Diff: main.cpp

Revision:

1:b49e9a3bcafa

Parent:

0:a749dcbc0cf6

--- a/main.cpp	Fri Sep 02 06:53:21 2016 +0000
+++ b/main.cpp	Fri Sep 08 00:05:20 2017 +0000
@@ -1,14 +1,13 @@
 //------------------------------------------------------------------//
 //Supported MCU:   RZ/A1H
-//File Contents:   Operation Test Program (GR-PEACH version on the Micon Car)
-//Version number:  Ver.1.02
-//Date:            2016.02.23
+//File Contents:   Camera Module Test Program (GR-PEACH version on the Micon Car)
+//Version number:  Ver.1.00
+//Date:            2017.07.13
 //Copyright:       Renesas Electronics Corporation
 //------------------------------------------------------------------//
  
 //This program supports the following boards:
 //* GR-PEACH(E version)
-//* Motor drive board Ver.5
 //* Camera module (SC-310)
  
 //Include
@@ -19,34 +18,6 @@
  
 //Define
 //------------------------------------------------------------------//
-//Motor PWM cycle
-#define     MOTOR_PWM_CYCLE     33332   /* Motor PWM period         */
-                                        /* 1ms    P0φ/1  = 0.03us   */
-//Motor speed
-#define     MAX_SPEED           50      /* motor()  set: 0 to 100   */
-
-//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           */
-
-//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     SENSOR              0x01
-#define     MARK                0x02
-#define     STOP                0x03
-#define     ERROR               0xff
 
 //Define(NTSC-Video)
 //------------------------------------------------------------------//
@@ -63,31 +34,11 @@
 
 //Constructor
 //------------------------------------------------------------------//
-Ticker      interrput;
-DigitalOut  Left_motor_signal(P4_6);    /* Used by motor fanction   */
-DigitalOut  Right_motor_signal(P4_7);   /* Used by motor fanction   */
-Serial      pc(USBTX, USBRX);
-DigitalOut  LED_R(P6_13);               /* LED1 on the GR-PEACH board */
-DigitalOut  LED_G(P6_14);               /* LED2 on the GR-PEACH board */
-DigitalOut  LED_B(P6_15);               /* LED3 on the GR-PEACH board */
-DigitalIn   user_botton(P6_0);          /* SW1 on the GR-PEACH board */
 DigitalIn   push_sw(P2_13);             /* SW1 on the Motor Drive board */
-DigitalOut  LED_3(P2_14);               /* LED3 on the Motor Drive board */
-DigitalOut  LED_2(P2_15);               /* LED2 on the Motor Drive board */
 
 //Prototype
 //------------------------------------------------------------------//
-void init_MTU2_PWM_Motor( void );       /* Initialize PWM functions */
-void init_MTU2_PWM_Servo( void );       /* Initialize PWM functions */
-void intTimer( void );                  /* Interrupt fanction       */
-void led_rgb(int led);
-unsigned int user_button_get( void );
-void led_status_process( void );        /* Function for only interrupt */
-void led_status_set( int set );
-void led_out(int led);
 unsigned int pushsw_get( void );
-void motor( int accele_l, int accele_r );
-void handle( int angle );
 
 //Prototype(NTSC-video)
 //------------------------------------------------------------------//
@@ -96,12 +47,6 @@
 static void IntCallbackFunc_Vsync(DisplayBase::int_type_t int_type);
 static void WaitVsync(const int32_t wait_count);
 
-//Globle
-//------------------------------------------------------------------//
-volatile unsigned long  cnt0;           /* Used by timer function   */
-volatile unsigned long  cnt1;           /* Used within main         */
-volatile int            pattern;        /* Pattern numbers          */
-volatile int            status_set;     /* Status                   */
 
 //Globle(NTSC-video)
 //------------------------------------------------------------------//
@@ -110,11 +55,6 @@
 static volatile int32_t vsync_count;
 static volatile int32_t vfield_count;
 
-volatile long int       Xp;
-volatile long int       Yp;
-volatile int            x;
-volatile int            y;
-
 //Main
 //------------------------------------------------------------------//
 int main( void )
@@ -195,179 +135,8 @@
     /* Wait 2 Vfield(Top or bottom field) */
     WaitVfield(2);
 
-    /* Initialize MCU functions */
-    init_MTU2_PWM_Motor();
-    init_MTU2_PWM_Servo();
-    interrput.attach(&intTimer, 0.001);
-    pc.baud(230400);
-
-    /* Initialize Micon Car state */
-    led_out( 0x0 );
-    handle( 0 );
-    motor( 0, 0 );
-
     while(1) {
 
-    if( user_button_get() ){
-        led_out( 0x0 );
-        handle( 0 );
-        motor( 0, 0 );
-        pattern = 0;
-    }
-
-    switch( pattern ) {
-    case 0:
-        led_status_set( STOP );
-        pc.printf( "GR-PEACH MCR Operation Test Program V1.00\n\n\r" );
-        pc.printf( " 1.LEDs light alternately at 0.5-second intervals\n\r" );
-        pc.printf( " 2.Pushbutton test: OFF: LED0 lit, ON: LED1 lit\n\r" );
-        pc.printf( " 3.Servo test: Repeated switching from 0 to right 30 to left 30 \n\r" );
-        pc.printf( " 4.Right motor test: Repeated switching from forward to brake\n\r" );
-        pc.printf( " 5.Right motor test: Repeated switching from reverse to brake\n\r" );
-        pc.printf( " 6.Left motor test: Repeated switching from forward to brake\n\r" );
-        pc.printf( " 7.Left motor test: Repeated switching from reverse to brake\n\r" );
-        pc.printf( " 8.Straight running check: Forward at 50 PWM, stop after 2 seconds.\n\r" );
-        pc.printf( " 9.Straight running check: Forward at 50 PWM, stop after 5 seconds.\n\r" );
-        pc.printf( "10.Straight running check: Forward at 100 PWM, stop after 2 seconds.\n\r" );
-        pc.printf( "11.Straight running check: Forward at 100 PWM, stop after 5 seconds.\n\r" );
-        pc.printf( "12.Camera module test\n\r" );
-
-        pc.printf( "\n\n\r" );
-
-        pc.printf( "No = " );
-        pc.scanf( "%d", &pattern );
-        pc.printf( "\n\n\r" );
- 
-        cnt1 = 0;
-        led_status_set( RUN );
- 
-        break;
-
-    case 1:
-        /* LEDs light alternately at 0.5-second intervals */
-        if( cnt1 < 500 ) {
-            led_out( 0x1 );
-        } else if( cnt1 < 1000 ) {
-            led_out( 0x2 );
-        } else {
-            cnt1 = 0;
-        }
-        break;
-
-    case 2:
-        /* Pushbutton test: OFF: LED0 lit, ON: LED1 lit */
-        led_out( pushsw_get() + 1 );
-        break;
-
-    case 3:
-        /* Servo test: Repeated switching from 0° to right 30°to left 30°*/
-        if( cnt1 < 1000 ) {
-            handle( 0 );
-        } else if( cnt1 < 2000 ) {
-            handle( 30 );
-        } else if( cnt1 < 3000 ) {
-            handle( -30 );
-        } else {
-            cnt1 = 0;
-        }
-        break;
-
-    case 4:
-        /* Right motor test: Repeated switching from forward to brake */
-        if( cnt1 < 1000 ) {
-            motor( 0, 100 );
-        } else if( cnt1 < 2000 ) {
-            motor( 0, 0 );
-        } else {
-            cnt1 = 0;
-        }
-        break;
-
-    case 5:
-        /* Right motor test: Repeated switching from reverse to brake */
-        if( cnt1 < 1000 ) {
-            motor( 0, -100 );
-        } else if( cnt1 < 2000 ) {
-            motor( 0, 0 );
-        } else {
-            cnt1 = 0;
-        }
-        break;
-
-    case 6:
-        /* Left motor test: Repeated switching from forward to brake */
-        if( cnt1 < 1000 ) {
-            motor( 100, 0 );
-        } else if( cnt1 < 2000 ) {
-            motor( 0, 0 );
-        } else {
-            cnt1 = 0;
-        }
-        break;
-
-    case 7:
-        /*  Left motor test: Repeated switching from reverse to brake */
-        if( cnt1 < 1000 ) {
-            motor( -100, 0 );
-        } else if( cnt1 < 2000 ) {
-            motor( 0, 0 );
-        } else {
-            cnt1 = 0;
-        }
-        break;
-
-    case 8:
-        /* Straight running check: Forward at 50% PWM, stop after 2 seconds */
-        if( cnt1 < 2000 ) {
-            motor( 0, 0 );
-        } else if( cnt1 < 4000 ) {
-            motor( 50, 50 );
-        } else {
-            motor( 0, 0 );
-        }
-        break;
-
-    case 9:
-        /* Straight running check: Forward at 50% PWM, stop after 5 seconds. */
-        if( cnt1 < 2000 ) {
-            motor( 0, 0 );
-        } else if( cnt1 < 7000 ) {
-            motor( 50, 50 );
-        } else {
-            motor( 0, 0 );
-        }
-        break;
-
-    case 10:
-        /* Straight running check: Forward at 100% PWM, stop after 2 seconds. */
-        if( cnt1 < 2000 ) {
-            motor( 0, 0 );
-        } else if( cnt1 < 4000 ) {
-            motor( 100, 100 );
-        } else {
-            motor( 0, 0 );
-        }
-        break;
-
-    case 11:
-        /* Straight running check: Forward at 100% PWM, stop after 5 seconds. */
-        if( cnt1 < 2000 ) {
-            motor( 0, 0 );
-        } else if( cnt1 < 7000 ) {
-            motor( 100, 100 );
-        } else {
-            motor( 0, 0 );
-        }
-        break;
-
-    case 12:
-        /* Camera module test process 1 */
-        pc.printf( "Please push the SW ( on the Motor drive board )" );
-        pc.printf( "\n\r" );
-        pattern = 13;
-        break;
-
-    case 13:
         /* SW check */
         if ( pushsw_get() ) {
             WaitVfield( 2 );
@@ -384,227 +153,12 @@
                         write_buff_addr,
                         VIDEO_BUFFER_STRIDE);
             if (error != DisplayBase::GRAPHICS_OK) {
-                printf("Line %d, error %d\n", __LINE__, error);
                 while (1);
             }
-            pattern = 14;
         }
-        break;
-
-    case 14:
-        /* Camera module test process 2 */
-        pc.printf( "//,X-Size,Y-Size" );
-        pc.printf( "\n\r" );
-        pc.printf( "#SIZE,320,240" );
-        pc.printf( "\n\r" );
-        pc.printf( "//,X-Point,Y-Point" );
-        pc.printf( "\n\r" );
-
-        for( Yp = 0, y = 0; Yp < 240; Yp+=1, y++ ){
-            for( Xp = 0, x = 0; Xp < 640; Xp+=4, x+=2 ){
-                pc.printf( "#YCbCr," );
-          /*Xp*/pc.printf( "%d,", x);
-          /*Yp*/pc.printf( "%d,", y);
-          /*Y0*/pc.printf( "%d,", save_buff_addr[(Xp+0)+(640*Yp)]);//6
-          /*Cb*/pc.printf( "%d,", save_buff_addr[(Xp+1)+(640*Yp)]);//5
-          /*Cr*/pc.printf( "%d,", save_buff_addr[(Xp+3)+(640*Yp)]);//7
-                pc.printf( "\n\r" );
-
-                pc.printf( "#YCbCr," );
-          /*Xp*/pc.printf( "%d,", x+1);
-          /*Yp*/pc.printf( "%d,", y);
-          /*Y1*/pc.printf( "%d,", save_buff_addr[(Xp+2)+(640*Yp)]);//4
-          /*Cb*/pc.printf( "%d,", save_buff_addr[(Xp+1)+(640*Yp)]);//5
-          /*Cr*/pc.printf( "%d,", save_buff_addr[(Xp+3)+(640*Yp)]);//7
-                pc.printf( "\n\r" );
-            }
-        }
-
-        /* Break Point */
-        while( !user_button_get() ) led_status_set( STOP );
-
-        break;
-
-    default:
-        /* If neither, return to standby state */
-        pattern = 0;
-        break;
-    }
     }
 }
 
-//Initialize MTU2 PWM functions
-//------------------------------------------------------------------//
-//MTU2_3, MTU2_4
-//Reset-Synchronized PWM mode
-//TIOC4A(P4_4) :Left-motor
-//TIOC4B(P4_5) :Right-motor
-//------------------------------------------------------------------//
-void init_MTU2_PWM_Motor( void )
-{
-    /* Port setting for S/W I/O Contorol */
-    /* alternative mode     */
-
-    /* MTU2_4 (P4_4)(P4_5)  */
-    GPIOPBDC4   = 0x0000;               /* Bidirection mode disabled*/
-    GPIOPFCAE4 &= 0xffcf;               /* The alternative function of a pin */
-    GPIOPFCE4  |= 0x0030;               /* The alternative function of a pin */
-    GPIOPFC4   &= 0xffcf;               /* The alternative function of a pin */
-                                        /* 2nd altemative function/output   */
-    GPIOP4     &= 0xffcf;               /*                          */
-    GPIOPM4    &= 0xffcf;               /* p4_4,P4_5:output         */
-    GPIOPMC4   |= 0x0030;               /* P4_4,P4_5:double         */
-
-    /* Mosule stop 33(MTU2) canceling */
-    CPGSTBCR3  &= 0xf7;
-
-    /* MTU2_3 and MTU2_4 (Motor PWM) */
-    MTU2TCR_3   = 0x20;                 /* TCNT Clear(TGRA), P0φ/1  */
-    MTU2TOCR1   = 0x04;                 /*                          */
-    MTU2TOCR2   = 0x40;                 /* N L>H  P H>L             */
-    MTU2TMDR_3  = 0x38;                 /* Buff:ON Reset-Synchronized PWM mode */
-    MTU2TMDR_4  = 0x30;                 /* Buff:ON                  */
-    MTU2TOER    = 0xc6;                 /* TIOC3B,4A,4B enabled output */
-    MTU2TCNT_3  = MTU2TCNT_4 = 0;       /* TCNT3,TCNT4 Set 0        */
-    MTU2TGRA_3  = MTU2TGRC_3 = MOTOR_PWM_CYCLE;
-                                        /* PWM-Cycle(1ms)           */
-    MTU2TGRA_4  = MTU2TGRC_4 = 0;       /* Left-motor(P4_4)         */
-    MTU2TGRB_4  = MTU2TGRD_4 = 0;       /* Right-motor(P4_5)        */
-    MTU2TSTR   |= 0x40;                 /* TCNT_4 Start             */
-}
-
-//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 )
-{
-    cnt0++;
-    cnt1++;
- 
-    led_status_process();
-}
-
-//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;
-}
-
-//user_button_get(on GR-PEACH board)
-//------------------------------------------------------------------//
-unsigned int user_button_get( void )
-{
-    return (~user_botton) & 0x1;        /* Read ports with switches */
-}
-
-//LED_Status(on GR-PEACH board) Function for only interrupt
-//------------------------------------------------------------------//
-void led_status_process( void )
-{
-    static unsigned long    led_timer;
-    int                     led_set;
-    int                     on_time;
-    int                     off_time;
-
-    /* setting */
-    switch( status_set ){
-    case RUN:
-        led_set  = LED_GREEN;
-        on_time  = 500;
-        off_time = 500;
-        break;
-
-    case SENSOR:
-        led_set  = LED_BLUE;
-        on_time  = 50;
-        off_time = 50;
-        break;
-
-    case MARK:
-        led_set  = LED_RED;
-        on_time  = 250;
-        off_time = 250;
-        break;
-
-    case STOP:
-        led_set  = LED_RED;
-        on_time  = 1;
-        off_time = 0;
-        break;
-
-    case ERROR:
-        led_set  = LED_RED;
-        on_time  = 50;
-        off_time = 50;
-        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_Status(on GR-PEACH board) Function for only interrupt
-//------------------------------------------------------------------//
-void led_status_set( int set )
-{
-    status_set = set;
-}
-
-//led_out(on Motor drive board)
-//------------------------------------------------------------------//
-void led_out(int led)
-{
-    led = ~led;
-    LED_3 = led & 0x1;
-    LED_2 = ( led >> 1 ) & 0x1;
-}
 
 //pushsw_get(on Motor drive board)
 //------------------------------------------------------------------//
@@ -613,45 +167,6 @@
     return (~push_sw) & 0x1;            /* Read ports with switches */
 }
 
-//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;
-        MTU2TGRC_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * accele_l / 100;
-    } else {
-        /* reverse */
-        Left_motor_signal = 1;
-        MTU2TGRC_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * ( -accele_l ) / 100;
-    }
- 
-    /* Right Motor Control */
-    if( accele_r >= 0 ) {
-        /* forward */
-        Right_motor_signal = 0;
-        MTU2TGRD_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * accele_r / 100;
-    } else {
-        /* reverse */
-        Right_motor_signal = 1;
-        MTU2TGRD_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * ( -accele_r ) / 100;
-    }
-}
-
-//Handle fanction
-//------------------------------------------------------------------//
-void handle( int angle )
-{
-    /* When the servo move from left to right in reverse, replace "-" with "+" */
-    MTU2TGRD_0 = SERVO_CENTER - angle * HANDLE_STEP;
-}
 
 //******************************************************************//
 // @brief       Interrupt callback function
@@ -705,4 +220,4 @@
 
 //------------------------------------------------------------------//
 // End of file
-//------------------------------------------------------------------//
\ No newline at end of file
+//------------------------------------------------------------------//