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Fixed due to esp32 package 3.0.1 update (#20)
* Fixed due to esp32 package 3.0.1 update * comment modify
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12 files changed

+165
-176
lines changed

12 files changed

+165
-176
lines changed

‎uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino

Lines changed: 14 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -136,7 +136,7 @@ void IRAM_ATTR isrR(void)
136136
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
137137
if (g_motor_move) {
138138
if (g_step_hz_r < 30) g_step_hz_r = 30;
139-
timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
139+
timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
140140
digitalWrite(PWM_R, HIGH);
141141
for (int i = 0; i < 100; i++) {
142142
asm("nop \n");
@@ -153,7 +153,7 @@ void IRAM_ATTR isrL(void)
153153
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
154154
if (g_motor_move) {
155155
if (g_step_hz_l < 30) g_step_hz_l = 30;
156-
timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
156+
timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
157157
digitalWrite(PWM_L, HIGH);
158158
for (int i = 0; i < 100; i++) {
159159
asm("nop \n");
@@ -201,20 +201,20 @@ void setup()
201201

202202
delay(2000);
203203

204-
g_timer0 = timerBegin(0, 80, true); //1us
205-
timerAttachInterrupt(g_timer0, &onTimer0, true);
206-
timerAlarmWrite(g_timer0, 1000, true); //1kHz
207-
timerAlarmEnable(g_timer0);
204+
g_timer0 = timerBegin(1000000); //1MHz(1us)
205+
timerAttachInterrupt(g_timer0, &onTimer0);
206+
timerAlarm(g_timer0, 1000, true, 0); //1000 * 1us =1000us(1kHz)
207+
timerStart(g_timer0);
208208

209-
g_timer2 = timerBegin(2, 40, true); //0.5us
210-
timerAttachInterrupt(g_timer2, &isrR, true);
211-
timerAlarmWrite(g_timer2, 13333, true); //150Hz
212-
timerAlarmEnable(g_timer2);
209+
g_timer2 = timerBegin(2000000); //2MHz(0.5us)
210+
timerAttachInterrupt(g_timer2, &isrR);
211+
timerAlarm(g_timer2, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
212+
timerStart(g_timer2);
213213

214-
g_timer3 = timerBegin(3, 40, true); //0.5us
215-
timerAttachInterrupt(g_timer3, &isrL, true);
216-
timerAlarmWrite(g_timer3, 13333, true); //150Hz
217-
timerAlarmEnable(g_timer3);
214+
g_timer3 = timerBegin(2000000); //2MHz(0.5us)
215+
timerAttachInterrupt(g_timer3, &isrL);
216+
timerAlarm(g_timer3, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
217+
timerStart(g_timer3);
218218

219219
g_allocator = rcl_get_default_allocator();
220220

‎uROS_STEP11_SensorMsg/uROS_STEP11_SensorMsg.ino

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -163,10 +163,10 @@ void setup()
163163

164164
delay(2000);
165165

166-
g_timer1 = timerBegin(1, 80, true); //1us
167-
timerAttachInterrupt(g_timer1, &onTimer1, true);
168-
timerAlarmWrite(g_timer1, 250, true); //4kHz
169-
timerAlarmEnable(g_timer1);
166+
g_timer1 = timerBegin(1000000); //1MHz(1us)
167+
timerAttachInterrupt(g_timer1, &onTimer1);
168+
timerAlarm(g_timer1, 250, true, 0); //250 * 1us = 250us(4kHz)
169+
timerStart(g_timer1);
170170

171171
g_allocator = rcl_get_default_allocator();
172172

‎uROS_STEP12_micromouse/device.h

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -36,6 +36,4 @@
3636
#define SW_CM 2
3737
#define SW_RM 4
3838

39-
#define BUZZER_CH 0
40-
4139
#endif // DEVICE_H_

‎uROS_STEP12_micromouse/device.ino

Lines changed: 34 additions & 39 deletions
Original file line numberDiff line numberDiff line change
@@ -60,7 +60,7 @@ void IRAM_ATTR isrR(void)
6060
portENTER_CRITICAL_ISR(&g_timer_mux);
6161
if (g_motor_move) {
6262
if (g_step_hz_r < 30) g_step_hz_r = 30;
63-
timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
63+
timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
6464
digitalWrite(PWM_R, HIGH);
6565
for (int i = 0; i < 100; i++) {
6666
asm("nop \n");
@@ -76,7 +76,7 @@ void IRAM_ATTR isrL(void)
7676
portENTER_CRITICAL_ISR(&g_timer_mux);
7777
if (g_motor_move) {
7878
if (g_step_hz_l < 30) g_step_hz_l = 30;
79-
timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
79+
timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
8080
digitalWrite(PWM_L, HIGH);
8181
for (int i = 0; i < 100; i++) {
8282
asm("nop \n");
@@ -87,21 +87,21 @@ void IRAM_ATTR isrL(void)
8787
portEXIT_CRITICAL_ISR(&g_timer_mux);
8888
}
8989

90-
void controlInterruptStart(void) { timerAlarmEnable(g_timer0); }
91-
void controlInterruptStop(void) { timerAlarmDisable(g_timer0); }
90+
void controlInterruptStart(void) { timerStart(g_timer0); }
91+
void controlInterruptStop(void) { timerStop(g_timer0); }
9292

93-
void sensorInterruptStart(void) { timerAlarmEnable(g_timer1); }
94-
void sensorInterruptStop(void) { timerAlarmDisable(g_timer1); }
93+
void sensorInterruptStart(void) { timerStart(g_timer1); }
94+
void sensorInterruptStop(void) { timerStop(g_timer1); }
9595

9696
void PWMInterruptStart(void)
9797
{
98-
timerAlarmEnable(g_timer2);
99-
timerAlarmEnable(g_timer3);
98+
timerStart(g_timer2);
99+
timerStart(g_timer3);
100100
}
101101
void PWMInterruptStop(void)
102102
{
103-
timerAlarmDisable(g_timer2);
104-
timerAlarmDisable(g_timer3);
103+
timerStop(g_timer2);
104+
timerStop(g_timer3);
105105
}
106106

107107
void initDevice(void)
@@ -118,9 +118,8 @@ void initDevice(void)
118118
pinMode(SW_C, INPUT);
119119
pinMode(SW_R, INPUT);
120120

121-
ledcSetup(0, 440, 10);
122-
ledcAttachPin(BUZZER, 0);
123-
ledcWrite(0, 1024);
121+
ledcAttach(BUZZER, 440, 10);
122+
ledcWrite(BUZZER, 1024);
124123

125124
pinMode(SLED_FR, OUTPUT);
126125
pinMode(SLED_FL, OUTPUT);
@@ -149,25 +148,25 @@ void initDevice(void)
149148
}
150149
}
151150

152-
g_timer0 = timerBegin(0, 80, true);
153-
timerAttachInterrupt(g_timer0, &onTimer0, false);
154-
timerAlarmWrite(g_timer0, 1000, true);
155-
timerAlarmEnable(g_timer0);
151+
g_timer0 = timerBegin(1000000);
152+
timerAttachInterrupt(g_timer0, &onTimer0);
153+
timerAlarm(g_timer0, 1000, true, 0);
154+
timerStart(g_timer0);
156155

157-
g_timer1 = timerBegin(1, 80, true);
158-
timerAttachInterrupt(g_timer1, &onTimer1, true);
159-
timerAlarmWrite(g_timer1, 500, true);
160-
timerAlarmEnable(g_timer1);
156+
g_timer1 = timerBegin(1000000);
157+
timerAttachInterrupt(g_timer1, &onTimer1);
158+
timerAlarm(g_timer1, 500, true, 0);
159+
timerStart(g_timer1);
161160

162-
g_timer2 = timerBegin(2, 40, true);
163-
timerAttachInterrupt(g_timer2, &isrR, false);
164-
timerAlarmWrite(g_timer2, 13333, true);
165-
timerAlarmEnable(g_timer2);
161+
g_timer2 = timerBegin(2000000);
162+
timerAttachInterrupt(g_timer2, &isrR);
163+
timerAlarm(g_timer2, 13333, true, 0);
164+
timerStart(g_timer2);
166165

167-
g_timer3 = timerBegin(3, 40, true);
168-
timerAttachInterrupt(g_timer3, &isrL, false);
169-
timerAlarmWrite(g_timer3, 13333, true);
170-
timerAlarmEnable(g_timer3);
166+
g_timer3 = timerBegin(2000000);
167+
timerAttachInterrupt(g_timer3, &isrL);
168+
timerAlarm(g_timer3, 13333, true, 0);
169+
timerStart(g_timer3);
171170

172171
Serial.begin(115200);
173172

@@ -199,10 +198,10 @@ void setBLED(char data)
199198
}
200199

201200
//Buzzer
202-
void enableBuzzer(short f) { ledcWriteTone(BUZZER_CH, f); }
201+
void enableBuzzer(short f) { ledcWriteTone(BUZZER, f); }
203202
void disableBuzzer(void)
204203
{
205-
ledcWrite(BUZZER_CH, 1024); //duty 100% Buzzer OFF
204+
ledcWrite(BUZZER, 1024); //duty 100% Buzzer OFF
206205
}
207206

208207
//motor
@@ -266,8 +265,7 @@ unsigned short getSensorR(void)
266265
for (int i = 0; i < WAITLOOP_SLED; i++) {
267266
asm("nop \n");
268267
}
269-
// unsigned short tmp = analogRead(AD3);
270-
unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_5);
268+
unsigned short tmp = analogRead(AD3);
271269
digitalWrite(SLED_R, LOW);
272270
return tmp;
273271
}
@@ -277,8 +275,7 @@ unsigned short getSensorL(void)
277275
for (int i = 0; i < WAITLOOP_SLED; i++) {
278276
asm("nop \n");
279277
}
280-
// unsigned short tmp = analogRead(AD4);
281-
unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_6);
278+
unsigned short tmp = analogRead(AD4);
282279
digitalWrite(SLED_L, LOW);
283280
return tmp;
284281
}
@@ -288,8 +285,7 @@ unsigned short getSensorFL(void)
288285
for (int i = 0; i < WAITLOOP_SLED; i++) {
289286
asm("nop \n");
290287
}
291-
// unsigned short tmp = analogRead(AD2);
292-
unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_4);
288+
unsigned short tmp = analogRead(AD2);
293289
digitalWrite(SLED_FL, LOW); //LED消灯
294290
return tmp;
295291
}
@@ -299,8 +295,7 @@ unsigned short getSensorFR(void)
299295
for (int i = 0; i < WAITLOOP_SLED; i++) {
300296
asm("nop \n");
301297
}
302-
// unsigned short tmp = analogRead(AD1);
303-
unsigned short tmp = adc1_get_raw(ADC1_CHANNEL_3);
298+
unsigned short tmp = analogRead(AD1);
304299
digitalWrite(SLED_FR, LOW);
305300
return tmp;
306301
}

‎uROS_STEP3_Buzzer/uROS_STEP3_Buzzer.ino

Lines changed: 16 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -60,22 +60,22 @@ void execByMode(char mode)
6060
{
6161
switch (mode) {
6262
case 1:
63-
ledcWriteTone(0, FREQ_C);
63+
ledcWriteTone(BUZZER, FREQ_C);
6464
delay(1000);
65-
ledcWrite(0, 1024);
65+
ledcWrite(BUZZER, 1024);
6666
break;
6767
case 2:
68-
ledcWriteTone(0, FREQ_D);
68+
ledcWriteTone(BUZZER, FREQ_D);
6969
delay(1000);
70-
ledcWrite(0, 1024);
70+
ledcWrite(BUZZER, 1024);
7171
break;
7272
case 3:
73-
ledcWriteTone(0, FREQ_E);
73+
ledcWriteTone(BUZZER, FREQ_E);
7474
delay(1000);
75-
ledcWrite(0, 1024);
75+
ledcWrite(BUZZER, 1024);
7676
break;
7777
default:
78-
ledcWrite(0, 1024);
78+
ledcWrite(BUZZER, 1024);
7979
break;
8080
}
8181
}
@@ -92,9 +92,8 @@ void setup()
9292
pinMode(SW_C, INPUT);
9393
pinMode(SW_R, INPUT);
9494

95-
ledcSetup(0, 440, 10);
96-
ledcAttachPin(BUZZER, 0);
97-
ledcWrite(0, 1024);
95+
ledcAttach(BUZZER, 440, 10);
96+
ledcWrite(BUZZER, 1024);
9897

9998
g_mode = 1;
10099
setLED(g_mode);
@@ -111,9 +110,9 @@ void loop()
111110
if (g_mode > 15) {
112111
g_mode = 15;
113112
} else {
114-
ledcWriteTone(0, INC_FREQ);
113+
ledcWriteTone(BUZZER, INC_FREQ);
115114
delay(30);
116-
ledcWrite(0, 1024);
115+
ledcWrite(BUZZER, 1024);
117116
}
118117
setLED(g_mode);
119118
}
@@ -122,18 +121,18 @@ void loop()
122121
if (g_mode < 1) {
123122
g_mode = 1;
124123
} else {
125-
ledcWriteTone(0, DEC_FREQ);
124+
ledcWriteTone(BUZZER, DEC_FREQ);
126125
delay(30);
127-
ledcWrite(0, 1024);
126+
ledcWrite(BUZZER, 1024);
128127
}
129128
setLED(g_mode);
130129
}
131130
if (digitalRead(SW_C) == 0) {
132-
ledcWriteTone(0, INC_FREQ);
131+
ledcWriteTone(BUZZER, INC_FREQ);
133132
delay(80);
134-
ledcWriteTone(0, DEC_FREQ);
133+
ledcWriteTone(BUZZER, DEC_FREQ);
135134
delay(80);
136-
ledcWrite(0, 1024);
135+
ledcWrite(BUZZER, 1024);
137136
delay(300);
138137
execByMode(g_mode);
139138
}

‎uROS_STEP4_Sensor/uROS_STEP4_Sensor.ino

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -94,10 +94,10 @@ void setup()
9494

9595
Serial.begin(115200);
9696

97-
g_timer1 = timerBegin(1, 80, true); //1us
98-
timerAttachInterrupt(g_timer1, &onTimer1, true);
99-
timerAlarmWrite(g_timer1, 250, true); //4kHz
100-
timerAlarmEnable(g_timer1);
97+
g_timer1 = timerBegin(1000000); //1MHz(1us)
98+
timerAttachInterrupt(g_timer1, &onTimer1);
99+
timerAlarm(g_timer1, 250, true, 0); //250 * 1us =250us(4kHz)
100+
timerStart(g_timer1);
101101
}
102102

103103
void loop()

‎uROS_STEP5_Straight/uROS_STEP5_Straight.ino

Lines changed: 14 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -63,7 +63,7 @@ void IRAM_ATTR isrR(void)
6363
{
6464
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
6565
if (g_motor_move) {
66-
timerAlarmWrite(g_timer2, 2000000 / g_step_hz_r, true);
66+
timerAlarm(g_timer2, 2000000 / g_step_hz_r, true, 0);
6767
digitalWrite(PWM_R, HIGH);
6868
for (int i = 0; i < 100; i++) {
6969
asm("nop \n");
@@ -79,7 +79,7 @@ void IRAM_ATTR isrL(void)
7979
{
8080
portENTER_CRITICAL_ISR(&g_timer_mux); //割り込み禁止
8181
if (g_motor_move) {
82-
timerAlarmWrite(g_timer3, 2000000 / g_step_hz_l, true);
82+
timerAlarm(g_timer3, 2000000 / g_step_hz_l, true, 0);
8383
digitalWrite(PWM_L, HIGH);
8484
for (int i = 0; i < 100; i++) {
8585
asm("nop \n");
@@ -115,20 +115,20 @@ void setup()
115115
digitalWrite(PWM_R, LOW);
116116
digitalWrite(PWM_L, LOW);
117117

118-
g_timer0 = timerBegin(0, 80, true); //1us
119-
timerAttachInterrupt(g_timer0, &onTimer0, true);
120-
timerAlarmWrite(g_timer0, 1000, true); //1kHz
121-
timerAlarmEnable(g_timer0);
118+
g_timer0 = timerBegin(1000000); //1MHz(1us)
119+
timerAttachInterrupt(g_timer0, &onTimer0);
120+
timerAlarm(g_timer0, 1000, true, 0); //1000 * 1us =1000us(1kHz)
121+
timerStart(g_timer0);
122122

123-
g_timer2 = timerBegin(2, 40, true); //0.5us
124-
timerAttachInterrupt(g_timer2, isrR, true);
125-
timerAlarmWrite(g_timer2, 13333, true); //150Hz
126-
timerAlarmEnable(g_timer2);
123+
g_timer2 = timerBegin(2000000); //2MHz(0.5us)
124+
timerAttachInterrupt(g_timer2, isrR);
125+
timerAlarm(g_timer2, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
126+
timerStart(g_timer2);
127127

128-
g_timer3 = timerBegin(3, 40, true); //0.5us
129-
timerAttachInterrupt(g_timer3, &isrL, true);
130-
timerAlarmWrite(g_timer3, 13333, true); //150Hz
131-
timerAlarmEnable(g_timer3);
128+
g_timer3 = timerBegin(2000000); //2MHz(0.5us)
129+
timerAttachInterrupt(g_timer3, &isrL);
130+
timerAlarm(g_timer3, 13333, true, 0); //13333 * 0.5us = 6666us(150Hz)
131+
timerStart(g_timer3);
132132
}
133133

134134
void loop()

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