app/eb_ebb/engine.c

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   4
   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       // pin P0.7
  11 #define ENGINE_PIN_B    8       // pin P0.8
  12
  13 #define ENGINE_ENA      28      // pin P1.28
  14 #define ENGINE_ENB      30      // pin P1.30
  15 #define ENGINE_IN2A     25      //27    // pin P1.27
  16 #define ENGINE_IN2B     29      // pin P1.29
  17
  18 #define PWM_STEP ((CPU_APB_HZ / 20000)/100)
  19
  20 //unsigned int engineStep = 0;
  21
  22 void engine_A_en(unsigned status)
  23 {
  24         if (status == ENGINE_EN_ON)
  25                 IO1SET |= (1<<ENGINE_ENA);
  26         else
  27                 IO1CLR |= (1<<ENGINE_ENA);
  28 }
  29
  30 void engine_B_en(unsigned status)
  31 {
  32         if (status == ENGINE_EN_ON)
  33                 IO1SET |= (1<<ENGINE_ENB);
  34         else
  35                 IO1CLR |= (1<<ENGINE_ENB);
  36 }
  37
  38 void engine_A_dir(unsigned dir)
  39 {
  40         if (dir == ENGINE_DIR_BW)
  41                 IO1SET |= (1<<ENGINE_IN2A);
  42         else
  43                 IO1CLR |= (1<<ENGINE_IN2A);
  44
  45 }
  46
  47 void engine_B_dir(unsigned dir)
  48 {
  49         if (dir == ENGINE_DIR_BW)
  50                 IO1SET |= (1<<ENGINE_IN2B);
  51         else
  52                 IO1CLR |= (1<<ENGINE_IN2B);
  53 }
  54
  55 void engine_A_pwm(unsigned pwm)
  56 {
  57         if (pwm>100) pwm = 100;
  58         PWMMR2 = PWM_STEP  * pwm;
  59         PWMLER |= PWMLER_LA2_m;
  60
  61 }
  62
  63 void engine_B_pwm(unsigned pwm)
  64 {
  65         if (pwm>100) pwm = 100;
  66         PWMMR4 = PWM_STEP  * pwm;
  67         PWMLER |= PWMLER_LA4_m;
  68
  69 }
  70
  71 void init_engine_A()
  72 {
  73         PINSEL0 &= ~((PINSEL_3 << 14) );
  74         PINSEL0 |= (PINSEL_2 << 14) ;
  75
  76         IO0DIR |= (1<<ENGINE_PIN_A);
  77         IO1DIR |= (1<<ENGINE_ENA) | (1<<ENGINE_IN2A);
  78         IO1SET |= (1<<ENGINE_ENA) | (1<<ENGINE_IN2A);
  79
  80
  81         PWMPR = 0;
  82         PWMMR0 = CPU_APB_HZ / 20000;
  83
  84
  85
  86         PWMMR2 =0;      // PWM_STEP  * 30 ;
  87         //PWMMR4 = PWM_STEP  * 30 ;
  88         //PWMMR4 = 0;
  89
  90
  91         PWMPCR |= PWMPCR_PWMENA2_m;
  92         PWMLER |= PWMLER_LA0_m | PWMLER_LA2_m;
  93         PWMMCR |= PWMMCR_PWMMR0R_m;
  94         PWMTCR |= PWMTCR_CE_m | PWMTCR_EN_m;
  95 }
  96
  97 void init_engine_B()
  98 {
  99         PINSEL0 &= ~((PINSEL_3 << 16));
 100         PINSEL0 |= (PINSEL_2 << 16);
 101
 102         IO0DIR |= (1<<ENGINE_PIN_B);
 103         IO1DIR |= (1<<ENGINE_ENB) | (1<<ENGINE_IN2B);
 104
 105         IO1SET |= (1<<ENGINE_ENB) | (1<<ENGINE_IN2B);
 106
 107
 108         PWMPR = 0;
 109         PWMMR0 = CPU_APB_HZ / 20000;
 110
 111
 112
 113         //PWMMR2 = PWM_STEP  * 30 ;
 114         PWMMR4 = 0;// PWM_STEP  * 30 ;
 115         //PWMMR4 = 0;
 116
 117
 118         PWMPCR |= PWMPCR_PWMENA4_m;
 119         PWMLER |= PWMLER_LA0_m | PWMLER_LA4_m;
 120         PWMMCR |= PWMMCR_PWMMR0R_m;
 121         PWMTCR |= PWMTCR_CE_m | PWMTCR_EN_m;
 122 }
 123
 124
 125
 126
 127
 128 /*
 129         ((uint32_t*)&VICVectAddr0)[rx_isr_vect] = (unsigned long)tc1;          // Nastaveni adresy vektotu preruseni
 130         ((uint32_t*)&VICVectCntl0)[rx_isr_vect] = 0x20 | 0x5;                    // vyber casovece pro preruseni
 131         VICIntEnable = (1<<5);                  // Povoli obsluhu preruseni*/
 132