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Merge remote-tracking branch 'origin/3.0.1' into update_ci_for_v3.0
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@ShotaAk
ShotaAk committed Jun 10, 2024
2 parents 85e5e42 + 4e2c230 commit 8fbc287
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Showing 14 changed files with 98 additions and 100 deletions.
Binary file modified .DS_Store
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Binary file added pico_v2_STEP3_Buzzer/.DS_Store
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29 changes: 14 additions & 15 deletions pico_v2_STEP3_Buzzer/pico_v2_STEP3_Buzzer.ino
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Expand Up @@ -59,22 +59,22 @@ void execByMode(char mode)
{
switch (mode) {
case 1:
ledcWriteTone(0, FREQ_C);
ledcWriteTone(BUZZER, FREQ_C);
delay(1000);
ledcWrite(0, 1024);
ledcWrite(BUZZER, 0);
break;
case 2:
ledcWriteTone(0, FREQ_D);
ledcWriteTone(BUZZER, FREQ_D);
delay(1000);
ledcWrite(0, 1024);
ledcWrite(BUZZER, 0);
break;
case 3:
ledcWriteTone(0, FREQ_E);
ledcWriteTone(BUZZER, FREQ_E);
delay(1000);
ledcWrite(0, 1024);
ledcWrite(BUZZER, 0);
break;
default:
ledcWrite(0, 1024);
ledcWrite(BUZZER, 0);
break;
}
}
Expand All @@ -90,9 +90,8 @@ void setup()
pinMode(SW_L, INPUT);
pinMode(SW_R, INPUT);

ledcSetup(0, 440, 10);
ledcAttachPin(BUZZER, 0);
ledcWrite(0, 1024);
ledcAttach(BUZZER, 440, 10);
ledcWrite(BUZZER, 0);

g_mode = 1;
setLED(g_mode);
Expand All @@ -109,18 +108,18 @@ void loop()
if (g_mode > 15) {
g_mode = 1;
} else {
ledcWriteTone(0, INC_FREQ);
ledcWriteTone(BUZZER, INC_FREQ);
delay(30);
ledcWrite(0, 1024);
ledcWrite(BUZZER, 0);
}
setLED(g_mode);
}
if (digitalRead(SW_L) == 0) {
ledcWriteTone(0, INC_FREQ);
ledcWriteTone(BUZZER, INC_FREQ);
delay(80);
ledcWriteTone(0, DEC_FREQ);
ledcWriteTone(BUZZER, DEC_FREQ);
delay(80);
ledcWrite(0, 1024);
ledcWrite(BUZZER, 0);
delay(300);
execByMode(g_mode);
}
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Binary file added pico_v2_STEP4_Sensor/.DS_Store
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8 changes: 4 additions & 4 deletions pico_v2_STEP4_Sensor/pico_v2_STEP4_Sensor.ino
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Expand Up @@ -81,10 +81,10 @@ void setup()

Serial.begin(115200);

g_timer1 = timerBegin(1, 80, true); //1us
timerAttachInterrupt(g_timer1, &onTimer1, true);
timerAlarmWrite(g_timer1, 500, true); //2kHz
timerAlarmEnable(g_timer1);
g_timer1 = timerBegin(1000000); //1us
timerAttachInterrupt(g_timer1, &onTimer1);
timerAlarm(g_timer1, 500, true, 0); //2kHz
timerStart(g_timer1);
}

void loop()
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Binary file added pico_v2_STEP5_Straight/.DS_Store
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28 changes: 14 additions & 14 deletions pico_v2_STEP5_Straight/pico_v2_STEP5_Straight.ino
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Expand Up @@ -62,7 +62,7 @@ void IRAM_ATTR isrR(void)
{
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
if (g_motor_move) {
timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
digitalWrite(PWM_R, HIGH);
for (int i = 0; i < 100; i++) {
asm("nop \n");
Expand All @@ -78,7 +78,7 @@ void IRAM_ATTR isrL(void)
{
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
if (g_motor_move) {
timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
digitalWrite(PWM_L, HIGH);
for (int i = 0; i < 100; i++) {
asm("nop \n");
Expand Down Expand Up @@ -113,20 +113,20 @@ void setup()
digitalWrite(PWM_R, LOW);
digitalWrite(PWM_L, LOW);

g_timer0 = timerBegin(0, 80, true); //1us
timerAttachInterrupt(g_timer0, &onTimer0, true);
timerAlarmWrite(g_timer0, 1000, true); //1kHz
timerAlarmEnable(g_timer0);
g_timer0 = timerBegin(1000000); //1us
timerAttachInterrupt(g_timer0, &onTimer0);
timerAlarm(g_timer0, 1000, true, 0); //1kHz
timerStart(g_timer0);

g_timer2 = timerBegin(2, 40, true); //0.5us
timerAttachInterrupt(g_timer2, isrR, true);
timerAlarmWrite(g_timer2, 13333, true); //150Hz
timerAlarmEnable(g_timer2);
g_timer2 = timerBegin(2000000); //0.5us
timerAttachInterrupt(g_timer2, isrR);
timerAlarm(g_timer2, 13333, true, 0); //150Hz
timerStart(g_timer2);

g_timer3 = timerBegin(3, 40, true); //0.5us
timerAttachInterrupt(g_timer3, &isrL, true);
timerAlarmWrite(g_timer3, 13333, true); //150Hz
timerAlarmEnable(g_timer3);
g_timer3 = timerBegin(2000000); //0.5us
timerAttachInterrupt(g_timer3, &isrL);
timerAlarm(g_timer3, 13333, true, 0); //150Hz
timerStart(g_timer3);
}

void loop()
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Binary file added pico_v2_STEP6_rotate/.DS_Store
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28 changes: 14 additions & 14 deletions pico_v2_STEP6_rotate/pico_v2_STEP6_rotate.ino
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Expand Up @@ -71,7 +71,7 @@ void IRAM_ATTR isrR(void)
{
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
if (g_motor_move) {
timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
digitalWrite(PWM_R, HIGH);
for (int i = 0; i < 100; i++) {
asm("nop \n");
Expand All @@ -87,7 +87,7 @@ void IRAM_ATTR isrL(void)
{
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
if (g_motor_move) {
timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
digitalWrite(PWM_L, HIGH);
for (int i = 0; i < 100; i++) {
asm("nop \n");
Expand Down Expand Up @@ -122,20 +122,20 @@ void setup()
digitalWrite(PWM_R, LOW);
digitalWrite(PWM_L, LOW);

g_timer0 = timerBegin(0, 80, true); //1us
timerAttachInterrupt(g_timer0, &onTimer0, true);
timerAlarmWrite(g_timer0, 1000, true); //1kHz
timerAlarmEnable(g_timer0);
g_timer0 = timerBegin(1000000); //1us
timerAttachInterrupt(g_timer0, &onTimer0);
timerAlarm(g_timer0, 1000, true, 0); //1kHz
timerStart(g_timer0);

g_timer2 = timerBegin(2, 40, true); //0.5us
timerAttachInterrupt(g_timer2, &isrR, true);
timerAlarmWrite(g_timer2, 13333, true); //150Hz
timerAlarmEnable(g_timer2);
g_timer2 = timerBegin(2000000); //0.5us
timerAttachInterrupt(g_timer2, &isrR);
timerAlarm(g_timer2, 13333, true, 0); //150Hz
timerStart(g_timer2);

g_timer3 = timerBegin(3, 40, true); //0.5us
timerAttachInterrupt(g_timer3, &isrL, true);
timerAlarmWrite(g_timer3, 13333, true); //150Hz
timerAlarmEnable(g_timer3);
g_timer3 = timerBegin(2000000); //0.5us
timerAttachInterrupt(g_timer3, &isrL);
timerAlarm(g_timer3, 13333, true, 0); //150Hz
timerStart(g_timer3);
}

void loop()
Expand Down
Binary file added pico_v2_STEP7_P_control/.DS_Store
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42 changes: 21 additions & 21 deletions pico_v2_STEP7_P_control/pico_v2_STEP7_P_control.ino
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Expand Up @@ -124,7 +124,7 @@ void IRAM_ATTR isrR(void)
{
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
if (g_motor_move) {
timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
digitalWrite(PWM_R, HIGH);
for (int i = 0; i < 100; i++) {
asm("nop \n");
Expand All @@ -140,7 +140,7 @@ void IRAM_ATTR isrL(void)
{
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
if (g_motor_move) {
timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
digitalWrite(PWM_L, HIGH);
for (int i = 0; i < 100; i++) {
asm("nop \n");
Expand Down Expand Up @@ -182,25 +182,25 @@ void setup()

Serial.begin(115200);

g_timer0 = timerBegin(0, 80, true); //1us
timerAttachInterrupt(g_timer0, &onTimer0, true);
timerAlarmWrite(g_timer0, 1000, true); //1kHz
timerAlarmEnable(g_timer0);

g_timer1 = timerBegin(1, 80, true);
timerAttachInterrupt(g_timer1, &onTimer1, false);
timerAlarmWrite(g_timer1, 500, true);
timerAlarmEnable(g_timer1);

g_timer2 = timerBegin(2, 40, true); //0.5us
timerAttachInterrupt(g_timer2, &isrR, true);
timerAlarmWrite(g_timer2, 13333, true); //150Hz
timerAlarmEnable(g_timer2);

g_timer3 = timerBegin(3, 40, true); //0.5us
timerAttachInterrupt(g_timer3, &isrL, true);
timerAlarmWrite(g_timer3, 13333, true); //150Hz
timerAlarmEnable(g_timer3);
g_timer0 = timerBegin(1000000); //1us
timerAttachInterrupt(g_timer0, &onTimer0);
timerAlarm(g_timer0, 1000, true, 0); //1kHz
timerStart(g_timer0);

g_timer1 = timerBegin(1000000);
timerAttachInterrupt(g_timer1, &onTimer1);
timerAlarm(g_timer1, 500, true, 0);
timerStart(g_timer1);

g_timer2 = timerBegin(2000000); //0.5us
timerAttachInterrupt(g_timer2, &isrR);
timerAlarm(g_timer2, 13333, true, 0); //150Hz
timerStart(g_timer2);

g_timer3 = timerBegin(2000000); //0.5us
timerAttachInterrupt(g_timer3, &isrL);
timerAlarm(g_timer3, 13333, true, 0); //150Hz
timerStart(g_timer3);

g_sen_r.ref = REF_SEN_R;
g_sen_l.ref = REF_SEN_L;
Expand Down
Binary file added pico_v2_STEP8_micromouse/.DS_Store
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2 changes: 1 addition & 1 deletion pico_v2_STEP8_micromouse/device.h
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Expand Up @@ -33,6 +33,6 @@
//#define SW_CM 2
#define SW_RM 4

#define BUZZER_CH 0


#endif // DEVICE_H_
61 changes: 30 additions & 31 deletions pico_v2_STEP8_micromouse/device.ino
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Expand Up @@ -53,7 +53,7 @@ void IRAM_ATTR isrR(void)
portENTER_CRITICAL_ISR(&g_timer_mux);
if (g_motor_move) {
if (g_step_hz_r < 30) g_step_hz_r = 30;
timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
digitalWrite(PWM_R, HIGH);
for (int i = 0; i < 100; i++) {
asm("nop \n");
Expand All @@ -69,7 +69,7 @@ void IRAM_ATTR isrL(void)
portENTER_CRITICAL_ISR(&g_timer_mux);
if (g_motor_move) {
if (g_step_hz_l < 30) g_step_hz_l = 30;
timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
digitalWrite(PWM_L, HIGH);
for (int i = 0; i < 100; i++) {
asm("nop \n");
Expand All @@ -80,21 +80,21 @@ void IRAM_ATTR isrL(void)
portEXIT_CRITICAL_ISR(&g_timer_mux);
}

void controlInterruptStart(void) { timerAlarmEnable(g_timer0); }
void controlInterruptStop(void) { timerAlarmDisable(g_timer0); }
void controlInterruptStart(void) { timerStart(g_timer0); }
void controlInterruptStop(void) { timerStop(g_timer0); }

void sensorInterruptStart(void) { timerAlarmEnable(g_timer1); }
void sensorInterruptStop(void) { timerAlarmDisable(g_timer1); }
void sensorInterruptStart(void) { timerStart(g_timer1); }
void sensorInterruptStop(void) { timerStop(g_timer1); }

void PWMInterruptStart(void)
{
timerAlarmEnable(g_timer2);
timerAlarmEnable(g_timer3);
timerStart(g_timer2);
timerStart(g_timer3);
}
void PWMInterruptStop(void)
{
timerAlarmDisable(g_timer2);
timerAlarmDisable(g_timer3);
timerStop(g_timer2);
timerStop(g_timer3);
}

void initAll(void)
Expand All @@ -110,9 +110,8 @@ void initAll(void)
pinMode(SW_L, INPUT);
pinMode(SW_R, INPUT);

ledcSetup(0, 440, 10);
ledcAttachPin(BUZZER, 0);
ledcWrite(0, 1024);
ledcAttach(BUZZER, 440, 10);
ledcWrite(BUZZER, 0);

pinMode(SLED_F, OUTPUT);
pinMode(SLED_S, OUTPUT);
Expand All @@ -137,25 +136,25 @@ void initAll(void)
}
}

g_timer0 = timerBegin(0, 80, true);
timerAttachInterrupt(g_timer0, &onTimer0, false);
timerAlarmWrite(g_timer0, 1000, true);
timerAlarmEnable(g_timer0);
g_timer0 = timerBegin(1000000);
timerAttachInterrupt(g_timer0, &onTimer0);
timerAlarm(g_timer0, 1000, true, 0);
timerStart(g_timer0);

g_timer1 = timerBegin(1, 80, true);
timerAttachInterrupt(g_timer1, &onTimer1, false);
timerAlarmWrite(g_timer1, 500, true);
timerAlarmEnable(g_timer1);
g_timer1 = timerBegin(1000000);
timerAttachInterrupt(g_timer1, &onTimer1);
timerAlarm(g_timer1, 500, true, 0);
timerStart(g_timer1);

g_timer2 = timerBegin(2, 40, true);
timerAttachInterrupt(g_timer2, &isrR, false);
timerAlarmWrite(g_timer2, 13333, true);
timerAlarmEnable(g_timer2);
g_timer2 = timerBegin(2000000);
timerAttachInterrupt(g_timer2, &isrR);
timerAlarm(g_timer2, 13333, true, 0);
timerStart(g_timer2);

g_timer3 = timerBegin(3, 40, true);
timerAttachInterrupt(g_timer3, &isrL, false);
timerAlarmWrite(g_timer3, 13333, true);
timerAlarmEnable(g_timer3);
g_timer3 = timerBegin(2000000);
timerAttachInterrupt(g_timer3, &isrL);
timerAlarm(g_timer3, 13333, true, 0);
timerStart(g_timer3);

Serial.begin(115200);

Expand Down Expand Up @@ -207,10 +206,10 @@ void setBLED(char data)
}

//Buzzer
void enableBuzzer(short f) { ledcWriteTone(BUZZER_CH, f); }
void enableBuzzer(short f) { ledcWriteTone(BUZZER, f); }
void disableBuzzer(void)
{
ledcWrite(BUZZER_CH, 1024); //duty 100% Buzzer OFF
ledcWrite(BUZZER, 0); //duty 0% Buzzer OFF
}

//motor
Expand Down

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