Micon Car Rally
This program is controlling the motor by MTU2 (Reset-Synchronized PWM mode). (Note : This is a program using only API of the mbed library)
Dependencies: PwmOutResetSync mbed
Revision 0:22d9384f2094, committed 2016-09-09
- Comitter:
- TetsuyaKonno
- Date:
- Fri Sep 09 00:24:18 2016 +0000
- Commit message:
- First program file
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PwmOutResetSync.lib Fri Sep 09 00:24:18 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/dkato/code/PwmOutResetSync/#2ceb3de67371
--- /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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Sep 09 00:24:18 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/2e9cc70d1897 \ No newline at end of file