Diff: main.cpp

Revision:

0:22d9384f2094

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Sep 09 00:24:18 2016 +0000
@@ -0,0 +1,136 @@
+//------------------------------------------------------------------//
+//Supported MCU:   RZ/A1H
+//File Contents:   Motor Control (GR-PEACH version on the Micon Car)
+//Version number:  Ver.1.00
+//Date:            2016.09.09
+//Copyright:       Renesas Electronics Corporation
+//                 Hitachi Document Solutions Co., Ltd.
+//------------------------------------------------------------------//
+ 
+//This program supports the following boards:
+//* GR-PEACH(E version)
+//* Motor drive board Ver.5
+//* Camera module (SC-310)
+ 
+//Include
+//------------------------------------------------------------------//
+#include "mbed.h"
+#include "iodefine.h"
+#include "PwmOutResetSync.h"
+ 
+//Define
+//------------------------------------------------------------------//
+//Motor speed
+#define     MAX_SPEED           85      /* motor()  set: 0 to 100   */
+ 
+//Constructor
+//------------------------------------------------------------------//
+Ticker      interrput;
+DigitalOut  Left_motor_signal(P4_6);
+DigitalOut  Right_motor_signal(P4_7);
+PwmOutResetSync pwm_l(P4_4);
+PwmOutResetSync pwm_r(P4_5);
+ 
+//Prototype
+//------------------------------------------------------------------//
+void intTimer( void );                  /* Interrupt fanction       */
+void timer( unsigned long timer_set );
+void motor( int accele_l, int accele_r );
+void MTU2_PWM_Motor_Stop( void );
+void MTU2_PWM_Motor_Start( void );
+ 
+//Globle
+//------------------------------------------------------------------//
+volatile unsigned long  cnt_timer;      /* Used by timer function   */
+ 
+//Main
+//------------------------------------------------------------------//
+int main( void )
+{
+    /* Initialize MCU functions */
+    PwmOutResetSync::period(0.001);   /* Other notation: "pwm_l.period_ms(1);" or "pwm_r.period_ms(1);" */
+    interrput.attach(&intTimer, 0.001);
+
+    while(1) {
+        motor( 100, 0 );
+        timer( 1000 );
+        motor( 0, 80 );
+        timer( 1000 );
+        motor( -60, 0 );
+        timer( 1000 );
+        motor( 0, -40 );
+        timer( 1000 );
+        motor( 0, 0 );
+        timer( 1000 );
+    }
+}
+
+//Interrupt Timer
+//------------------------------------------------------------------//
+void intTimer( void )
+{
+    cnt_timer++;
+}
+
+//Timer fanction
+//------------------------------------------------------------------//
+void timer( unsigned long timer_set )
+{
+    cnt_timer = 0;
+    while( cnt_timer < timer_set );
+}
+
+//motor speed control(PWM)
+//Arguments: motor:-100 to 100
+//Here, 0 is stop, 100 is forward, -100 is reverse
+//------------------------------------------------------------------//
+void motor( int accele_l, int accele_r )
+{
+    accele_l = ( accele_l * MAX_SPEED ) / 100;
+    accele_r = ( accele_r * MAX_SPEED ) / 100;
+
+    /* Left Motor Control */
+    if( accele_l >= 0 ) {
+        /* forward */
+        Left_motor_signal = 0;
+        pwm_l.write((float)accele_l / 100);    /* Other notation: "pwm_l = (float)accele_l / 100;" */
+    } else {
+        /* reverse */
+        Left_motor_signal = 1;
+        pwm_l.write((float)(-accele_l) / 100); /* Other notation: "pwm_l = (float)(-accele_l) / 100;" */
+    }
+ 
+    /* Right Motor Control */
+    if( accele_r >= 0 ) {
+        /* forward */
+        Right_motor_signal = 0;
+        pwm_r.write((float)accele_r / 100);    /* Other notation: "pwm_r = (float)accele_r / 100;" */
+    } else {
+        /* reverse */
+        Right_motor_signal = 1;
+        pwm_r.write((float)(-accele_r) / 100); /* Other notation: "pwm_r = (float)(-accele_r) / 100;" */
+    }
+}
+
+// MTU2 PWM Motor Stop
+//------------------------------------------------------------------//
+void MTU2_PWM_Motor_Stop( void )
+{
+    MTU2TSTR   &= 0xbf;                 /* TCNT_4 Stop              */
+    MTU2TOER   &= 0xf9;                 /* TIOC4A,4B enabled output */
+    GPIOPMC4   &= 0xffcf;               /* P4_4,P4_5 : port mode    */
+}
+
+// MTU2 PWM Motor Start
+//------------------------------------------------------------------//
+void MTU2_PWM_Motor_Start( void )
+{
+    GPIOPMC4   |= 0x0030;               /* P4_4, P4_5 : double mode */
+    MTU2TOER   |= 0xc6;                 /* TIOC4A,4B enabled output */
+    MTU2TCNT_3  = MTU2TCNT_4 = 0;       /* TCNT3,TCNT4 Set 0        */
+    MTU2TSTR   |= 0x40;                 /* TCNT_3 Start             */
+}
+
+//------------------------------------------------------------------//
+// End of file
+//------------------------------------------------------------------//
\ No newline at end of file