Revision 0:7c77a2e078e4, committed 2016-09-02

Comitter:

TetsuyaKonno

Date:

Fri Sep 02 07:16:05 2016 +0000

Commit message:

First program

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Sep 02 07:16:05 2016 +0000
@@ -0,0 +1,123 @@
+//------------------------------------------------------------------//
+//Supported MCU:   RZ/A1H
+//File Contents:   Servo Control (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)
+
+//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           */
+
+//Constructor
+//------------------------------------------------------------------//
+Ticker      interrput;
+
+//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 );
+
+//Globle
+//------------------------------------------------------------------//
+volatile unsigned long  cnt_timer;      /* Used by timer function   */
+
+//Main
+//------------------------------------------------------------------//
+int main( void )
+{
+    /* Initialize MCU functions */
+    init_MTU2_PWM_Servo();
+    interrput.attach(&intTimer, 0.001);
+
+    while(1) {
+        handle( 0 );
+        timer( 1000 );
+        handle( 30 );
+        timer( 1000 );
+        handle( 0 );
+        timer( 1000 );
+        handle( -30 );
+        timer( 1000 );
+    }
+}
+
+//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 )
+{
+    cnt_timer++;
+}
+
+//Timer fanction
+//------------------------------------------------------------------//
+void timer( unsigned long timer_set )
+{
+    cnt_timer = 0;
+    while( cnt_timer < timer_set );
+}
+
+//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;
+}
+
+//------------------------------------------------------------------//
+// End of file
+//------------------------------------------------------------------//
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Sep 02 07:16:05 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/2241e3a39974
\ No newline at end of file