Diff: main.cpp

Revision:

0:665a5dc5ab89

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Sep 02 06:27:47 2016 +0000
@@ -0,0 +1,240 @@
+//------------------------------------------------------------------//
+//Supported MCU:   RZ/A1H
+//File Contents:   Servo center adjustment from the PC
+//                                 (GR-PEACH version on the Micon Car)
+//Version number:  Ver.1.00
+//Date:            2016.01.20
+//Copyright:       Renesas Electronics Corporation
+//------------------------------------------------------------------//
+ 
+//This program supports the following boards:
+//* GR-PEACH(E version)
+//* Motor drive board Ver.5
+//* Camera module (SC-310)
+ 
+/*
+This is a program to check the servo adjustment of the micon car using keys.
+The action described takes place when one of the following keys is pressed.
+ 
+Z key: servo offset value +1
+X key: servo offset value -1
+A key: servo offset value +10
+S key: servo offset value -10
+*/
+ 
+//Include
+//------------------------------------------------------------------//
+#include "mbed.h"
+#include "iodefine.h"
+ 
+//Define
+//------------------------------------------------------------------//
+//Servo PWM cycle
+#define     SERVO_PWM_CYCLE     33332   /* SERVO PWM period         */
+                                        /* 16ms   P0φ/16 = 0.48us   */
+#define     SERVO_CENTER        3124    /* 1.5ms / 0.48us - 1 = 3124*/
+#define     HANDLE_STEP         18      /* 1 degree value           */
+ 
+//Degrees
+#define     DEGREEES_MAX        4791    /* Left  90° 2.3ms / 0.48us = 4791 */
+#define     DEGREEES_MIN        1485    /* Right 90° 0.7ms / 0.48us = 1458 */
+ 
+//LED Color on GR-PEACH
+#define     LED_OFF             0x00
+#define     LED_RED             0x01
+#define     LED_GREEN           0x02
+#define     LED_YELLOW          0x03
+#define     LED_BLUE            0x04
+#define     LED_PURPLE          0x05
+#define     LED_SKYBLUE         0x06
+#define     LED_WHITE           0x07
+ 
+//Status
+#define     RUN                 0x00
+#define     STOP                0x01
+#define     ERROR               0xff
+ 
+//Constructor
+//------------------------------------------------------------------//
+Ticker      interrput;
+Serial      pc(USBTX, USBRX);
+DigitalOut  LED_R(P6_13);
+DigitalOut  LED_G(P6_14);
+DigitalOut  LED_B(P6_15);
+ 
+//Prototype
+//------------------------------------------------------------------//
+void init_MTU2_PWM_Servo( void );       /* Initialize PWM functions */
+void intTimer( void );                  /* Interrupt fanction       */
+void timer( unsigned long timer_set );
+void handle( int angle );
+void led_status_process( int set );     /* Function for only interrupt */
+void led_rgb(int led);
+ 
+//Globle
+//------------------------------------------------------------------//
+volatile int            status;         /* Status                   */
+volatile unsigned int   servo_offset;   /* servo offset             */
+ 
+//Main
+//------------------------------------------------------------------//
+int main( void )
+{
+    int     i;
+    char    c;
+ 
+    /* Initialize MCU functions */
+    init_MTU2_PWM_Servo();
+    interrput.attach(&intTimer, 0.001);
+    pc.baud(9600);
+ 
+    /* Initialize Micon Car state */
+    servo_offset = SERVO_CENTER;
+ 
+    pc.printf(
+        "Servo center adjustment from the PC\n\r"
+        "(Micon Car on GR-PEACH version)\n\r"
+        "\n\r"
+        "'Z' key   : Center Value +1\n\r"
+        "'X' key   : Center Value -1\n\r"
+        "\n\r"
+        "'A' key   : Center Value +10\n\r"
+        "'S' key   : Center Value -10\n\r"
+        "\n\r"
+    );
+ 
+    pc.printf( "%5d\r", servo_offset );
+ 
+    while( 1 ) {
+        status = RUN;
+ 
+        MTU2TGRD_0 = servo_offset;
+ 
+        i = pc.scanf( "%c", &c );
+        if( i == 1 ) {
+            switch( c ) {
+            case 'Z':
+            case 'z':
+                servo_offset += 1;
+                if( servo_offset > DEGREEES_MAX ) servo_offset = DEGREEES_MAX;
+                pc.printf( "%5d\r", servo_offset );
+                break;
+ 
+            case 'A':
+            case 'a':
+                servo_offset += 10;
+                if( servo_offset > DEGREEES_MAX ) servo_offset = DEGREEES_MAX;
+                pc.printf( "%5d\r", servo_offset );
+                break;
+ 
+            case 'X':
+            case 'x':
+                servo_offset -= 1;
+                if( servo_offset < DEGREEES_MIN ) servo_offset = DEGREEES_MIN;
+                pc.printf( "%5d\r", servo_offset );
+                break;
+ 
+            case 'S':
+            case 's':
+                servo_offset -= 10;
+                if( servo_offset < DEGREEES_MIN ) servo_offset = DEGREEES_MIN;
+                pc.printf( "%5d\r", servo_offset );
+                break;
+ 
+            default:
+                break;
+            }
+        }
+    }
+}
+ 
+//Initialize MTU2 PWM functions
+//------------------------------------------------------------------//
+//MTU2_0
+//PWM mode 1
+//TIOC0A(P4_0) :Servo-motor
+//------------------------------------------------------------------//
+void init_MTU2_PWM_Servo( void )
+{
+    /* Port setting for S/W I/O Contorol */
+    /* alternative mode     */
+ 
+    /* MTU2_0 (P4_0)        */
+    GPIOPBDC4   = 0x0000;               /* Bidirection mode disabled*/
+    GPIOPFCAE4 &= 0xfffe;               /* The alternative function of a pin */
+    GPIOPFCE4  &= 0xfffe;               /* The alternative function of a pin */
+    GPIOPFC4   |= 0x0001;               /* The alternative function of a pin */
+                                        /* 2nd alternative function/output   */
+    GPIOP4     &= 0xfffe;               /*                          */
+    GPIOPM4    &= 0xfffe;               /* p4_0:output              */
+    GPIOPMC4   |= 0x0001;               /* P4_0:double              */
+ 
+    /* Mosule stop 33(MTU2) canceling */
+    CPGSTBCR3  &= 0xf7;
+ 
+    /* MTU2_0 (Motor PWM) */
+    MTU2TCR_0   = 0x22;                 /* TCNT Clear(TGRA), P0φ/16 */
+    MTU2TIORH_0 = 0x52;                 /* TGRA L>H, TGRB H>L       */
+    MTU2TMDR_0  = 0x32;                 /* TGRC and TGRD = Buff-mode*/
+                                        /* PWM-mode1                */
+    MTU2TCNT_0  = 0;                    /* TCNT0 Set 0              */
+    MTU2TGRA_0  = MTU2TGRC_0 = SERVO_PWM_CYCLE;
+                                        /* PWM-Cycle(16ms)          */
+    MTU2TGRB_0  = MTU2TGRD_0 = 0;       /* Servo-motor(P4_0)        */
+    MTU2TSTR   |= 0x01;                 /* TCNT_0 Start             */
+}
+ 
+//Interrupt Timer
+//------------------------------------------------------------------//
+void intTimer( void )
+{
+    led_status_process( status );
+}
+ 
+//LED_Status(on GR-PEACH board) Function for only interrupt
+//------------------------------------------------------------------//
+void led_status_process( int set )
+{
+    static unsigned long    led_timer;
+    int                     led_set;
+    int                     on_time;
+    int                     off_time;
+ 
+    /* setting */
+    switch( set ){
+    case RUN:
+        led_set  = LED_GREEN;
+        on_time  = 500;
+        off_time = 500;
+        break;
+    case STOP:
+        led_set  = LED_RED;
+        on_time  = 500;
+        off_time = 0;
+        break;
+    default:
+        led_set  = LED_OFF;
+        on_time  = 0;
+        off_time = 1;
+        break;
+    }
+ 
+    /* Display */
+    led_timer++;
+    if( led_timer < on_time ) led_rgb( led_set );
+    else if( led_timer < ( on_time + off_time ) ) led_rgb( LED_OFF );
+    else led_timer = 0;
+}
+ 
+//LED_RGB(on GR-PEACH board)
+//------------------------------------------------------------------//
+void led_rgb(int led)
+{
+    LED_R = led & 0x1;
+    LED_G = (led >> 1 ) & 0x1;
+    LED_B = (led >> 2 ) & 0x1;
+}
+ 
+//------------------------------------------------------------------//
+// End of file
+//------------------------------------------------------------------//
\ No newline at end of file