Daiki Kato
This program is controlling the motor using the PwmOutResetSync library.
Dependencies: PwmOutResetSync mbed
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
--- /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