Ernesto Palacios / Mbed 2 deprecated DeslizadorUTN

Proyecto de Tesis en Mecatrónica. Universidad Técnica del Norte. Ernesto Palacios <mecatronica.mid@gmail.com>

Dependencies:   EthernetNetIf HTTPServer QEI_hw RPCInterface mbed

setup.cpp@2:a1b556d78a7f, 2012-03-24 (annotated)

Committer:
Yo_Robot
Date:
Sat Mar 24 04:40:21 2012 +0000
Revision:
2:a1b556d78a7f
Child:
3:8d5a9e3cd680
Works! Still needs to figure out how the period and match register works, but for a Stepper motor the base code is there!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yo_Robot 2:a1b556d78a7f 1 /// Codigo Fuente para configurar al
Yo_Robot 2:a1b556d78a7f 2
Yo_Robot 2:a1b556d78a7f 3 #include "setup.h"
Yo_Robot 2:a1b556d78a7f 4 #include "mbed.h"
Yo_Robot 2:a1b556d78a7f 5
Yo_Robot 2:a1b556d78a7f 6
Yo_Robot 2:a1b556d78a7f 7 // Esta variable global determina
Yo_Robot 2:a1b556d78a7f 8 // los incrementos del Preescaler
Yo_Robot 2:a1b556d78a7f 9 extern uint32_t PRESCALER_STEP;
Yo_Robot 2:a1b556d78a7f 10
Yo_Robot 2:a1b556d78a7f 11 // Salida Serial de mbed
Yo_Robot 2:a1b556d78a7f 12 extern Serial pc;
Yo_Robot 2:a1b556d78a7f 13
Yo_Robot 2:a1b556d78a7f 14
Yo_Robot 2:a1b556d78a7f 15 /** @brief: Esta función configura al Timer2
Yo_Robot 2:a1b556d78a7f 16 * para que las salidas p5 y p6 del mbed
Yo_Robot 2:a1b556d78a7f 17 * se alternen cada vez que se iguala al
Yo_Robot 2:a1b556d78a7f 18 * registro MR2 y MR3.
Yo_Robot 2:a1b556d78a7f 19 */
Yo_Robot 2:a1b556d78a7f 20 void Setup_PTO_Timer2()
Yo_Robot 2:a1b556d78a7f 21 {
Yo_Robot 2:a1b556d78a7f 22 // Encender Timer2 (PCONP[22])
Yo_Robot 2:a1b556d78a7f 23 LPC_SC->PCONP |= 1 << 22;
Yo_Robot 2:a1b556d78a7f 24
Yo_Robot 2:a1b556d78a7f 25 // Resetear y parar el Timer
Yo_Robot 2:a1b556d78a7f 26 LPC_TIM2->TCR = 0x2;
Yo_Robot 2:a1b556d78a7f 27 LPC_TIM2->CTCR = 0x0;
Yo_Robot 2:a1b556d78a7f 28
Yo_Robot 2:a1b556d78a7f 29 // Establecer el Preescaler inicial 0.5 seg
Yo_Robot 2:a1b556d78a7f 30 LPC_TIM2->PR = 100;
Yo_Robot 2:a1b556d78a7f 31
Yo_Robot 2:a1b556d78a7f 32 // Calcular el periodo
Yo_Robot 2:a1b556d78a7f 33 uint32_t periodo = ( SystemCoreClock / 4000 );
Yo_Robot 2:a1b556d78a7f 34
Yo_Robot 2:a1b556d78a7f 35 // Establecer los Registros de Coincidencia
Yo_Robot 2:a1b556d78a7f 36 // ( Match Register )
Yo_Robot 2:a1b556d78a7f 37 LPC_TIM2->MR2 = periodo;
Yo_Robot 2:a1b556d78a7f 38 LPC_TIM2->MR3 = periodo * 2;
Yo_Robot 2:a1b556d78a7f 39
Yo_Robot 2:a1b556d78a7f 40 LPC_TIM2->MCR |= 1 << 10; // Resetear Timer en MR3
Yo_Robot 2:a1b556d78a7f 41
Yo_Robot 2:a1b556d78a7f 42 LPC_TIM2->EMR |= 15UL << 8; // Alternar Pin MAT2.2
Yo_Robot 2:a1b556d78a7f 43 // y MAT2.3
Yo_Robot 2:a1b556d78a7f 44
Yo_Robot 2:a1b556d78a7f 45 LPC_PINCON->PINSEL0 |= 15UL << 16; //Activar MAT2.2
Yo_Robot 2:a1b556d78a7f 46 // y MAT2.3 como salidas
Yo_Robot 2:a1b556d78a7f 47
Yo_Robot 2:a1b556d78a7f 48 // Arrancer el Timer 2
Yo_Robot 2:a1b556d78a7f 49 LPC_TIM2->TCR = 1;
Yo_Robot 2:a1b556d78a7f 50
Yo_Robot 2:a1b556d78a7f 51 }
Yo_Robot 2:a1b556d78a7f 52
Yo_Robot 2:a1b556d78a7f 53
Yo_Robot 2:a1b556d78a7f 54 /** @brief: Esta es la rutina que maneja las interrupciones
Yo_Robot 2:a1b556d78a7f 55 * seriales, al recibir un caracter.
Yo_Robot 2:a1b556d78a7f 56 */
Yo_Robot 2:a1b556d78a7f 57 void ISR_Serial()
Yo_Robot 2:a1b556d78a7f 58 {
Yo_Robot 2:a1b556d78a7f 59 char c = pc.getc();
Yo_Robot 2:a1b556d78a7f 60
Yo_Robot 2:a1b556d78a7f 61 if( c == 'w')
Yo_Robot 2:a1b556d78a7f 62 setPeriodUp();
Yo_Robot 2:a1b556d78a7f 63 else if( c == 's')
Yo_Robot 2:a1b556d78a7f 64 setPeriodDown();
Yo_Robot 2:a1b556d78a7f 65
Yo_Robot 2:a1b556d78a7f 66 else if( c == 'z')
Yo_Robot 2:a1b556d78a7f 67 {
Yo_Robot 2:a1b556d78a7f 68 float newStep;
Yo_Robot 2:a1b556d78a7f 69 pc.printf("\nIntroducir nuevo paso: ");
Yo_Robot 2:a1b556d78a7f 70 pc.scanf( "%d", &newStep );
Yo_Robot 2:a1b556d78a7f 71 setPeriodStep( newStep );
Yo_Robot 2:a1b556d78a7f 72 }
Yo_Robot 2:a1b556d78a7f 73
Yo_Robot 2:a1b556d78a7f 74 }
Yo_Robot 2:a1b556d78a7f 75
Yo_Robot 2:a1b556d78a7f 76
Yo_Robot 2:a1b556d78a7f 77 /** @brief: Esta Funcion incrementará el preescaler
Yo_Robot 2:a1b556d78a7f 78 * del timer en un paso.
Yo_Robot 2:a1b556d78a7f 79 */
Yo_Robot 2:a1b556d78a7f 80 void setPeriodUp()
Yo_Robot 2:a1b556d78a7f 81 {
Yo_Robot 2:a1b556d78a7f 82 // Es muy dícil llegar a un límite superior
Yo_Robot 2:a1b556d78a7f 83 // de 4294967295 para los 32bit del preescaler
Yo_Robot 2:a1b556d78a7f 84 // Pero quizás haga falta chequear el
Yo_Robot 2:a1b556d78a7f 85
Yo_Robot 2:a1b556d78a7f 86 LPC_TIM2->PR += PRESCALER_STEP;
Yo_Robot 2:a1b556d78a7f 87 }
Yo_Robot 2:a1b556d78a7f 88
Yo_Robot 2:a1b556d78a7f 89
Yo_Robot 2:a1b556d78a7f 90 /** @brief: Esta Funcion decrementará el preescaler
Yo_Robot 2:a1b556d78a7f 91 * del timer en un paso.
Yo_Robot 2:a1b556d78a7f 92 */
Yo_Robot 2:a1b556d78a7f 93 void setPeriodDown()
Yo_Robot 2:a1b556d78a7f 94 {
Yo_Robot 2:a1b556d78a7f 95 uint32_t prescaler = (uint32_t ) LPC_TIM2->PR ;
Yo_Robot 2:a1b556d78a7f 96
Yo_Robot 2:a1b556d78a7f 97 if( prescaler > PRESCALER_STEP )
Yo_Robot 2:a1b556d78a7f 98 LPC_TIM2->PR -= PRESCALER_STEP;
Yo_Robot 2:a1b556d78a7f 99 }
Yo_Robot 2:a1b556d78a7f 100
Yo_Robot 2:a1b556d78a7f 101
Yo_Robot 2:a1b556d78a7f 102 /** @brief: Esta Funcion Cambiara los pasos en los que
Yo_Robot 2:a1b556d78a7f 103 * se aumenta o disminuye el Preescaler.
Yo_Robot 2:a1b556d78a7f 104 */
Yo_Robot 2:a1b556d78a7f 105 void setPeriodStep( uint32_t newStep )
Yo_Robot 2:a1b556d78a7f 106 {
Yo_Robot 2:a1b556d78a7f 107 PRESCALER_STEP = newStep;
Yo_Robot 2:a1b556d78a7f 108 }