engine.c File Reference

#include <lpc21xx.h>
#include <deb_led.h>
#include <system_def.h>
#include "engine.h"

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Defines
#define	ENGINE_PIN_A   7
	PWM output for engine A, pin P0.7.
#define	ENGINE_PIN_B   8
	PWM output for engine B, pin P0.8.
#define	ENGINE_ENA   28
	Enable output for engine A, pin P1.28.
#define	ENGINE_ENB   30
	Enable output for engine B, pin P1.30.
#define	ENGINE_IN2A   27
	Direction output for engine A , pin P1.27.
#define	ENGINE_IN2B   29
	Direction output for engine A , pin P1.29.
#define	PWM_FREQ   20000
	PWM frequency.
#define	PWM_RES   100
	PWM resolution.
#define	PWM_STEP   ((CPU_APB_HZ / PWM_FREQ)/PWM_RES + 1)
	Calculates smallest step PWM for resolution 0~100%.
Functions
void	engine_A_en (unsigned status)
	Enables or disables the ouput on engine A.
void	engine_B_en (unsigned status)
	Enables or disables the ouput on engine B.
void	engine_A_dir (unsigned dir)
	Changes motor A direction.
void	engine_B_dir (unsigned dir)
	Changes motor B direction.
void	engine_A_pwm (unsigned pwm)
	Sets motor A PWM value.
void	engine_B_pwm (unsigned pwm)
	Sets motor B PWM value.
void	init_engine_A ()
	Inicializes Engine A - enables PWM outputs and sets IOs.
void	init_engine_B ()
	Inicializes Engine B - enables PWM outputs and sets IOs.
Variables
unsigned int	pwm_A = 0
	Actual value of PWM A.
unsigned int	pwm_B = 0
	Actual value of PWM B.

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Define Documentation

#define ENGINE_ENA   28

Enable output for engine A, pin P1.28.

#define ENGINE_ENB   30

Enable output for engine B, pin P1.30.

#define ENGINE_IN2A   27

Direction output for engine A , pin P1.27.

#define ENGINE_IN2B   29

Direction output for engine A , pin P1.29.

#define ENGINE_PIN_A   7

PWM output for engine A, pin P0.7.

#define ENGINE_PIN_B   8

PWM output for engine B, pin P0.8.

#define PWM_FREQ   20000

PWM frequency.

#define PWM_RES   100

PWM resolution.

#define PWM_STEP   ((CPU_APB_HZ / PWM_FREQ)/PWM_RES + 1)

Calculates smallest step PWM for resolution 0~100%.

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Function Documentation

void engine_A_dir

(

unsigned

dir

)

Changes motor A direction.

Parameters:

dir

direction parameters are defined in engine.h

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void engine_A_en

(

unsigned

status

)

Enables or disables the ouput on engine A.

Causes smooth stop, without break.

Parameters:

status

status parameters are defined in engine.h

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void engine_A_pwm

(

unsigned

pwm

)

Sets motor A PWM value.

Parameters:

pwm

Unsigned int, 0~100%

Note:

0 causes fast stop

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void engine_B_dir

(

unsigned

dir

)

Changes motor B direction.

Parameters:

dir

direction parameters are defined in engine.h

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void engine_B_en

(

unsigned

status

)

Enables or disables the ouput on engine B.

Causes smooth stop, without break.

Parameters:

status

status parameters are defined in engine.h

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void engine_B_pwm

(

unsigned

pwm

)

Sets motor B PWM value.

Parameters:

pwm

Unsigned int, 0~100%

Note:

0 causes fast stop

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void init_engine_A

(

)

Inicializes Engine A - enables PWM outputs and sets IOs.

Uses PWM channel - PWMMR2. If is somthing other set on PWM channels, it will affect the main PWM frequency If the engine B is set it will afect its output for one cycle

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void init_engine_B

(

)

Inicializes Engine B - enables PWM outputs and sets IOs.

Uses PWM channel - PWMMR2. If is somthing other set on PWM channels, it will affect the main PWM frequency If the engine A is set it will afect its output for one cycle

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Variable Documentation

unsigned int pwm_A = 0

Actual value of PWM A.

unsigned int pwm_B = 0

Actual value of PWM B.