Micon Car Rally
This is operation test program.
Dependencies: GR-PEACH_video mbed
main.cpp
- Committer:
- TetsuyaKonno
- Date:
- 2016-09-02
- Revision:
- 0:a749dcbc0cf6
File content as of revision 0:a749dcbc0cf6:
//------------------------------------------------------------------//
//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
//------------------------------------------------------------------//