kit05test.c

瑞萨智能车大赛源码。High-performance Embedded Workshop

                } else {
                    speed( 0, 0 );
                }
                break;

            /* Direct Advance test  Advances by PWM 50%, Stop after 5 seconds */
            case 13:
                if( cnt1 < 2000 ) {
                    speed( 0, 0 );
                } else if( cnt1 < 7000 ) {
                    speed( 50, 50 );
                } else {
                    speed( 0, 0 );
                }
                break;

            /* Direct Advance test  Advances by PWM 100%, Stop after 2 seconds */
            case 14:
                if( cnt1 < 2000 ) {
                    speed( 0, 0 );
                } else if( cnt1 < 4000 ) {
                    speed( 100, 100 );
                } else {
                    speed( 0, 0 );
                }
                break;

            /* Direct Advance test  Advances by PWM 100%, Stop after 5 seconds */
            case 15:
                if( cnt1 < 2000 ) {
                    speed( 0, 0 );
                } else if( cnt1 < 7000 ) {
                    speed( 100, 100 );
                } else {
                    speed( 0, 0 );
                }
                break;

            /* If neither */
            default:
                break;
        }
    }
}

/************************************************************************/
/* Module built-in H8/3048F Initialization                              */
/************************************************************************/
void init( void )
{
    /* Input/Output setting of Port */
    P1DDR = 0xff;
    P2DDR = 0xff;
    P3DDR = 0xff;
    P4DDR = 0xff;
    P5DDR = 0xff;
    P6DDR = 0xf0;                       /* DIP SW on CPU board          */
    P8DDR = 0xff;
    P9DDR = 0xf7;                       /* Signal communication port    */
    PADDR = 0xff;
    PBDR  = 0xc0;
    PBDDR = 0xfe;                       /* Motor Drive Board Vol.3      */
    /* 仸 There is no input/output setting since Port 7 which is connected with Sensor board ,is exclu for input. */

    /* ITU0 Interrupt of each 1ms */
    ITU0_TCR = 0x23;
    ITU0_GRA = TIMER_CYCLE;
    ITU0_IER = 0x01;

    /* ITU3,4 for reset synchronization PWM mode and they are for right and left motor and servo */
    ITU3_TCR = 0x23;
    ITU_FCR  = 0x3e;
    ITU3_GRA = PWM_CYCLE;               /* Setting of cycle             */
    ITU3_GRB = ITU3_BRB = 0;            /* PWM setting of left motor    */
    ITU4_GRA = ITU4_BRA = 0;            /* PWM setting of right motor   */
    ITU4_GRB = ITU4_BRB = SERVO_CENTER; /* PWM setting of servo         */
    ITU_TOER = 0x38;

    /* Count start of ITU */
    ITU_STR = 0x09;
}

/************************************************************************/
/* ITU0 Interrupt Processing                                            */
/************************************************************************/
#pragma interrupt( interrupt_timer0 )
void interrupt_timer0( void )
{
    ITU0_TSR &= 0xfe;                   /* Flag clear                   */
    cnt0++;
    cnt1++;
}

/************************************************************************/
/* Sensor state detection                                               */
/* Argument     mask value                                              */
/* Return value Sensor value                                            */
/************************************************************************/
unsigned char sensor_inp( unsigned char mask )
{
    unsigned char sensor;

    sensor  = P7DR;

    /* For the new sensor board, the leftmost is bit0 and rightmost is bit7 and this    */
    /* is opposite to the previous sensor board. The bit is replaced in order to maintain compatibility. */
    sensor  = bit_change( sensor );     /* replace bit              */
    sensor &= mask;

    return sensor;
}

/************************************************************************/
/* DIP switch value reading                                             */
/* Return value Switch value 0 - 15                                     */
/************************************************************************/
unsigned char dipsw_get( void )
{
    unsigned char sw;

    sw  = ~P6DR;                        /* DIP switch read          */
    sw &= 0x0f;

    return  sw;
}

/************************************************************************/
/* Push switch value read                                               */
/* Return value Switch value ON:1, OFF:0                                */
/************************************************************************/
unsigned char pushsw_get( void )
{
    unsigned char sw;

    sw  = ~PBDR;                        /* Port reading with switch */
    sw &= 0x01;

    return  sw;
}

/************************************************************************/
/* LED contorl                                                          */
/* Argument switch value LED0:bit0 LED1:bit1  "0":OFF "1":ON            */
/* Example) 0x3仺LED1:ON LED0:ON  0x2仺LED1:ON LED0:OFF                 */
/************************************************************************/
void led_out( unsigned char led )
{
    unsigned char data;

    led = ~led;
    led <<= 6;
    data = PBDR & 0x3f;
    PBDR = data | led;
}

/************************************************************************/
/* Speed control                                                        */
/* Argument丂 Left motor:-100乣100 , Right motor:-100乣100              */
/*        0:stop, 100: normal rotation100%, -100: reverse100%           */
/************************************************************************/
void speed( int accele_l, int accele_r )
{
    unsigned char   sw_data;
    unsigned long   speed_max;

    sw_data  = dipsw_get() + 5;             /* DIP switch read      */
    speed_max = (unsigned long)(PWM_CYCLE-1) * sw_data / 20;

    /* Left motor */
    if( accele_l >= 0 ) {
        PBDR &= 0xfb;
        ITU3_BRB = speed_max * accele_l / 100;
    } else {
        PBDR |= 0x04;
        accele_l = -accele_l;
        ITU3_BRB = speed_max * accele_l / 100;
    }

    /* Right motor */
    if( accele_r >= 0 ) {
        PBDR &= 0xf7;
        ITU4_BRA = speed_max * accele_r / 100;
    } else {
        PBDR |= 0x08;
        accele_r = -accele_r;
        ITU4_BRA = speed_max * accele_r / 100;
    }
}

/************************************************************************/
/* Servo handle operation (Handle means steering)                       */
/* Argument Servo operation angle丗-90乣+90                             */
/*        -90: 90亱 to left丄0: straight, 0: 90亱 to right rotation     */
/************************************************************************/
void handle( int angle )
{
    ITU4_BRB = SERVO_CENTER - angle * HANDLE_STEP;
}

/************************************************************************/
/* Bit replace                                                          */
/* Argument     Replaced value                                          */
/* Return value Value after replacing                                   */
/************************************************************************/
char unsigned bit_change( char unsigned in )
{
    unsigned char ret;
    int i;

    for( i = 0;  i < 8; i++ ) {
        ret >>= 1;                      /* right shift of return value  */
        ret |= in & 0x80;               /* ret bit7 = in bit7           */
        in  <<= 1;                      /* left shift of argument       */
    }
    return ret;
}

/************************************************************************/
/* End of file                                                          */
/************************************************************************/