![](/media/cache/profiles/e5815151957be36ad2085b7a1a02c5cc.jpg.50x50_q85.jpg)
Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.
Dependencies: Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed
Source3.cpp
- Committer:
- syundo0730
- Date:
- 2012-08-29
- Revision:
- 1:5c2e40445778
- Parent:
- 0:d114194bff43
- Child:
- 2:8a40834788ba
File content as of revision 1:5c2e40445778:
#ifndef PWM_H_2012_08_28_ #define PWM_H_2012_08_28_ #include "LPC17xx.h" #include "mbed.h" const int SRV_PERIOD = 2500 - 1;//���/8 const int SRV_MAX_DUTY = 2100 - 1;//�f���[�e�B�[�ő�l const int SRV_MIN_DUTY = 900 - 1;//�f���[�e�B�[�ŏ��l const int SRV_IDX_SHIFT = 3;//74HC238�C���f�b�N�X�̓�͒[�q��(A,B,C) const int SRV_IDX_NUM = 1 << SRV_IDX_SHIFT;//�C���f�b�N�X�̐�(8) const int SRV_IDX_MASK = SRV_IDX_NUM - 1;//�w��ch�̉�3bit����}�X�N���邽�߂̂�� const int SRV_BANK_NUM = 3;//PWM���̖{�� const int SRV_CH_NUM = SRV_IDX_NUM * SRV_BANK_NUM;//����”\�ȃT�[�{���[�^�� volatile short int SRV_Idx = 0;//�T�[�{�؂�ւ��p�̃J�E���^ volatile short int SRV_dutyTable[SRV_BANK_NUM][SRV_IDX_NUM];//�f���[�e�B�[�l const short int 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(short int ch, short int duty); #endif //PWM_H_2012_08_28_ #ifdef __cplusplus extern "C" { void PWM1_IRQHandler(); } #endif int main(void) { for(int i = 0; i < SRV_CH_NUM; i++) { SetDuty(i, (SRV_MAX_DUTY + SRV_MIN_DUTY) / 2); } Init_PWM(); while (1); } void PWM1_IRQHandler (void) { LPC_PWM1->TCR = (1 << 1);//reset LPC_PWM1->PR = SystemCoreClock / 4 / 1000000 - 1; // prescale 1000kHz(1us����)�����񂲂ƂɃ^�C�}�J�E���^��J�E���g�A�b�v���邩�Ƃ����ݒ� LPC_PWM1->CTCR = 0; LPC_PWM1->MCR |= (1 << 1)|(1 << 0); // MR0R, MR0 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->TCR = (1 << 0)|(1 << 3); // enable LPC_PWM1->PCR |= (0x3F << 9);//1-6 pwm 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->TCR = (1 << 1);//reset LPC_PWM1->PR = SystemCoreClock / 4 / 1000000 - 1; // prescale 1000kHz(1us����)�����񂲂ƂɃ^�C�}�J�E���^��J�E���g�A�b�v���邩�Ƃ����ݒ� LPC_PWM1->CTCR = 0; LPC_PWM1->MCR |= (1 << 1)|(1 << 0); // MR0R, MR0 LPC_PWM1->MR0 = SRV_PERIOD; // PWM(74HC238��G1)���2500us //LPC_PWM1->MR1 = SRV_MAX_DUTY;//SRV_PERIOD; // �؂�ւ����(74HC238��A)1 //LPC_PWM1->MR2 = SRV_MAX_DUTY;//SRV_PERIOD; // �؂�ւ����(74HC238��B) //LPC_PWM1->MR3 = SRV_MAX_DUTY;//SRV_PERIOD; // �؂�ւ����(74HC238��C) //LPC_PWM1->MR4 = SRV_MAX_DUTY;//(SRV_MAX_DUTY + SRV_MIN_DUTY) / 2; //PWM(74HC238��G1)�f���[�e�B�[(�j���[�g����) //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->IR |= (1<<0);//reset PWMMR0 flag NVIC_EnableIRQ(PWM1_IRQn);//enable LPC_PWM1->TCR = (1 << 0)|(1 << 3); // enable LPC_PWM1->PCR |= (0x3F << 9);//1-6 pwm __enable_irq(); } void SetDuty(short int ch, short int 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; }