XMOSチップによる自走式 倒立制御実験装置の開発
Contents
1. C float float Int HPC H Nakahara HPC H Nakahara HPC H Nakahara Acrobat HPC H Nakahara LEBD Acrobat Current HPC H Nakahara HPC H Nakahara HPC H Nakahara HPC H Nakahara HPC H Nakahara void RotaryENC inport A pos inport A neg inport B pos in port B_neg chanend Count Ch A_pos A_ neg int count 0 unsigned HL while 1 select caseA pos when pinsneq 0x0 gt void A B_pos gt HL if HL 0 count count 1 else count count 1 break case A neg when pinsned 0xf gt void A B_pos gt HL if HL 1 count count 1 else count count 1 break case B_pos when pinsneq 0x0 gt void B Count Ch lt count HPC H Nakahara Void Current_ AD out port CS out port SCLK in port Data chanend Cur_AD unsigned tm int di timer t t gt tm tm tm 20000 200micro while 1 d ADC12 CS SCLK Data Cur_ AD lt d 4 7 10bit ADC t when timerafter tm gt void 200micro tm tm 20000 202. 1 D HPC H Nakahara PUPPY HPC H Nakaharg 7 Up to 64 O Pins HPC H Nakahara HPC H Nakahara TOP VIEW MAX187 MAX189 ane tcso a tow 3 km Am tL a HPC H Nakahara HPC H Nakahara DIP DIP TED XS1 L 1 yy acrobat Acrobat Current HPC H Nakahara HPC H Nakahara HPC H Nakahara HPC H Nakahara HPC H Nakahara HPC H Nakahara ReadCh WriteCh HPC H Nakahara HPC H Nakahara Status Acrobat HPC H Nakahara HPC H Nakahara C float int float float Int HPC H Nakahara DIP HPC H Nakahara DIP HPC H Nakahara Status Acrobat
3. 0micro HPC H Nakahara int ADC12 out port CS out port SCLK in port Data for int O i lt 12 1 12bit SCLK lt 0x01 13 t when timerafter now 50 gt now 500 ns SCLK lt 0x0 CS lt 0x1 ll END t when timerafter now 50 gt now 500 ns return int AD_Data HPC H Nakahara Void Gyro_AD out port CS out port SCLK in port Data chanend Gyro int d offset waitms 500 ON 0 5 for int 0 i 100 1 7 100 1 offset offset ADC12 CS SCLK Data waitms 10 offset offset 100 offset while 1 d ADC12 CS SCLK Data Gyro lt d offset 4 10 bit ADC waitms 10 10ms HPC H Nakahara int ADC12 out port CS out port SCLK in port Data unsidgned now unsigned AD_Data 0O tmp 0 timer t AD_Data 0 CS lt 0x0 ll Start t gt now t when timerafter now 1000 gt now COnversion Time 10 micro for int 1 0 i lt 12 1 12bit SCLK lt 0x01 t when timerafter now 50 gt now 500 ns SCLK lt 0x0 t when timerafter now 10 gt now 100 ns Data gt tmp AD_Data AD_Data 2 tmp MSB Shift plus Obit t when timerafter now 10 gt now 100 ns PIE HPC H Nakahara void DIPswitc
4. HPC H Nakahara ENC_A P14 i i TEIFIP PUPPY HPC H Nakahara rt HPC H Nakahara PUPPY http Www hokutodenshi co p XMOS HPC H Nakahara UE ENCO3 Vcc VoUT Sjcno REF Fe 3 R13 _ PUPPY HPC HL Nakahara PUPPY PUPPY f HPC H Nakahara r 2 m PUPPY HPC H Nakahara 0 gg PUPPY HPC H Nakahara 90 1 0OlHgD To a an 9 1 tt a Uy i 3 mt b PUPPY HPC H Nakahara 11 HPC H Nakahara G a a c ig 9 0 PUPPY HPC H Nakahara k l xlk 0 CANT s Ti eTx erdsBu k PUPPY HPC H Nakahara 1 A_xk B ulk PUPPY HPC H Nakahara PUPPY HPC H Nakahara H
5. h chanend DIPch in port DIPsw 7 DIPsw 4bit Port DIPch int st 0 DIPch gt int _ DIPsw gt st DIPch lt st HPC H Nakahara HPC H Nakahara HPC H Nakahara HPC H Nakahara HPC H Nakahara HPC H Nakahara CSP HPC H Nakahara
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