app/eb_ebb/engine.c

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   5 #include <lpc21xx.h>
   6 #include <deb_led.h>
   7 #include <system_def.h>
   8 #include "engine.h"
   9
  10 #define ENGINE_PIN_A    7       ///< PWM output for engine A, pin P0.7
  11 #define ENGINE_PIN_B    8       ///< PWM output for engine B, pin P0.8
  12
  13 #define ENGINE_ENA      28      ///< Enable output for engine A, pin P1.28
  14 #define ENGINE_ENB      30      ///< Enable output for engine B, pin P1.30
  15
  16 #define ENGINE_IN2A     27      ///< Direction output for engine A , pin P1.27
  17 #define ENGINE_IN2B     29      ///< Direction output for engine A , pin P1.29
  18
  19 #define PWM_FREQ        20000   ///< PWM frequency
  20 #define PWM_RES         100     ///< PWM resolution
  21
  22 #define PWM_STEP ((CPU_APB_HZ / PWM_FREQ)/PWM_RES + 1)  ///< Calculates smallest step PWM for resolution 0~100%
  23
  24
  25
  26 unsigned int pwm_A = 0;         ///< Actual value of PWM A
  27 unsigned int pwm_B = 0;         ///< Actual value of PWM B
  28
  29
  30 /**
  31  *  Enables or disables the ouput on engine A. Causes smooth stop, without break.
  32  *
  33  * @param status        status parameters are defined in engine.h
  34  *
  35  */
  36 void engine_A_en(unsigned status)
  37 {
  38         if (status == ENGINE_EN_ON)
  39                 IO1SET |= (1<<ENGINE_ENA);
  40         else
  41                 IO1CLR |= (1<<ENGINE_ENA);
  42 }
  43
  44 /**
  45  *  Enables or disables the ouput on engine B. Causes smooth stop, without break.
  46  *
  47  * @param status        status parameters are defined in engine.h
  48  *
  49  */
  50 void engine_B_en(unsigned status)
  51 {
  52         if (status == ENGINE_EN_ON)
  53                 IO1SET |= (1<<ENGINE_ENB);
  54         else
  55                 IO1CLR |= (1<<ENGINE_ENB);
  56 }
  57
  58 /**
  59  *  Changes motor A direction
  60  *
  61  * @param dir   direction parameters are defined in engine.h
  62  *
  63  */
  64 void engine_A_dir(unsigned dir)
  65 {
  66         if (dir == ENGINE_DIR_BW)
  67                 IO1SET |= (1<<ENGINE_IN2A);
  68         else
  69                 IO1CLR |= (1<<ENGINE_IN2A);
  70
  71         engine_A_pwm(pwm_A);
  72
  73 }
  74
  75 /**
  76  *  Changes motor B direction
  77  *
  78  * @param dir   direction parameters are defined in engine.h
  79  *
  80  */
  81 void engine_B_dir(unsigned dir)
  82 {
  83         if (dir == ENGINE_DIR_BW)
  84                 IO1SET |= (1<<ENGINE_IN2B);
  85         else
  86                 IO1CLR |= (1<<ENGINE_IN2B);
  87
  88         engine_B_pwm(pwm_B);
  89 }
  90
  91 /**
  92  *  Sets motor A PWM value
  93  *
  94  * @param pwm   Unsigned int, 0~100%
  95  *
  96  * @note 0 causes fast stop
  97  */
  98 void engine_A_pwm(unsigned pwm)
  99 {
 100         if (pwm>100) pwm = 100;
 101
 102         pwm_A = pwm;
 103         if (IO1PIN & (1<<ENGINE_IN2A))  PWMMR2 = PWM_STEP  * (100 - pwm);
 104         else PWMMR2 = PWM_STEP  * (pwm);
 105         PWMLER |= PWMLER_LA2_m;
 106
 107 }
 108
 109 /**
 110  *  Sets motor B PWM value
 111  *
 112  * @param pwm   Unsigned int, 0~100%
 113  *
 114  * @note 0 causes fast stop
 115  */
 116 void engine_B_pwm(unsigned pwm)
 117 {
 118         if (pwm>100) pwm = 100;
 119         pwm_B = pwm;
 120         if (IO1PIN & (1<<ENGINE_IN2B))  PWMMR4 = PWM_STEP  * (100 - pwm);
 121         else PWMMR4 = PWM_STEP  * (pwm);
 122         PWMLER |= PWMLER_LA4_m;
 123
 124 }
 125
 126
 127 /**
 128  *  Inicializes Engine A - enables PWM outputs and sets IOs. Uses PWM channel - PWMMR2.
 129  *  If is somthing other set on PWM channels, it will affect the main PWM frequency
 130  *  If the engine B is set it will afect its output for one cycle
 131  *
 132  *
 133  */
 134 void init_engine_A()
 135 {
 136         PINSEL0 &= ~((PINSEL_3 << 14) );
 137         PINSEL0 |= (PINSEL_2 << 14) ;
 138
 139         IO0DIR |= (1<<ENGINE_PIN_A);
 140         IO1DIR |= (1<<ENGINE_ENA) | (1<<ENGINE_IN2A);
 141         IO1SET |= (1<<ENGINE_ENA) | (1<<ENGINE_IN2A);
 142
 143         PWMPR = 0;
 144         PWMMR0 = CPU_APB_HZ / 20000;
 145
 146         PWMMR2 =0;
 147
 148         PWMPCR |= PWMPCR_PWMENA2_m;
 149         PWMLER |= PWMLER_LA0_m | PWMLER_LA2_m;
 150         PWMMCR |= PWMMCR_PWMMR0R_m;
 151         PWMTCR |= PWMTCR_CE_m | PWMTCR_EN_m;
 152 }
 153
 154 /**
 155  *  Inicializes Engine B - enables PWM outputs and sets IOs. Uses PWM channel - PWMMR2.
 156  *  If is somthing other set on PWM channels, it will affect the main PWM frequency
 157  *  If the engine A is set it will afect its output for one cycle
 158  *
 159  *
 160  */
 161 void init_engine_B()
 162 {
 163         PINSEL0 &= ~((PINSEL_3 << 16));
 164         PINSEL0 |= (PINSEL_2 << 16);
 165
 166         IO0DIR |= (1<<ENGINE_PIN_B);
 167         IO1DIR |= (1<<ENGINE_ENB) | (1<<ENGINE_IN2B);
 168
 169         IO1SET |= (1<<ENGINE_ENB) | (1<<ENGINE_IN2B);
 170
 171
 172         PWMPR = 0;
 173         PWMMR0 = CPU_APB_HZ / 20000;
 174
 175         PWMMR4 = 0;
 176
 177         PWMPCR |= PWMPCR_PWMENA4_m;
 178         PWMLER |= PWMLER_LA0_m | PWMLER_LA4_m;
 179         PWMMCR |= PWMMCR_PWMMR0R_m;
 180         PWMTCR |= PWMTCR_CE_m | PWMTCR_EN_m;
 181 }