Micon Car Rally
This is operation test program.
Dependencies: GR-PEACH_video mbed
Diff: main.cpp
- Revision:
- 0:a749dcbc0cf6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Sep 02 06:53:21 2016 +0000
@@ -0,0 +1,708 @@
+//------------------------------------------------------------------//
+//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
+//Copyright: Renesas Electronics Corporation
+//------------------------------------------------------------------//
+
+//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 "DisplayBace.h"
+
+//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)
+//------------------------------------------------------------------//
+#define VIDEO_INPUT_CH (DisplayBase::VIDEO_INPUT_CHANNEL_0)
+#define VIDEO_INT_TYPE (DisplayBase::INT_TYPE_S0_VFIELD)
+#define DATA_SIZE_PER_PIC (2u)
+
+/*! Frame buffer stride: Frame buffer stride should be set to a multiple of 32 or 128
+ in accordance with the frame buffer burst transfer mode. */
+#define PIXEL_HW (320u) /* QVGA */
+#define PIXEL_VW (240u) /* QVGA */
+#define VIDEO_BUFFER_STRIDE (((PIXEL_HW * DATA_SIZE_PER_PIC) + 31u) & ~31u)
+#define VIDEO_BUFFER_HEIGHT (PIXEL_VW)
+
+//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)
+//------------------------------------------------------------------//
+static void IntCallbackFunc_Vfield(DisplayBase::int_type_t int_type);
+static void WaitVfield(const int32_t wait_count);
+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)
+//------------------------------------------------------------------//
+static uint8_t FrameBuffer_Video_A[VIDEO_BUFFER_STRIDE * VIDEO_BUFFER_HEIGHT]__attribute((section("NC_BSS"),aligned(16))); //16 bytes aligned!;
+static uint8_t FrameBuffer_Video_B[VIDEO_BUFFER_STRIDE * VIDEO_BUFFER_HEIGHT]__attribute((section("NC_BSS"),aligned(16))); //16 bytes aligned!;
+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 )
+{
+ /* NTSC-Video */
+ DisplayBase::graphics_error_t error;
+ uint8_t * write_buff_addr = FrameBuffer_Video_A;
+ uint8_t * save_buff_addr = FrameBuffer_Video_B;
+
+ /* Create DisplayBase object */
+ DisplayBase Display;
+
+ /* Graphics initialization process */
+ error = Display.Graphics_init(NULL);
+ if (error != DisplayBase::GRAPHICS_OK) {
+ printf("Line %d, error %d\n", __LINE__, error);
+ while (1);
+ }
+
+ error = Display.Graphics_Video_init( DisplayBase::INPUT_SEL_VDEC, NULL);
+ if( error != DisplayBase::GRAPHICS_OK ) {
+ while(1);
+ }
+
+ /* Interrupt callback function setting (Vsync signal input to scaler 0) */
+ error = Display.Graphics_Irq_Handler_Set(DisplayBase::INT_TYPE_S0_VI_VSYNC, 0, IntCallbackFunc_Vsync);
+ if (error != DisplayBase::GRAPHICS_OK) {
+ printf("Line %d, error %d\n", __LINE__, error);
+ while (1);
+ }
+ /* Video capture setting (progressive form fixed) */
+ error = Display.Video_Write_Setting(
+ VIDEO_INPUT_CH,
+ DisplayBase::COL_SYS_NTSC_358,
+ write_buff_addr,
+ VIDEO_BUFFER_STRIDE,
+ DisplayBase::VIDEO_FORMAT_YCBCR422,
+ DisplayBase::WR_RD_WRSWA_32_16BIT,
+ PIXEL_VW,
+ PIXEL_HW
+ );
+ if (error != DisplayBase::GRAPHICS_OK) {
+ printf("Line %d, error %d\n", __LINE__, error);
+ while (1);
+ }
+
+ /* Interrupt callback function setting (Field end signal for recording function in scaler 0) */
+ error = Display.Graphics_Irq_Handler_Set(VIDEO_INT_TYPE, 0, IntCallbackFunc_Vfield);
+ if (error != DisplayBase::GRAPHICS_OK) {
+ printf("Line %d, error %d\n", __LINE__, error);
+ while (1);
+ }
+
+ /* Video write process start */
+ error = Display.Video_Start (VIDEO_INPUT_CH);
+ if (error != DisplayBase::GRAPHICS_OK) {
+ printf("Line %d, error %d\n", __LINE__, error);
+ while (1);
+ }
+
+ /* Video write process stop */
+ error = Display.Video_Stop (VIDEO_INPUT_CH);
+ if (error != DisplayBase::GRAPHICS_OK) {
+ printf("Line %d, error %d\n", __LINE__, error);
+ while (1);
+ }
+
+ /* Video write process start */
+ error = Display.Video_Start (VIDEO_INPUT_CH);
+ if (error != DisplayBase::GRAPHICS_OK) {
+ printf("Line %d, error %d\n", __LINE__, error);
+ while (1);
+ }
+
+ /* Wait vsync to update resister */
+ WaitVsync(1);
+
+ /* 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 );
+ if (write_buff_addr == FrameBuffer_Video_A) {
+ write_buff_addr = FrameBuffer_Video_B;
+ save_buff_addr = FrameBuffer_Video_A;
+ } else {
+ write_buff_addr = FrameBuffer_Video_A;
+ save_buff_addr = FrameBuffer_Video_B;
+ }
+ /* Change write buffer */
+ error = Display.Video_Write_Change(
+ VIDEO_INPUT_CH,
+ 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)
+//------------------------------------------------------------------//
+unsigned int pushsw_get( void )
+{
+ 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
+// @param[in] int_type : VDC5 interrupt type
+// @retval None
+//*******************************************************************/
+static void IntCallbackFunc_Vfield(DisplayBase::int_type_t int_type)
+{
+ if (vfield_count > 0) {
+ vfield_count--;
+ }
+}
+
+//******************************************************************//
+// @brief Wait for the specified number of times Vsync occurs
+// @param[in] wait_count : Wait count
+// @retval None
+//*******************************************************************/
+static void WaitVfield(const int32_t wait_count)
+{
+ vfield_count = wait_count;
+ while (vfield_count > 0) {
+ /* Do nothing */
+ }
+}
+
+//******************************************************************//
+// @brief Interrupt callback function for Vsync interruption
+// @param[in] int_type : VDC5 interrupt type
+// @retval None
+//*******************************************************************/
+static void IntCallbackFunc_Vsync(DisplayBase::int_type_t int_type)
+{
+ if (vsync_count > 0) {
+ vsync_count--;
+ }
+}
+
+//******************************************************************//
+// @brief Wait for the specified number of times Vsync occurs
+// @param[in] wait_count : Wait count
+// @retval None
+//*******************************************************************/
+static void WaitVsync(const int32_t wait_count)
+{
+ vsync_count = wait_count;
+ while (vsync_count > 0) {
+ /* Do nothing */
+ }
+}
+
+//------------------------------------------------------------------//
+// End of file
+//------------------------------------------------------------------//
\ No newline at end of file