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aoki-rtaoki-rt
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Fix for v3.0.1 (#6)
* fix v3.0.1 * .DS_Store DEL and timer Commnet modify
1 parent 18c712d commit 7d100b1

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8 files changed

+97
-101
lines changed

8 files changed

+97
-101
lines changed

‎.DS_Store

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‎pico_v2_STEP3_Buzzer/pico_v2_STEP3_Buzzer.ino

+14-15
Original file line numberDiff line numberDiff line change
@@ -59,22 +59,22 @@ void execByMode(char mode)
5959
{
6060
switch (mode) {
6161
case 1:
62-
ledcWriteTone(0, FREQ_C);
62+
ledcWriteTone(BUZZER, FREQ_C);
6363
delay(1000);
64-
ledcWrite(0, 1024);
64+
ledcWrite(BUZZER, 0);
6565
break;
6666
case 2:
67-
ledcWriteTone(0, FREQ_D);
67+
ledcWriteTone(BUZZER, FREQ_D);
6868
delay(1000);
69-
ledcWrite(0, 1024);
69+
ledcWrite(BUZZER, 0);
7070
break;
7171
case 3:
72-
ledcWriteTone(0, FREQ_E);
72+
ledcWriteTone(BUZZER, FREQ_E);
7373
delay(1000);
74-
ledcWrite(0, 1024);
74+
ledcWrite(BUZZER, 0);
7575
break;
7676
default:
77-
ledcWrite(0, 1024);
77+
ledcWrite(BUZZER, 0);
7878
break;
7979
}
8080
}
@@ -90,9 +90,8 @@ void setup()
9090
pinMode(SW_L, INPUT);
9191
pinMode(SW_R, INPUT);
9292

93-
ledcSetup(0, 440, 10);
94-
ledcAttachPin(BUZZER, 0);
95-
ledcWrite(0, 1024);
93+
ledcAttach(BUZZER, 440, 10);
94+
ledcWrite(BUZZER, 0);
9695

9796
g_mode = 1;
9897
setLED(g_mode);
@@ -109,18 +108,18 @@ void loop()
109108
if (g_mode > 15) {
110109
g_mode = 1;
111110
} else {
112-
ledcWriteTone(0, INC_FREQ);
111+
ledcWriteTone(BUZZER, INC_FREQ);
113112
delay(30);
114-
ledcWrite(0, 1024);
113+
ledcWrite(BUZZER, 0);
115114
}
116115
setLED(g_mode);
117116
}
118117
if (digitalRead(SW_L) == 0) {
119-
ledcWriteTone(0, INC_FREQ);
118+
ledcWriteTone(BUZZER, INC_FREQ);
120119
delay(80);
121-
ledcWriteTone(0, DEC_FREQ);
120+
ledcWriteTone(BUZZER, DEC_FREQ);
122121
delay(80);
123-
ledcWrite(0, 1024);
122+
ledcWrite(BUZZER, 0);
124123
delay(300);
125124
execByMode(g_mode);
126125
}

‎pico_v2_STEP4_Sensor/pico_v2_STEP4_Sensor.ino

+4-4
Original file line numberDiff line numberDiff line change
@@ -81,10 +81,10 @@ void setup()
8181

8282
Serial.begin(115200);
8383

84-
g_timer1 = timerBegin(1, 80, true); //1us
85-
timerAttachInterrupt(g_timer1, &onTimer1, true);
86-
timerAlarmWrite(g_timer1, 500, true); //2kHz
87-
timerAlarmEnable(g_timer1);
84+
g_timer1 = timerBegin(1000000); //1MHz(1us)
85+
timerAttachInterrupt(g_timer1, &onTimer1);
86+
timerAlarm(g_timer1, 500, true, 0); //500 * 1us = 500us(2kHz)
87+
timerStart(g_timer1);
8888
}
8989

9090
void loop()

‎pico_v2_STEP5_Straight/pico_v2_STEP5_Straight.ino

+14-14
Original file line numberDiff line numberDiff line change
@@ -62,7 +62,7 @@ void IRAM_ATTR isrR(void)
6262
{
6363
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
6464
if (g_motor_move) {
65-
timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
65+
timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
6666
digitalWrite(PWM_R, HIGH);
6767
for (int i = 0; i < 100; i++) {
6868
asm("nop \n");
@@ -78,7 +78,7 @@ void IRAM_ATTR isrL(void)
7878
{
7979
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
8080
if (g_motor_move) {
81-
timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
81+
timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
8282
digitalWrite(PWM_L, HIGH);
8383
for (int i = 0; i < 100; i++) {
8484
asm("nop \n");
@@ -113,20 +113,20 @@ void setup()
113113
digitalWrite(PWM_R, LOW);
114114
digitalWrite(PWM_L, LOW);
115115

116-
g_timer0 = timerBegin(0, 80, true); //1us
117-
timerAttachInterrupt(g_timer0, &onTimer0, true);
118-
timerAlarmWrite(g_timer0, 1000, true); //1kHz
119-
timerAlarmEnable(g_timer0);
116+
g_timer0 = timerBegin(1000000); //1MHz(1us)
117+
timerAttachInterrupt(g_timer0, &onTimer0);
118+
timerAlarm(g_timer0, 1000, true, 0); //1000 * 1us = 1000us(1kHz)
119+
timerStart(g_timer0);
120120

121-
g_timer2 = timerBegin(2, 40, true); //0.5us
122-
timerAttachInterrupt(g_timer2, isrR, true);
123-
timerAlarmWrite(g_timer2, 13333, true); //150Hz
124-
timerAlarmEnable(g_timer2);
121+
g_timer2 = timerBegin(2000000); //2MHz(0.5us)
122+
timerAttachInterrupt(g_timer2, isrR);
123+
timerAlarm(g_timer2, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
124+
timerStart(g_timer2);
125125

126-
g_timer3 = timerBegin(3, 40, true); //0.5us
127-
timerAttachInterrupt(g_timer3, &isrL, true);
128-
timerAlarmWrite(g_timer3, 13333, true); //150Hz
129-
timerAlarmEnable(g_timer3);
126+
g_timer3 = timerBegin(2000000); //2MHz(0.5us)
127+
timerAttachInterrupt(g_timer3, &isrL);
128+
timerAlarm(g_timer3, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
129+
timerStart(g_timer3);
130130
}
131131

132132
void loop()

‎pico_v2_STEP6_rotate/pico_v2_STEP6_rotate.ino

+14-14
Original file line numberDiff line numberDiff line change
@@ -71,7 +71,7 @@ void IRAM_ATTR isrR(void)
7171
{
7272
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
7373
if (g_motor_move) {
74-
timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
74+
timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
7575
digitalWrite(PWM_R, HIGH);
7676
for (int i = 0; i < 100; i++) {
7777
asm("nop \n");
@@ -87,7 +87,7 @@ void IRAM_ATTR isrL(void)
8787
{
8888
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
8989
if (g_motor_move) {
90-
timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
90+
timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
9191
digitalWrite(PWM_L, HIGH);
9292
for (int i = 0; i < 100; i++) {
9393
asm("nop \n");
@@ -122,20 +122,20 @@ void setup()
122122
digitalWrite(PWM_R, LOW);
123123
digitalWrite(PWM_L, LOW);
124124

125-
g_timer0 = timerBegin(0, 80, true); //1us
126-
timerAttachInterrupt(g_timer0, &onTimer0, true);
127-
timerAlarmWrite(g_timer0, 1000, true); //1kHz
128-
timerAlarmEnable(g_timer0);
125+
g_timer0 = timerBegin(1000000); //1MHz(1us)
126+
timerAttachInterrupt(g_timer0, &onTimer0);
127+
timerAlarm(g_timer0, 1000, true, 0); //1000 * 1us = 1000us(1kHz)
128+
timerStart(g_timer0);
129129

130-
g_timer2 = timerBegin(2, 40, true); //0.5us
131-
timerAttachInterrupt(g_timer2, &isrR, true);
132-
timerAlarmWrite(g_timer2, 13333, true); //150Hz
133-
timerAlarmEnable(g_timer2);
130+
g_timer2 = timerBegin(2000000); //2MHz(0.5us)
131+
timerAttachInterrupt(g_timer2, &isrR);
132+
timerAlarm(g_timer2, 13333, true, 0); //13333 * 0.5 = 6666us(150Hz)
133+
timerStart(g_timer2);
134134

135-
g_timer3 = timerBegin(3, 40, true); //0.5us
136-
timerAttachInterrupt(g_timer3, &isrL, true);
137-
timerAlarmWrite(g_timer3, 13333, true); //150Hz
138-
timerAlarmEnable(g_timer3);
135+
g_timer3 = timerBegin(2000000); //2MHz(0.5us)
136+
timerAttachInterrupt(g_timer3, &isrL);
137+
timerAlarm(g_timer3, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
138+
timerStart(g_timer3);
139139
}
140140

141141
void loop()

‎pico_v2_STEP7_P_control/pico_v2_STEP7_P_control.ino

+21-21
Original file line numberDiff line numberDiff line change
@@ -124,7 +124,7 @@ void IRAM_ATTR isrR(void)
124124
{
125125
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
126126
if (g_motor_move) {
127-
timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
127+
timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
128128
digitalWrite(PWM_R, HIGH);
129129
for (int i = 0; i < 100; i++) {
130130
asm("nop \n");
@@ -140,7 +140,7 @@ void IRAM_ATTR isrL(void)
140140
{
141141
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
142142
if (g_motor_move) {
143-
timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
143+
timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
144144
digitalWrite(PWM_L, HIGH);
145145
for (int i = 0; i < 100; i++) {
146146
asm("nop \n");
@@ -182,25 +182,25 @@ void setup()
182182

183183
Serial.begin(115200);
184184

185-
g_timer0 = timerBegin(0, 80, true); //1us
186-
timerAttachInterrupt(g_timer0, &onTimer0, true);
187-
timerAlarmWrite(g_timer0, 1000, true); //1kHz
188-
timerAlarmEnable(g_timer0);
189-
190-
g_timer1 = timerBegin(1, 80, true);
191-
timerAttachInterrupt(g_timer1, &onTimer1, false);
192-
timerAlarmWrite(g_timer1, 500, true);
193-
timerAlarmEnable(g_timer1);
194-
195-
g_timer2 = timerBegin(2, 40, true); //0.5us
196-
timerAttachInterrupt(g_timer2, &isrR, true);
197-
timerAlarmWrite(g_timer2, 13333, true); //150Hz
198-
timerAlarmEnable(g_timer2);
199-
200-
g_timer3 = timerBegin(3, 40, true); //0.5us
201-
timerAttachInterrupt(g_timer3, &isrL, true);
202-
timerAlarmWrite(g_timer3, 13333, true); //150Hz
203-
timerAlarmEnable(g_timer3);
185+
g_timer0 = timerBegin(1000000); //1MHz(1us)
186+
timerAttachInterrupt(g_timer0, &onTimer0);
187+
timerAlarm(g_timer0, 1000, true, 0); //1000 * 1us = 1000us(1kHz)
188+
timerStart(g_timer0);
189+
190+
g_timer1 = timerBegin(1000000);
191+
timerAttachInterrupt(g_timer1, &onTimer1);
192+
timerAlarm(g_timer1, 500, true, 0);
193+
timerStart(g_timer1);
194+
195+
g_timer2 = timerBegin(2000000); //2MHz(0.5us)
196+
timerAttachInterrupt(g_timer2, &isrR);
197+
timerAlarm(g_timer2, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
198+
timerStart(g_timer2);
199+
200+
g_timer3 = timerBegin(2000000); //2MHz(0.5us)
201+
timerAttachInterrupt(g_timer3, &isrL);
202+
timerAlarm(g_timer3, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
203+
timerStart(g_timer3);
204204

205205
g_sen_r.ref = REF_SEN_R;
206206
g_sen_l.ref = REF_SEN_L;

‎pico_v2_STEP8_micromouse/device.h

-2
Original file line numberDiff line numberDiff line change
@@ -33,6 +33,4 @@
3333
//#define SW_CM 2
3434
#define SW_RM 4
3535

36-
#define BUZZER_CH 0
37-
3836
#endif // DEVICE_H_

‎pico_v2_STEP8_micromouse/device.ino

+30-31
Original file line numberDiff line numberDiff line change
@@ -53,7 +53,7 @@ void IRAM_ATTR isrR(void)
5353
portENTER_CRITICAL_ISR(&g_timer_mux);
5454
if (g_motor_move) {
5555
if (g_step_hz_r < 30) g_step_hz_r = 30;
56-
timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
56+
timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
5757
digitalWrite(PWM_R, HIGH);
5858
for (int i = 0; i < 100; i++) {
5959
asm("nop \n");
@@ -69,7 +69,7 @@ void IRAM_ATTR isrL(void)
6969
portENTER_CRITICAL_ISR(&g_timer_mux);
7070
if (g_motor_move) {
7171
if (g_step_hz_l < 30) g_step_hz_l = 30;
72-
timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
72+
timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
7373
digitalWrite(PWM_L, HIGH);
7474
for (int i = 0; i < 100; i++) {
7575
asm("nop \n");
@@ -80,21 +80,21 @@ void IRAM_ATTR isrL(void)
8080
portEXIT_CRITICAL_ISR(&g_timer_mux);
8181
}
8282

83-
void controlInterruptStart(void) { timerAlarmEnable(g_timer0); }
84-
void controlInterruptStop(void) { timerAlarmDisable(g_timer0); }
83+
void controlInterruptStart(void) { timerStart(g_timer0); }
84+
void controlInterruptStop(void) { timerStop(g_timer0); }
8585

86-
void sensorInterruptStart(void) { timerAlarmEnable(g_timer1); }
87-
void sensorInterruptStop(void) { timerAlarmDisable(g_timer1); }
86+
void sensorInterruptStart(void) { timerStart(g_timer1); }
87+
void sensorInterruptStop(void) { timerStop(g_timer1); }
8888

8989
void PWMInterruptStart(void)
9090
{
91-
timerAlarmEnable(g_timer2);
92-
timerAlarmEnable(g_timer3);
91+
timerStart(g_timer2);
92+
timerStart(g_timer3);
9393
}
9494
void PWMInterruptStop(void)
9595
{
96-
timerAlarmDisable(g_timer2);
97-
timerAlarmDisable(g_timer3);
96+
timerStop(g_timer2);
97+
timerStop(g_timer3);
9898
}
9999

100100
void initAll(void)
@@ -110,9 +110,8 @@ void initAll(void)
110110
pinMode(SW_L, INPUT);
111111
pinMode(SW_R, INPUT);
112112

113-
ledcSetup(0, 440, 10);
114-
ledcAttachPin(BUZZER, 0);
115-
ledcWrite(0, 1024);
113+
ledcAttach(BUZZER, 440, 10);
114+
ledcWrite(BUZZER, 0);
116115

117116
pinMode(SLED_F, OUTPUT);
118117
pinMode(SLED_S, OUTPUT);
@@ -137,25 +136,25 @@ void initAll(void)
137136
}
138137
}
139138

140-
g_timer0 = timerBegin(0, 80, true);
141-
timerAttachInterrupt(g_timer0, &onTimer0, false);
142-
timerAlarmWrite(g_timer0, 1000, true);
143-
timerAlarmEnable(g_timer0);
139+
g_timer0 = timerBegin(1000000);
140+
timerAttachInterrupt(g_timer0, &onTimer0);
141+
timerAlarm(g_timer0, 1000, true, 0);
142+
timerStart(g_timer0);
144143

145-
g_timer1 = timerBegin(1, 80, true);
146-
timerAttachInterrupt(g_timer1, &onTimer1, false);
147-
timerAlarmWrite(g_timer1, 500, true);
148-
timerAlarmEnable(g_timer1);
144+
g_timer1 = timerBegin(1000000);
145+
timerAttachInterrupt(g_timer1, &onTimer1);
146+
timerAlarm(g_timer1, 500, true, 0);
147+
timerStart(g_timer1);
149148

150-
g_timer2 = timerBegin(2, 40, true);
151-
timerAttachInterrupt(g_timer2, &isrR, false);
152-
timerAlarmWrite(g_timer2, 13333, true);
153-
timerAlarmEnable(g_timer2);
149+
g_timer2 = timerBegin(2000000);
150+
timerAttachInterrupt(g_timer2, &isrR);
151+
timerAlarm(g_timer2, 13333, true, 0);
152+
timerStart(g_timer2);
154153

155-
g_timer3 = timerBegin(3, 40, true);
156-
timerAttachInterrupt(g_timer3, &isrL, false);
157-
timerAlarmWrite(g_timer3, 13333, true);
158-
timerAlarmEnable(g_timer3);
154+
g_timer3 = timerBegin(2000000);
155+
timerAttachInterrupt(g_timer3, &isrL);
156+
timerAlarm(g_timer3, 13333, true, 0);
157+
timerStart(g_timer3);
159158

160159
Serial.begin(115200);
161160

@@ -207,10 +206,10 @@ void setBLED(char data)
207206
}
208207

209208
//Buzzer
210-
void enableBuzzer(short f) { ledcWriteTone(BUZZER_CH, f); }
209+
void enableBuzzer(short f) { ledcWriteTone(BUZZER, f); }
211210
void disableBuzzer(void)
212211
{
213-
ledcWrite(BUZZER_CH, 1024); //duty 100% Buzzer OFF
212+
ledcWrite(BUZZER, 0); //duty 0% Buzzer OFF
214213
}
215214

216215
//motor

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