Revision 0:da3eb35a2787, committed 2012-04-09

Comitter:

Yo_Robot

Date:

Mon Apr 09 03:10:30 2012 +0000

Commit message:

version0.2 PTO using Timer2

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L293D/L293D.cpp	Mon Apr 09 03:10:30 2012 +0000
@@ -0,0 +1,62 @@
+
+#include "mbed.h"
+#include "L293D.h"
+
+// Constructor
+ L293D::L293D( PwmOut pwmLeft, PwmOut pwmRight, DigitalOut left, DigitalOut right )
+     :_left(left), _right(right),_pwmLeft( pwmLeft ), _pwmRight( pwmRight ){
+    
+        _pwmLeft  = 0.0;
+        _pwmRight = 0.0;
+        
+        _left = 0;
+        _right= 0;
+                        
+}
+
+void L293D::setSpeedLeft( float speed )
+{
+    _speedLeft = speed;
+    
+    _left = ( speed > 0.0 );
+    _pwmLeft = abs( speed );
+
+}
+
+void L293D::setSpeedRight( float speed )
+{
+    _speedRight = speed;
+    _right    = ( speed > 0.0 );
+    _pwmRight = abs( speed );
+
+}
+
+
+float L293D::getSpeedLeft()
+{
+    float temp = _pwmLeft.read();
+        
+    // This is done to ensure a -1.0 to 1.0 value is returned
+    if( _speedLeft > 0 )
+        return temp;
+    else
+        return temp * -1;
+    
+}
+
+float L293D::getSpeedRight()
+{
+    float temp = _pwmRight.read();
+    
+    // This is done to ensure a -1.0 to 1.0 value is returned
+    if( _speedRight > 0 )
+        return temp;
+    else
+        return temp * -1;
+    
+}
+
+
+
+
+    

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L293D/L293D.h	Mon Apr 09 03:10:30 2012 +0000
@@ -0,0 +1,98 @@
+#ifndef L293D_H
+#define L293d_H
+
+#include "mbed.h"
+
+/**@brief  Class to handle L293D in two modes, Pwm or Digital.
+ * Pwm Mode requires constructing an object with two PwmOut'puts to handle Speed.
+ * Enable, or Digital Mode requires One DigitalOut'put to Enable or Disable both sides
+ * of the L293D driver.
+ *
+ * This of course requires an 'special' wiring of the driver, using one transistor for each side.
+ * The transistor is effectively a NOT gate, assuring that the direction of the current of the 
+ * driver output will be controlled using just one pin.
+ *                                                  _____________
+ *                               Enable/ Pwm --->[1] 
+ *                   _5V__                         |      L
+ *                     |         _______________ [2]
+ *                    _|_       /                  |      2
+ *                   |  |       |       ---------[3]
+ *                   |1k|       |       |          |      9
+ *                   |__|       |       |   (GND)[4]
+ *                    /_________/     ( ~ )        |      3
+ * _left            |/                  |   (GND)[5]
+ * -.---|470ohm|----|\  (Q 2N3904)      |          |
+ *  |               | \                 | -------[6]      D
+ *  |                  |_(GND)                     |    
+ *  |                                              |
+ *  \___________________________________________ [7]
+ *                                                 |
+ *                                       5~15V-->[8]_____________
+ *
+ * Hope you get my ASCII Art.  same goes for the other side, thus allowing a complete control of the driver 
+ * with a few pins.
+ *
+ * Also for Sake of Simplicity SetSpeedLeft/Right will control Motor Speed and Direction, from -1.0 to 1.0 
+ * Reverse if < 0.
+ */
+class L293D{
+
+public:
+
+    /**@brief
+     * Two PWM for speed Cpntrol & two digital outs needed for setting direction 
+     * on each side of the L293D.
+     * @param left:  Output to the left side of the driver
+     * @param right: Output to the right side of the driver
+     * @param pwmLeft: Left side PWM.
+     * @param pwmRight: Right side PWM.
+     */
+    L293D( PwmOut pwmLeft, PwmOut right, DigitalOut left, DigitalOut right );
+    
+    
+    /**@brief
+     * Set the left PWM to current speed and Direction.
+     * Values from -1.0 to 1.0, to control direction and speed,
+     * if Enable mode, only use -1.0 & 1.0
+     */
+    void setSpeedLeft( float speed );
+    
+    
+    /**@brief
+     * Set the right PWM to current speed and direction.
+     * Values from -1.0 to 1.0, to control direction and speed,
+     * if Enable mode, only use -1.0 & 1.0
+     * Only to use when PWM mode is declared
+     */
+    void setSpeedRight( float speed );
+    
+    
+    /**@brief
+     * Read the left PWM current speed & direction
+     * Ranges from -1.0 to 1.0, as being set.
+     * @return Current PWM duty cycle.
+     */
+    float getSpeedLeft();
+    
+    
+    /**@brief
+     * Read the left PWM current speed & direction.
+     * Ranges from -1.0 to 1.0 as being set.
+     * @return Current PWM duty cycle.
+     */
+    float getSpeedRight();
+    
+    
+private:
+
+    DigitalOut _left;
+    DigitalOut _right;
+    PwmOut _pwmLeft;
+    PwmOut _pwmRight;
+    
+    float _speedLeft;
+    float _speedRight;
+    
+};
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/config.cpp	Mon Apr 09 03:10:30 2012 +0000
@@ -0,0 +1,133 @@
+/// Codigo Fuente para configurar al 
+
+#include "config.h"
+#include "mbed.h"
+
+// Salida Serial de mbed
+extern Serial pc;
+
+
+/** @brief: Esta funcion configura al Timer2
+ *  para que las salidas p5 y p6 del mbed
+ *  se alternen cada vez que se iguala al
+ *  registro MR2 y MR3.
+ */
+void Setup_PTO_Timer2()
+{
+    // Encender Timer2 (PCONP[22])
+    LPC_SC->PCONP |= 1 << 22; 
+
+    // Resetear y parar el Timer
+    LPC_TIM2->TCR  = 0x2; 
+    LPC_TIM2->CTCR = 0x0; 
+
+    // Establecer el Preescaler inicial 0.5 seg
+    LPC_TIM2->PR = 100;
+
+    // Calcular el periodo 
+    uint32_t periodo = 240; 
+
+    // Establecer los Registros de Coincidencia
+    // ( Match Register )
+    LPC_TIM2->MR2 = periodo;
+    LPC_TIM2->MR3 = periodo * 2;
+    
+    LPC_TIM2->MCR |= 1 << 10;    // Resetear Timer en MR3
+    
+    LPC_TIM2->EMR |= 15UL << 8;  // Alternar Pin MAT2.2 
+                                //      y MAT2.3
+
+    LPC_PINCON->PINSEL0 |= 15UL << 16;  //Activar  MAT2.2 
+                                       // y MAT2.3 como salidas
+    
+}
+
+
+/** @brief: Esta es la rutina que maneja las interrupciones
+ *  seriales, al recibir un caracter.
+ */
+void ISR_Serial()
+{
+    int newValue;
+    char command;
+
+    pc.scanf( "%d-%c", &newValue, &command ) ;
+    pc.printf("\n %d-%c \n", newValue, command );
+
+    if( command == 'p')
+       setPrescaler( newValue );
+    else if( command == 'm')
+        setMR2( newValue );
+    else if( command == 'n')
+        setMR3( newValue );
+    else if( command == 'a')
+        startTimer2();
+    else if( command == 's')
+        stopTimer2();
+    else if( command == 'l' )
+        setPhaseAB();
+    else if( command == 'r' )
+        setPhaseBA();
+}
+
+
+/** @brief: Esta Funcion cambia el preescaler
+ *  directamente
+ */
+void setPrescaler( int newValue)
+{
+    LPC_TIM2->PR = newValue; 
+}
+
+
+void setMR2( int newValue )
+{
+    LPC_TIM2->MR2 = newValue;
+}
+
+
+void setMR3( int newValue )
+{
+    LPC_TIM2->MR3 = newValue;
+}
+
+void startTimer2()
+{
+    // Arrancer el Timer 2
+    LPC_TIM2->TCR = 1;
+}
+
+void stopTimer2()
+{
+    // Arrancer el Timer 2
+    LPC_TIM2->TCR = 0x2;
+}
+
+void setPhaseAB()
+{
+    // Calcular el periodo 
+    uint32_t periodo = 240; 
+
+    // Establecer los Registros de Coincidencia
+    // ( Match Register )
+    LPC_TIM2->MR2 = periodo;
+    LPC_TIM2->MR3 = periodo * 2;
+    
+    LPC_TIM2->MCR |= 1 << 10;    // Resetear Timer en MR3
+    LPC_TIM2->MCR &= ~( 1 << 7 );    // Resetear Timer en MR3
+}
+
+
+void setPhaseBA()
+{
+    // Calcular el periodo 
+    uint32_t periodo = 240; 
+
+    // Establecer los Registros de Coincidencia
+    // ( Match Register )
+    LPC_TIM2->MR2 = periodo * 2;
+    LPC_TIM2->MR3 = periodo;
+    
+    LPC_TIM2->MCR |= 1 << 7;    // Resetear Timer en MR2
+    LPC_TIM2->MCR &= ~( 1 << 10 );    // Resetear Timer en MR3
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/config.h	Mon Apr 09 03:10:30 2012 +0000
@@ -0,0 +1,43 @@
+
+#ifndef SETUP_H
+#define SETUP_H
+
+#include "mbed.h"
+
+/**@brief
+ *
+ */
+void Setup_PTO_Timer2();
+
+
+
+void ISR_Serial();
+
+
+
+void setPrescaler( int newValue );
+
+
+
+void setMR2( int newValue );
+
+
+
+void setMR3( int newValue );
+
+
+
+void stopTimer2();
+
+
+
+void startTimer2();
+
+
+
+void setPhaseAB();
+
+
+void setPhaseBA();
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 09 03:10:30 2012 +0000
@@ -0,0 +1,21 @@
+// This code is for controlling a bipolar stepper motor
+// using an L293D driver
+ 
+#include "mbed.h"
+#include "config.h"
+
+Serial     pc( USBTX, USBRX );
+
+void Setup_PTO_Timer2();
+void ISR_Serial();
+
+int main() {
+    
+    Setup_PTO_Timer2();
+    pc.attach( &ISR_Serial );
+
+    while(1) {
+   
+    
+     }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Apr 09 03:10:30 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912