Daiki Kato / Mbed 2 deprecated Motor_Control_using_lib

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Dependencies:   PwmOutResetSync mbed

Files at this revision

API Documentation at this revision

Revision 2:55e672914b8b, committed 2016-08-31

Comitter:
dkato
Date:
Wed Aug 31 13:12:41 2016 +0000
Parent:
1:0102cd595c05
Commit message:
Using the PwmOutResetSync library.

Changed in this revision

PwmOutResetSync.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PwmOutResetSync.lib	Wed Aug 31 13:12:41 2016 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/users/dkato/code/PwmOutResetSync/#550ee4ed6462

--- 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
+//------------------------------------------------------------------//

--- a/mbed.bld	Thu Jul 28 00:34:53 2016 +0000
+++ b/mbed.bld	Wed Aug 31 13:12:41 2016 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/f9eeca106725
\ No newline at end of file
+http://mbed.org/users/mbed_official/code/mbed/builds/2241e3a39974
\ No newline at end of file