Diff: main.cpp

Revision:

2:55e672914b8b

Parent:

0:605ce817752d

--- a/main.cpp	Thu Jul 28 00:34:53 2016 +0000
+++ b/main.cpp	Wed Aug 31 13:12:41 2016 +0000
@@ -1,8 +1,8 @@
 //------------------------------------------------------------------//
 //Supported MCU:   RZ/A1H
-//File Contents:   Motor Control (GR-PEACH version on the Micon Car)
+//File Contents:   Motor Control using PwmOutResetSync.lib (GR-PEACH version on the Micon Car)
 //Version number:  Ver.1.00
-//Date:            2016.01.19
+//Date:            2016.08.31
 //Copyright:       Renesas Electronics Corporation
 //------------------------------------------------------------------//
 
@@ -14,112 +14,44 @@
 //Include
 //------------------------------------------------------------------//
 #include "mbed.h"
-#include "iodefine.h"
+#include "PwmOutResetSync.h"
 
 //Define
 //------------------------------------------------------------------//
-//Motor PWM cycle
-#define     MOTOR_PWM_CYCLE     33332   /* Motor PWM period         */
-                                        /* 1ms    P0φ/1  = 0.03us   */
 //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 init_MTU2_PWM_Motor( void );       /* Initialize PWM functions */
-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 */
-    init_MTU2_PWM_Motor();
-    interrput.attach(&intTimer, 0.001);
+    PwmOutResetSync::period_ms(1);   /* Other notation: "pwm_l.period_ms(1);" or "pwm_r.period_ms(1);" */
 
     while(1) {
         motor( 100, 0 );
-        timer( 1000 );
+        wait_ms( 1000 );
         motor( 0, 80 );
-        timer( 1000 );
+        wait_ms( 1000 );
         motor( -60, 0 );
-        timer( 1000 );
+        wait_ms( 1000 );
         motor( 0, -40 );
-        timer( 1000 );
+        wait_ms( 1000 );
         motor( 0, 0 );
-        timer( 1000 );
+        wait_ms( 1000 );
     }
 }
 
-//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             */
-}
-
-//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
@@ -133,44 +65,25 @@
     if( accele_l >= 0 ) {
         /* forward */
         Left_motor_signal = 0;
-        MTU2TGRC_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * accele_l / 100;
+        pwm_l.write((float)accele_l / 100);    /* Other notation: "pwm_l = (float)accele_l / 100;" */
     } else {
         /* reverse */
         Left_motor_signal = 1;
-        MTU2TGRC_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * ( -accele_l ) / 100;
+        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;
-        MTU2TGRD_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * accele_r / 100;
+        pwm_r.write((float)accele_r / 100);    /* Other notation: "pwm_r = (float)accele_r / 100;" */
     } else {
         /* reverse */
         Right_motor_signal = 1;
-        MTU2TGRD_4 = (long)( MOTOR_PWM_CYCLE - 1 ) * ( -accele_r ) / 100;
+        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
+//------------------------------------------------------------------//