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Merged
merged 2 commits into from
Jul 4, 2024
Merged

Fixed due to esp32 package 3.0.1 update #20

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9e30418
Fixed due to esp32 package 3.0.1 update
aoki-rt Jun 6, 2024
6190cf2
comment modify
aoki-rt Jun 19, 2024
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28 changes: 14 additions & 14 deletions uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -136,7 +136,7 @@ void IRAM_ATTR isrR(void)
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
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 @@ -153,7 +153,7 @@ void IRAM_ATTR isrL(void)
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
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 Down Expand Up @@ -201,20 +201,20 @@ void setup()

delay(2000);

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); //1MHz(1us)
timerAttachInterrupt(g_timer0, &onTimer0);
timerAlarm(g_timer0, 1000, true, 0); //1000 * 1us =1000us(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); //2MHz(0.5us)
timerAttachInterrupt(g_timer2, &isrR);
timerAlarm(g_timer2, 13333, true, 0); //13333 * 0.5us = 6666us(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); //2MHz(0.5us)
timerAttachInterrupt(g_timer3, &isrL);
timerAlarm(g_timer3, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
timerStart(g_timer3);

g_allocator = rcl_get_default_allocator();

Expand Down
8 changes: 4 additions & 4 deletions uROS_STEP11_SensorMsg/uROS_STEP11_SensorMsg.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -163,10 +163,10 @@ void setup()

delay(2000);

g_timer1 = timerBegin(1, 80, true); //1us
timerAttachInterrupt(g_timer1, &onTimer1, true);
timerAlarmWrite(g_timer1, 250, true); //4kHz
timerAlarmEnable(g_timer1);
g_timer1 = timerBegin(1000000); //1MHz(1us)
timerAttachInterrupt(g_timer1, &onTimer1);
timerAlarm(g_timer1, 250, true, 0); //250 * 1us = 250us(4kHz)
timerStart(g_timer1);

g_allocator = rcl_get_default_allocator();

Expand Down
2 changes: 0 additions & 2 deletions uROS_STEP12_micromouse/device.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,4 @@
#define SW_CM 2
#define SW_RM 4

#define BUZZER_CH 0

#endif // DEVICE_H_
73 changes: 34 additions & 39 deletions uROS_STEP12_micromouse/device.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ 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 @@ -76,7 +76,7 @@ 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 @@ -87,21 +87,21 @@ 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 initDevice(void)
Expand All @@ -118,9 +118,8 @@ void initDevice(void)
pinMode(SW_C, INPUT);
pinMode(SW_R, INPUT);

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

pinMode(SLED_FR, OUTPUT);
pinMode(SLED_FL, OUTPUT);
Expand Down Expand Up @@ -149,25 +148,25 @@ void initDevice(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, true);
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 @@ -199,10 +198,10 @@ 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, 1024); //duty 100% Buzzer OFF
}

//motor
Expand Down Expand Up @@ -266,8 +265,7 @@ unsigned short getSensorR(void)
for (int i = 0; i < WAITLOOP_SLED; i++) {
asm("nop \n");
}
// unsigned short tmp = analogRead(AD3);
unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_5);
unsigned short tmp = analogRead(AD3);
digitalWrite(SLED_R, LOW);
return tmp;
}
Expand All @@ -277,8 +275,7 @@ unsigned short getSensorL(void)
for (int i = 0; i < WAITLOOP_SLED; i++) {
asm("nop \n");
}
// unsigned short tmp = analogRead(AD4);
unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_6);
unsigned short tmp = analogRead(AD4);
digitalWrite(SLED_L, LOW);
return tmp;
}
Expand All @@ -288,8 +285,7 @@ unsigned short getSensorFL(void)
for (int i = 0; i < WAITLOOP_SLED; i++) {
asm("nop \n");
}
// unsigned short tmp = analogRead(AD2);
unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_4);
unsigned short tmp = analogRead(AD2);
digitalWrite(SLED_FL, LOW); //LED消灯
return tmp;
}
Expand All @@ -299,8 +295,7 @@ unsigned short getSensorFR(void)
for (int i = 0; i < WAITLOOP_SLED; i++) {
asm("nop \n");
}
// unsigned short tmp = analogRead(AD1);
unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_3);
unsigned short tmp = analogRead(AD1);
digitalWrite(SLED_FR, LOW);
return tmp;
}
Expand Down
33 changes: 16 additions & 17 deletions uROS_STEP3_Buzzer/uROS_STEP3_Buzzer.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -60,22 +60,22 @@ void execByMode(char mode)
{
switch (mode) {
case 1:
ledcWriteTone(0, FREQ_C);
ledcWriteTone(BUZZER, FREQ_C);
delay(1000);
ledcWrite(0, 1024);
ledcWrite(BUZZER, 1024);
break;
case 2:
ledcWriteTone(0, FREQ_D);
ledcWriteTone(BUZZER, FREQ_D);
delay(1000);
ledcWrite(0, 1024);
ledcWrite(BUZZER, 1024);
break;
case 3:
ledcWriteTone(0, FREQ_E);
ledcWriteTone(BUZZER, FREQ_E);
delay(1000);
ledcWrite(0, 1024);
ledcWrite(BUZZER, 1024);
break;
default:
ledcWrite(0, 1024);
ledcWrite(BUZZER, 1024);
break;
}
}
Expand All @@ -92,9 +92,8 @@ void setup()
pinMode(SW_C, INPUT);
pinMode(SW_R, INPUT);

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

g_mode = 1;
setLED(g_mode);
Expand All @@ -111,9 +110,9 @@ void loop()
if (g_mode > 15) {
g_mode = 15;
} else {
ledcWriteTone(0, INC_FREQ);
ledcWriteTone(BUZZER, INC_FREQ);
delay(30);
ledcWrite(0, 1024);
ledcWrite(BUZZER, 1024);
}
setLED(g_mode);
}
Expand All @@ -122,18 +121,18 @@ void loop()
if (g_mode < 1) {
g_mode = 1;
} else {
ledcWriteTone(0, DEC_FREQ);
ledcWriteTone(BUZZER, DEC_FREQ);
delay(30);
ledcWrite(0, 1024);
ledcWrite(BUZZER, 1024);
}
setLED(g_mode);
}
if (digitalRead(SW_C) == 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, 1024);
delay(300);
execByMode(g_mode);
}
Expand Down
8 changes: 4 additions & 4 deletions uROS_STEP4_Sensor/uROS_STEP4_Sensor.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -94,10 +94,10 @@ void setup()

Serial.begin(115200);

g_timer1 = timerBegin(1, 80, true); //1us
timerAttachInterrupt(g_timer1, &onTimer1, true);
timerAlarmWrite(g_timer1, 250, true); //4kHz
timerAlarmEnable(g_timer1);
g_timer1 = timerBegin(1000000); //1MHz(1us)
timerAttachInterrupt(g_timer1, &onTimer1);
timerAlarm(g_timer1, 250, true, 0); //250 * 1us =250us(4kHz)
timerStart(g_timer1);
}

void loop()
Expand Down
28 changes: 14 additions & 14 deletions uROS_STEP5_Straight/uROS_STEP5_Straight.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,7 @@ 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 @@ -79,7 +79,7 @@ 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 @@ -115,20 +115,20 @@ 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); //1MHz(1us)
timerAttachInterrupt(g_timer0, &onTimer0);
timerAlarm(g_timer0, 1000, true, 0); //1000 * 1us =1000us(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); //2MHz(0.5us)
timerAttachInterrupt(g_timer2, isrR);
timerAlarm(g_timer2, 13333, true, 0); //13333 * 0.5us = 6666us(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); //2MHz(0.5us)
timerAttachInterrupt(g_timer3, &isrL);
timerAlarm(g_timer3, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
timerStart(g_timer3);
}

void loop()
Expand Down
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