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sakakendo/linetracer.c

Last active July 18, 2018 04:25
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linetracer.c
#include <3694.h>
int main (void){
/*初期化*/
//IO.PMR5.BYTE&=0xe7;
IO.PCR8|=0xff;
/*値の設定*/
IO.PDR8.BYTE|=0x40;
IO.PDR8.BYTE&=0xff;
IO.PDR8.BIT.B6=1;
IO.PDR8.BIT.B7=1;
}
Raw
main20.c
#include <3694.h>
void msecWait(unsigned long length){
volatile int i=0,j=0;
for(j=0;j<length;j++){
for(i=0;i<714;i++);
}
}
int main(){
long int cnt=0;
IO.PCR8|=0xff;
IO.PDR8.BYTE|=0x40;
IO.PDR8.BYTE&=0xff;
IO.PDR8.BIT.B6=1;
IO.PDR8.BIT.B7=1;
msecWait(1);
while(1){
if(cnt%2==1){
IO.PDR8.BIT.B6=1;
IO.PDR8.BIT.B7=0;
msecWait(1);
}else if(cnt%2==0){
IO.PDR8.BIT.B6=0;
IO.PDR8.BIT.B7=1;
msecWait(1);
}
cnt++;
}
return 0;
}
Raw
main21.c
#include <3694.h>
#include"ltrc_lib.h"
void msecWait(unsigned long length){
volatile int i=0,j=0;
for(j=0;j<length;j++){
for(i=0;i<714;i++);
}
}
int main(){
long int cnt=0;
IO.PCR8|=0xff;
IO.PDR8.BYTE|=0x40;
IO.PDR8.BYTE&=0xff;
initSCI3();
SCI3printf(" hello h8 3694\n");
while(1){
if(cnt%4==0){
IO.PDR8.BIT.B6=0;
IO.PDR8.BIT.B7=0;
SCI3printf("LED1(B6):%d,LED2(B7):%d\n",IO.PDR8.BIT.B6,IO.PDR8.BIT.B7);
msecWait(1000);
}else if(cnt%4==1){
IO.PDR8.BIT.B6=1;
IO.PDR8.BIT.B7=0;
SCI3printf("LED1(B6):%d,LED2(B7):%d\n",IO.PDR8.BIT.B6,IO.PDR8.BIT.B7);
msecWait(1000);
}else if(cnt%4==2){
IO.PDR8.BIT.B6=0;
IO.PDR8.BIT.B7=1;
SCI3printf("LED1(B6):%d,LED2(B7):%d\n",IO.PDR8.BIT.B6,IO.PDR8.BIT.B7);
msecWait(1000);
}else if(cnt%4==3){
IO.PDR8.BIT.B6=1;
IO.PDR8.BIT.B7=1;
SCI3printf("LED1(B6):%d,LED2(B7):%d\n",IO.PDR8.BIT.B6,IO.PDR8.BIT.B7);
msecWait(1000);
}
cnt++;
}
return 0;
}
Raw
main22.c
#include"ltrc_lib.h"
unsigned count=0;
const int t=9766;
int duty1=0,duty2=100;
unsigned flag=0;
#define setCCR_I() asm volatile("orc.b #0x80,CCR")
#define clearCCR_I() asm volatile("andc.b #0x7f,CCR")
void msecWait(unsigned long length){
volatile int i=0,j=0;
for(j=0;j<length;j++){
for(i=0;i<714;i++);
}
}
#pragma interrupt
void int_timera(void){
//割り込み時に実行する処理
if(count==0||count==t||count==2*t){
flag=1;
}
count++;
if(count >= 3*t)count = 0;
IRR1.BIT.IRRTA = 0;
/********** LED点灯 **********/
if(count%100<=duty1){
IO.PDR8.BIT.B6=1;
}else {
IO.PDR8.BIT.B6=0;
}
if(count%100<=duty2){
IO.PDR8.BIT.B7=1;
}else{
IO.PDR8.BIT.B7=0;
}
/******************************/
}
int main()
{
//interupt
clearCCR_I(); //割り込みマスクのクリア：割り込み許可
TA.TMA.BYTE = 0x07; //タイマ設定
IRR1.BIT.IRRTA = 0; //タイマー割込みフラグのリセット
IENR1.BIT.IENTA = 1; //割り込み許可
//setCCR_I(); //割り込みマスクのセット：割り込み無視
IO.PCR8 |= 0xff;
IO.PDR8.BYTE |= 0x40;
IO.PDR8.BYTE &= 0xff;
//serial
initSCI3();
SCI3printf(" hello h8 3694\n");
while(1){
/********** DUTY比設定 **********/
SCI3printf("");
if(count < t){
duty1=20;
duty2=90;
}else if(t <= count && count < 2*t){
duty1=50;
duty2=50;
}else if(2*t <= count){
duty1=80;
duty2=10;
}
if(flag==1){
SCI3printf("DUTY1=%d DUTY2=%d\n",duty1,duty2);
flag=0;
}s
/******************************/
}
return 0;
}
Raw
main28.c
#include <3694.h>
#include "ltrc_lib.h"
#define setCCR_I() asm volatile("orc.b #0x80,CCR")
#define clearCCR_I() asm volatile("andc.b #0x7f,CCR")
void msecWait(unsigned long length){
volatile int i=0,j=0;
for(j=0;j<length;j++){
for(i=0;i<714;i++);
}
}
int retDuty(unsigned int duty)
{
duty=(unsigned int)duty*6.25;
if(duty==TW.GRA){ duty--;}
if(duty==0){ duty++;}
return duty;
}
int main(void)
{
int i=0;
int pwmb[]={100,80,50,20,0};
int pwmc[]={0,20,50,80,100};
initSCI3();
IO.PDR8.BYTE|=0x40;
IO.PDR8.BYTE&=0xff;
TW.TMRW.BYTE=0x03;/*0x4b;*/
TW.TCRW.BYTE=0xb6;
TW.TIERW.BYTE=0x70;
TW.TCNT=0x0000;
TW.GRA=625/*500*/;
TW.GRB=0;
TW.GRC=0;
TW.TMRW.BIT.CTS=1;
while(1){
for(i=0;i<5;i++){
TW.GRB=retDuty(pwmb[i]);
TW.GRC=retDuty(pwmc[i]);
SCI3printf("%d %d %d FTIOB %d%% FTIOC %d%%\n",i,TW.GRB,TW.GRC,pwmb[i],pwmc[i]);
msecWait(3000);
}
}
}
Raw
main29.c
#include <3694.h>
#include "ltrc_lib.h"
#define setCCR_I() asm volatile("orc.b #0x80,CCR")
#define clearCCR_I() asm volatile("andc.b #0x7f,CCR")
void msecWait(unsigned long length){
volatile int i=0,j=0;
for(j=0;j<length;j++)#include <3694.h>
#include "ltrc_lib.h"
#define setCCR_I() asm volatile("orc.b #0x80,CCR")
#define clearCCR_I() asm volatile("andc.b #0x7f,CCR")
#define R_MOTOR 1
#define L_MOTOR 0
void msecWait(unsigned long length){
volatile int i=0,j=0;
for(j=0;j<length;j++){
for(i=0;i<714;i++);
}
}
int retDuty(unsigned int duty)
{
duty=(unsigned int)duty*6.25;
if(duty==TW.GRA){ duty--;}
if(duty==0){ duty++;}
return duty;
}
void brake(int pin){
if(pin==0){
IO.PDR1.BYTE|=0x02;
TW.GRB=retDuty(100);
/* SCI3printf("brake %d\n",pin);*/
}
if(pin==1){
IO.PDR1.BYTE|=0x04;
TW.GRC=retDuty(100);
/* SCI3printf("brake %d\n",pin);*/
}
}
void dutySet(int pin, int duty)
{
static int sb,sc;
/* IO.PDR1.BYTE&=~0x06;*/
if(pin==0){
if(duty==-1) brake(pin);
else{
TW.GRB=retDuty(duty);
IO.PDR1.BYTE&=~0x02;
}
sb=duty;
}
if(pin==1){
if(duty==-1){
brake(pin);
}else{
TW.GRC=retDuty(duty);
IO.PDR1.BYTE&=~0x04;
}
sc=duty;
}
}
int main(void)
{
int i=0;
int pwmb[]={0,100 ,100,0,50,0,-1,0,100,0,-1};
int pwmc[]={0,100,0,100,50,0,-1,0,100,0,-1};
int pwmt[]={1,2000,2000,2000,2000, 1,2000,1,2000, 1,2000};
initSCI3();
IO.PMR1.BYTE|=0x00;
IO.PCR1=0x06;
IO.PDR8.BYTE|=0x0c;
TW.TMRW.BYTE=0x4b;
TW.TCRW.BYTE=0xb6;
TW.TIERW.BYTE=0x70;
TW.TCNT=0x0000;
TW.GRA=625;
TW.GRB=0;
TW.GRC=0;
TW.TMRW.BIT.CTS=1;
while(1){
for(i=0;i<11;i++){
dutySet(0,pwmc[i]);
dutySet(1,pwmb[i]);
SCI3printf("%d left:%-4d right:%-4d time :%d \n ",i,pwmc[i],pwmb[i],pwmt[i]);
msecWait(pwmt[i]);
}
}
}
{
for(i=0;i<714;i++);
}
}
int retDuty(unsigned int duty)
{
duty=(unsigned int)duty*6.25;
if(duty==TW.GRA){ duty--;}
if(duty==0){ duty++;}
return duty;
}
/*void dutySet(unsigned int b, unsigned int c)*/
void dutySet(int b, int c)
{
SCI3printf("duty%d %dn\n",b,c);
if(b==-1 && c==-1) {
IO.PDR1.BYTE|=0x06;
TW.GRB=retDuty(100);
TW.GRC=retDuty(100);
SCI3printf("brake\n");
}else{
IO.PDR1.BYTE&=~0x06;
TW.GRB=retDuty(b);
TW.GRC=retDuty(c);
}
}
int main(void)
{
int i=0;
int pwmb[]={0,100 ,100,0,50,0,-1,0,100,0,-1};
int pwmc[]={0,100,0,100,50,0,-1,0,100,0,-1};
int pwmt[]={1,2000,2000,2000,2000, 1,2000,1,2000, 1,2000};
initSCI3();
IO.PMR1.BYTE|=0x00;
IO.PCR1=0x06;
IO.PDR8.BYTE|=0x0c;
TW.TMRW.BYTE=0x4b;
TW.TCRW.BYTE=0xb6;
TW.TIERW.BYTE=0x70;
TW.TCNT=0x0000;
TW.GRA=625;
TW.GRB=0;
TW.GRC=0;
TW.TMRW.BIT.CTS=1;
while(1){
for(i=0;i<11;i++){
dutySet(pwmc[i],pwmb[i]);
SCI3printf("%d left:%-4d right:%-4d time :%d\n",i,pwmc[i],pwmb[i],pwmt[i]);
/* msecWait(1000*pwmt[i]);*/
msecWait(pwmt[i]);
}
}
}
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