Shundo Kishi
Controlor for Humanoid. Walking trajectory generator, sensor reflection etc.
Dependencies: Adafruit-PWM-Servo-Driver MPU6050 RS300 mbed
Revision 4:364582b47aab, committed 2012-09-15
- Comitter:
- syundo0730
- Date:
- Sat Sep 15 06:36:13 2012 +0000
- Parent:
- 3:84e5335fab91
- Child:
- 6:fae1b8c01b49
- Commit message:
- opp pre
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PWM/pwm.cpp Sat Sep 15 06:36:13 2012 +0000
@@ -0,0 +1,57 @@
+#include "pwm.h"
+
+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
+
+ 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(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;
+}
+
+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;
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PWM/pwm.h Sat Sep 15 06:36:13 2012 +0000
@@ -0,0 +1,40 @@
+#ifndef PWM_H_2012_08_28_
+#define PWM_H_2012_08_28_
+
+#include "LPC17xx.h"
+#include "mbed.h"
+
+class PWM {
+ private:
+ 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;//74HC238(A,B,C)
+ 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;//PWM
+ const uint8_t SRV_CH_NUM = SRV_IDX_NUM * SRV_BANK_NUM;
+
+ public:
+ void Init_PWM(void);
+ void SetDuty(uint8_t ch, uint32_t duty);
+}
+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}
+};
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void PWM1_IRQHandler();
+#ifdef __cplusplus
+}
+#endif
+
+#endif //PWM_H_2012_08_28_
\ No newline at end of file
--- a/Source3.cpp Thu Aug 30 12:41:50 2012 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,110 +0,0 @@
-#ifndef PWM_H_2012_08_28_
-#define PWM_H_2012_08_28_
-
-#include "LPC17xx.h"
-#include "mbed.h"
-
-const uint32_t SRV_PERIOD = 2500 - 1;//���/8
-const uint32_t SRV_MAX_DUTY = 2100 - 1;//�f���[�e�B�[�ő�l
-const uint32_t SRV_MIN_DUTY = 900 - 1;//�f���[�e�B�[�ŏ��l
-
-const uint8_t SRV_IDX_SHIFT = 3;//74HC238�C���f�b�N�X�̓�͒[�q��(A,B,C)
-const uint8_t SRV_IDX_NUM = 1 << SRV_IDX_SHIFT;//�C���f�b�N�X�̐�(8)
-const uint8_t SRV_IDX_MASK = SRV_IDX_NUM - 1;//�w��ch�̉�3bit����}�X�N���邽�߂̂��
-const uint8_t SRV_BANK_NUM = 3;//PWM���̖{��
-const uint8_t SRV_CH_NUM = SRV_IDX_NUM * SRV_BANK_NUM;//����”\�ȃT�[�{���[�^��
-
-volatile uint8_t SRV_Idx = 0;//�T�[�{�؂�ւ��p�̃J�E���^
-volatile uint32_t SRV_dutyTable[SRV_BANK_NUM][SRV_IDX_NUM];//�f���[�e�B�[�l
-
-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);
-
-#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->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->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(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;
-}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat Sep 15 06:36:13 2012 +0000
@@ -0,0 +1,16 @@
+#include "pwm.h"
+
+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);
+}
+
+
+