Merge remote-tracking branch 'origin/v3.0.0' into update_ci_for_v3.0

rt-net · Jun 18, 2024 · 169d4c3 · 169d4c3
2 parents 6fde1ee + 9e30418
commit 169d4c3
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Showing 41 changed files with 204 additions and 214 deletions.
diff --git a/uROS_STEP10_tfMsg/interrupt.ino b/uROS_STEP10_tfMsg/interrupt.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino b/uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -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");
@@ -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");
@@ -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);  //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);
 
   g_allocator = rcl_get_default_allocator();
 

diff --git a/uROS_STEP11_SensorMsg/uROS_STEP11_SensorMsg.ino b/uROS_STEP11_SensorMsg/uROS_STEP11_SensorMsg.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -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);  //1us
+  timerAttachInterrupt(g_timer1, &onTimer1);
+  timerAlarm(g_timer1, 250, true, 0);  //4kHz
+  timerStart(g_timer1);
 
   g_allocator = rcl_get_default_allocator();
 

diff --git a/uROS_STEP12_micromouse/SPIFFS.ino b/uROS_STEP12_micromouse/SPIFFS.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/uROS_STEP12_micromouse/adjust.ino b/uROS_STEP12_micromouse/adjust.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/uROS_STEP12_micromouse/device.h b/uROS_STEP12_micromouse/device.h
@@ -36,6 +36,5 @@
 #define SW_CM 2
 #define SW_RM 4
 
-#define BUZZER_CH 0
 
 #endif  // DEVICE_H_
diff --git a/uROS_STEP12_micromouse/device.ino b/uROS_STEP12_micromouse/device.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -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");
@@ -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");
@@ -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)
@@ -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);
@@ -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);
 
@@ -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
@@ -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;
 }
@@ -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;
 }
@@ -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;
 }
@@ -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;
 }

diff --git a/uROS_STEP12_micromouse/fast.ino b/uROS_STEP12_micromouse/fast.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/uROS_STEP12_micromouse/interrupt.ino b/uROS_STEP12_micromouse/interrupt.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/uROS_STEP12_micromouse/map_manager.ino b/uROS_STEP12_micromouse/map_manager.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/uROS_STEP12_micromouse/microROS.ino b/uROS_STEP12_micromouse/microROS.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/uROS_STEP12_micromouse/misc.ino b/uROS_STEP12_micromouse/misc.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/uROS_STEP12_micromouse/run.ino b/uROS_STEP12_micromouse/run.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/uROS_STEP12_micromouse/search.ino b/uROS_STEP12_micromouse/search.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/uROS_STEP12_micromouse/uROS_STEP12_micromouse.ino b/uROS_STEP12_micromouse/uROS_STEP12_micromouse.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/uROS_STEP1_LED/uROS_STEP1_LED.ino b/uROS_STEP1_LED/uROS_STEP1_LED.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/uROS_STEP2_SWITCH/uROS_STEP2_SWITCH.ino b/uROS_STEP2_SWITCH/uROS_STEP2_SWITCH.ino
@@ -1,4 +1,4 @@
-// Copyright 2023 RT Corporation
+// Copyright 2024 RT Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.