;&#65533;2500us
    //LPC_PWM1->MR1 = SRV_MAX_DUTY;//SRV_PERIOD; // &#65533;&#1538;&#65533;&#1410;&#65533;&#65533;&#65533;&#65533;(74HC238&#65533;&#65533;A)1
    //LPC_PWM1->MR2 = SRV_MAX_DUTY;//SRV_PERIOD; // &#65533;&#1538;&#65533;&#1410;&#65533;&#65533;&#65533;&#65533;(74HC238&#65533;&#65533;B)
    //LPC_PWM1->MR3 = SRV_MAX_DUTY;//SRV_PERIOD; // &#65533;&#1538;&#65533;&#1410;&#65533;&#65533;&#65533;&#65533;(74HC238&#65533;&#65533;C)
    //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;)
    //LPC_PWM1->MR5 = SRV_MAX_DUTY;//(SRV_MAX_DUTY + SRV_MIN_DUTY) / 2;
    //LPC_PWM1->MR6 = SRV_MAX_DUTY;//(SRV_MAX_DUTY + SRV_MIN_DUTY) / 2;

    LPC_PWM1->TCR = (1 << 0)|(1 << 3); // enable
    LPC_PWM1->PCR |= (0x3F << 9);//1-6 pwm
    LPC_PWM1->LER |= 0x7E;

    //__enable_irq();
    //__disable_irq();
    //NVIC_DisableIRQ(PWM1_IRQn);
    
    NVIC_SetPriority(PWM1_IRQn,0);//priority level (high)0~255(low)
    NVIC_EnableIRQ(PWM1_IRQn);//enable
}

void SetDuty(uint8_t ch, uint32_t duty){
    if(ch >= SRV_CH_NUM){
        return;
    }else if(duty < SRV_MIN_DUTY){
        duty = SRV_MIN_DUTY;
    }else if(duty > SRV_MAX_DUTY){
        duty = SRV_MAX_DUTY;
    }
    SRV_dutyTable[ch >> SRV_IDX_SHIFT][ch & SRV_IDX_MASK] = duty;
}