@unpublished{upm56387,
          author = {Esteban D{\'i}az Lago},
            year = {2019},
         address = {Madrid},
           month = {July},
           title = {Gesti{\'o}n de los perif{\'e}ricos de la plataforma CPWalker mediante el microcontrolador F28379D},
        keywords = {Par{\'a}lisis cerebral; Pediatr{\'i}a; Rehabilitaci{\'o}n},
             url = {https://oa.upm.es/56387/},
        abstract = {La microprogramaci{\'o}n a diferencia de la programaci{\'o}n prop{\'o}sito general, utiliza instrucciones de bajo nivel para el control de aparatos electr{\'o}nicos. En este proyecto se desarrollar{\'a} el control del exoesqueleto rob{\'o}tico de la plataforma rob{\'o}tica CPWalker, basado en la tarjeta de desarrollo de Texas Instruments TMS320F28379D. La plataforma CPWalker fue dise{\~n}ada para la rehabilitaci{\'o}n de ni{\~n}os con par{\'a}lisis cerebral, desarrollada por el Grupo de Ingenier{\'i}a Neuronal y Cognitiva perteneciente al Centro de Autom{\'a}tica y Rob{\'o}tica del CSIC. Actualmente implementado mediante la herramienta Matlab-Simulink, el sistema de control genera las trayectorias de los movimientos necesarios para la recuperaci{\'o}n de la movilidad en las piernas de estos ni{\~n}os y controla el movimiento de los actuadores de la plataforma. La finalidad de este proyecto es conseguir gestionar los perif{\'e}ricos del microcontrolador directamente, mediante c{\'o}digo C, y establecer un entorno para la programaci{\'o}n de las rutinas de control. Esto posibilita configurar los perif{\'e}ricos del microcontrolador de forma m{\'a}s precisa y vers{\'a}til y sin las restricciones impuestas por Matlab-Simulink. La programaci{\'o}n se ha realizado con la herramienta Code Composer Studio, la cual incluye las librer{\'i}as necesarias para el control del microcontrolador. Los principales buses de comunicaci{\'o}n que se han implementado son el bus CAN y el bus SPI, para la recepci{\'o}n de los sensores del robot, y la gesti{\'o}n de los actuadores respectivamente. Adem{\'a}s, mediante el uso de temporizadores se ha conseguido garantizar la sincron{\'i}a en la ejecuci{\'o}n de los algoritmos de control desarrollados externamente en Matlab-Simulink.  Abstract: Microprogramming, in contrast with general purpose programming, uses low-level instructions for the control of electronic devices. In this Project, I developed, the control architecture of the robotic exoskeleton CPWalker, based on the Texas Instruments development card TMS320F28379D. The CPWalker platform was designed for the rehabilitation of children with cerebral palsy, by the Neuronal and Cognitive Engineering Group which belongs to the Center for Automation and Robotics CSIC. The control architecture of this robotic device is currently implemented through the Real-Time Workshop toolbox of Matlab-Simulink. This control architecture is reponsible for the generation of the legs trajectories, by controlling the actuators of the platform, necessary for the gait training of these children. The purpose of this project is to directly manage the peripherals of the microcontroller directly, using C code, and to establish an environment for the programming of the control routines. This makes it possible to configure the peripherals of the microcontroller in a more precise and versatile way, without the restrictions imposed by Matlab-Simulink. The programming was done with the Code Composer Studio tool, which includes the necessary libraries for the control of the microcontroller. The main communication buses that have been implemented are the CAN bus and the SPI bus, for the reception of the robot sensors, and the management of the actuators respectively. In addition, by using timers it has been possible to guarantee the synchronization with the execution of control algorithms developed externally in Matlab-Simulink.}
}