//PWM, power output
void pwro_output(uint8 value)
{
clutch_pwm = value;
PWM_2_WriteCompare(clutch_pwm);
}
//Configuration for the clutch
void init_pwro(void)
{
//PWM2: Clutch
PWM_2_Start();
PWM_2_WriteCompare(0); //Start at 0%
}
int main()
{
CyGlobalIntEnable; /* Enable global interrupts. */
//PWM_1_Start();
PWM_1_Start();
USBUART_Start(0,USBUART_5V_OPERATION);
while(!USBUART_bGetConfiguration()){}
USBUART_CDC_Init();
int count = 0;
uint8 buff[64];
buff[0] = 0;
int up_b = 0;
int left_b = 0;
int down_b = 0;
int right_b = 0;
int PWM_count = 0;
int judge_count = 0;
while(1)//main loop
{
if(0 != USBUART_GetConfiguration())
{
if(0 != USBUART_DataIsReady())
{
count = USBUART_GetAll(buff);
if( count != 0){
while(0 == USBUART_CDCIsReady()){}
PWM_1_Start();
PWM_2_Start();
PWM_3_Start();
PWM_4_Start();
USBUART_PutData(buff,count);
CyDelay(500);
USBUART_PutCRLF();
switch(buff[0]){
case 48:
up_b = 1;
break;
case 49:
up_b = 0;
break;
case 50:
left_b = 1;
break;
case 51:
left_b = 0;
break;
case 52:
right_b = 1;
break;
case 53:
right_b = 0;
break;
case 54:
down_b = 1;
break;
case 55:
down_b = 0;
break;
default:
break;
}
judge_count = up_b + left_b + down_b +right_b;
if(judge_count == 0){
PWM_count = 0;
}
if(judge_count == 1){//押されているボタンの数が1つの場合
if(PWM_count <=100){
PWM_count++;
int i = 0;
for(i=0;i<=100;i++){}
}else{}
if(up_b == 1){//上ボタン
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(1);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(1);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(1);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(1);
}
if(left_b == 1)
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(0);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(1);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(1);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(0);
}
if(right_b == 1)
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(1);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(0);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(0);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(1);
}
if(down_b == 1)
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(0);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(0);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(0);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(0);
}
}else if(judge_count == 2){//2個の場合
if(PWM_count <=100){
PWM_count++;
int i = 0;
for(i=0;i<=100;i++){}
}else{}
if(up_b == 1&& left_b == 1){
PWM_1_WriteCompare(0);
PWM_1_direction_Write(0);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(1);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(1);
PWM_4_WriteCompare(0);
PWM_4_direction_Write(0);
}else if(up_b == 1&& right_b == 1){
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(1);
PWM_2_WriteCompare(0);
PWM_2_direction_Write(0);
PWM_3_WriteCompare(0);
PWM_3_direction_Write(0);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(1);
}else if(down_b == 1&& right_b==1){
PWM_1_WriteCompare(0);
PWM_1_direction_Write(0);
PWM_2_WriteCompare(PWM_count);
PWM_2_direction_Write(0);
PWM_3_WriteCompare(PWM_count);
PWM_3_direction_Write(0);
PWM_4_WriteCompare(0);
PWM_4_direction_Write(0);
}else if(down_b == 1&& left_b == 1){
PWM_1_WriteCompare(PWM_count);
PWM_1_direction_Write(0);
PWM_2_WriteCompare(0);
PWM_2_direction_Write(0);
PWM_3_WriteCompare(0);
PWM_3_direction_Write(0);
PWM_4_WriteCompare(PWM_count);
PWM_4_direction_Write(0);
}
}else{}
//if(USBUART_IsLineChanged() == USBUART_LINE_CODING_CHANGED || USBUART_IsLineChanged() == USBUART_LINE_CONTROL_CHANGED)
//{
USBUART_PutCRLF();
//CyDelay(100);
//}
if(64 == count){
while(0 == USBUART_CDCIsReady()){}
//sent zero packet
USBUART_PutData(NULL,0);
}
//LED_Write(0);
}
}
/*******************************************************************************
* Function Name: PWM_2_Init
********************************************************************************
*
* Summary:
* Initialize component's parameters to the parameters set by user in the
* customizer of the component placed onto schematic. Usually called in
* PWM_2_Start().
*
* Parameters:
* None
*
* Return:
* None
*
*******************************************************************************/
void PWM_2_Init(void)
{
#if (PWM_2_UsingFixedFunction || PWM_2_UseControl)
uint8 ctrl;
#endif /* (PWM_2_UsingFixedFunction || PWM_2_UseControl) */
#if(!PWM_2_UsingFixedFunction)
#if(PWM_2_UseStatus)
/* Interrupt State Backup for Critical Region*/
uint8 PWM_2_interruptState;
#endif /* (PWM_2_UseStatus) */
#endif /* (!PWM_2_UsingFixedFunction) */
#if (PWM_2_UsingFixedFunction)
/* You are allowed to write the compare value (FF only) */
PWM_2_CONTROL |= PWM_2_CFG0_MODE;
#if (PWM_2_DeadBand2_4)
PWM_2_CONTROL |= PWM_2_CFG0_DB;
#endif /* (PWM_2_DeadBand2_4) */
ctrl = PWM_2_CONTROL3 & ((uint8 )(~PWM_2_CTRL_CMPMODE1_MASK));
PWM_2_CONTROL3 = ctrl | PWM_2_DEFAULT_COMPARE1_MODE;
/* Clear and Set SYNCTC and SYNCCMP bits of RT1 register */
PWM_2_RT1 &= ((uint8)(~PWM_2_RT1_MASK));
PWM_2_RT1 |= PWM_2_SYNC;
/*Enable DSI Sync all all inputs of the PWM*/
PWM_2_RT1 &= ((uint8)(~PWM_2_SYNCDSI_MASK));
PWM_2_RT1 |= PWM_2_SYNCDSI_EN;
#elif (PWM_2_UseControl)
/* Set the default compare mode defined in the parameter */
ctrl = PWM_2_CONTROL & ((uint8)(~PWM_2_CTRL_CMPMODE2_MASK)) &
((uint8)(~PWM_2_CTRL_CMPMODE1_MASK));
PWM_2_CONTROL = ctrl | PWM_2_DEFAULT_COMPARE2_MODE |
PWM_2_DEFAULT_COMPARE1_MODE;
#endif /* (PWM_2_UsingFixedFunction) */
#if (!PWM_2_UsingFixedFunction)
#if (PWM_2_Resolution == 8)
/* Set FIFO 0 to 1 byte register for period*/
PWM_2_AUX_CONTROLDP0 |= (PWM_2_AUX_CTRL_FIFO0_CLR);
#else /* (PWM_2_Resolution == 16)*/
/* Set FIFO 0 to 1 byte register for period */
PWM_2_AUX_CONTROLDP0 |= (PWM_2_AUX_CTRL_FIFO0_CLR);
PWM_2_AUX_CONTROLDP1 |= (PWM_2_AUX_CTRL_FIFO0_CLR);
#endif /* (PWM_2_Resolution == 8) */
PWM_2_WriteCounter(PWM_2_INIT_PERIOD_VALUE);
#endif /* (!PWM_2_UsingFixedFunction) */
PWM_2_WritePeriod(PWM_2_INIT_PERIOD_VALUE);
#if (PWM_2_UseOneCompareMode)
PWM_2_WriteCompare(PWM_2_INIT_COMPARE_VALUE1);
#else
PWM_2_WriteCompare1(PWM_2_INIT_COMPARE_VALUE1);
PWM_2_WriteCompare2(PWM_2_INIT_COMPARE_VALUE2);
#endif /* (PWM_2_UseOneCompareMode) */
#if (PWM_2_KillModeMinTime)
PWM_2_WriteKillTime(PWM_2_MinimumKillTime);
#endif /* (PWM_2_KillModeMinTime) */
#if (PWM_2_DeadBandUsed)
PWM_2_WriteDeadTime(PWM_2_INIT_DEAD_TIME);
#endif /* (PWM_2_DeadBandUsed) */
#if (PWM_2_UseStatus || PWM_2_UsingFixedFunction)
PWM_2_SetInterruptMode(PWM_2_INIT_INTERRUPTS_MODE);
#endif /* (PWM_2_UseStatus || PWM_2_UsingFixedFunction) */
#if (PWM_2_UsingFixedFunction)
/* Globally Enable the Fixed Function Block chosen */
PWM_2_GLOBAL_ENABLE |= PWM_2_BLOCK_EN_MASK;
/* Set the Interrupt source to come from the status register */
PWM_2_CONTROL2 |= PWM_2_CTRL2_IRQ_SEL;
#else
#if(PWM_2_UseStatus)
/* CyEnterCriticalRegion and CyExitCriticalRegion are used to mark following region critical*/
/* Enter Critical Region*/
PWM_2_interruptState = CyEnterCriticalSection();
/* Use the interrupt output of the status register for IRQ output */
PWM_2_STATUS_AUX_CTRL |= PWM_2_STATUS_ACTL_INT_EN_MASK;
/* Exit Critical Region*/
CyExitCriticalSection(PWM_2_interruptState);
/* Clear the FIFO to enable the PWM_2_STATUS_FIFOFULL
bit to be set on FIFO full. */
PWM_2_ClearFIFO();
#endif /* (PWM_2_UseStatus) */
#endif /* (PWM_2_UsingFixedFunction) */
}
/*******************************************************************************
* Function Name: PWM_2_RestoreConfig
********************************************************************************
*
* Summary:
* Restores the current user configuration of the component.
*
* Parameters:
* None
*
* Return:
* None
*
* Global variables:
* PWM_2_backup: Variables of this global structure are used to
* restore the values of non retention registers on wakeup from sleep mode.
*
*******************************************************************************/
void PWM_2_RestoreConfig(void)
{
#if(!PWM_2_UsingFixedFunction)
#if (CY_UDB_V0)
/* Interrupt State Backup for Critical Region*/
uint8 PWM_2_interruptState;
/* Enter Critical Region*/
PWM_2_interruptState = CyEnterCriticalSection();
#if (PWM_2_UseStatus)
/* Use the interrupt output of the status register for IRQ output */
PWM_2_STATUS_AUX_CTRL |= PWM_2_STATUS_ACTL_INT_EN_MASK;
PWM_2_STATUS_MASK = PWM_2_backup.InterruptMaskValue;
#endif /* (PWM_2_UseStatus) */
#if (PWM_2_Resolution == 8)
/* Set FIFO 0 to 1 byte register for period*/
PWM_2_AUX_CONTROLDP0 |= (PWM_2_AUX_CTRL_FIFO0_CLR);
#else /* (PWM_2_Resolution == 16)*/
/* Set FIFO 0 to 1 byte register for period */
PWM_2_AUX_CONTROLDP0 |= (PWM_2_AUX_CTRL_FIFO0_CLR);
PWM_2_AUX_CONTROLDP1 |= (PWM_2_AUX_CTRL_FIFO0_CLR);
#endif /* (PWM_2_Resolution == 8) */
/* Exit Critical Region*/
CyExitCriticalSection(PWM_2_interruptState);
PWM_2_WriteCounter(PWM_2_backup.PWMUdb);
PWM_2_WritePeriod(PWM_2_backup.PWMPeriod);
#if(PWM_2_UseOneCompareMode)
PWM_2_WriteCompare(PWM_2_backup.PWMCompareValue);
#else
PWM_2_WriteCompare1(PWM_2_backup.PWMCompareValue1);
PWM_2_WriteCompare2(PWM_2_backup.PWMCompareValue2);
#endif /* (PWM_2_UseOneCompareMode) */
#if(PWM_2_DeadBandMode == PWM_2__B_PWM__DBM_256_CLOCKS || \
PWM_2_DeadBandMode == PWM_2__B_PWM__DBM_2_4_CLOCKS)
PWM_2_WriteDeadTime(PWM_2_backup.PWMdeadBandValue);
#endif /* deadband count is either 2-4 clocks or 256 clocks */
#if ( PWM_2_KillModeMinTime)
PWM_2_WriteKillTime(PWM_2_backup.PWMKillCounterPeriod);
#endif /* ( PWM_2_KillModeMinTime) */
#endif /* (CY_UDB_V0) */
#if (CY_UDB_V1)
#if(!PWM_2_PWMModeIsCenterAligned)
PWM_2_WritePeriod(PWM_2_backup.PWMPeriod);
#endif /* (!PWM_2_PWMModeIsCenterAligned) */
PWM_2_WriteCounter(PWM_2_backup.PWMUdb);
#if (PWM_2_UseStatus)
PWM_2_STATUS_MASK = PWM_2_backup.InterruptMaskValue;
#endif /* (PWM_2_UseStatus) */
#if(PWM_2_DeadBandMode == PWM_2__B_PWM__DBM_256_CLOCKS || \
PWM_2_DeadBandMode == PWM_2__B_PWM__DBM_2_4_CLOCKS)
PWM_2_WriteDeadTime(PWM_2_backup.PWMdeadBandValue);
#endif /* deadband count is either 2-4 clocks or 256 clocks */
#if(PWM_2_KillModeMinTime)
PWM_2_WriteKillTime(PWM_2_backup.PWMKillCounterPeriod);
#endif /* (PWM_2_KillModeMinTime) */
#endif /* (CY_UDB_V1) */
#if(PWM_2_UseControl)
PWM_2_WriteControlRegister(PWM_2_backup.PWMControlRegister);
#endif /* (PWM_2_UseControl) */
#endif /* (!PWM_2_UsingFixedFunction) */
}
