a24_picoTrain1 のバックアップ(No.2)

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a24_picoTrain1 へ行く。
- 1 (2024-10-22 (火) 11:37:58)
- 2 (2024-10-22 (火) 13:17:16)
- 3 (2024-10-22 (火) 18:04:45)
- 4 (2024-10-22 (火) 22:32:05)
- 5 (2024-10-22 (火) 22:32:05)
- 6 (2024-10-22 (火) 22:32:05)

Raspberry Pi Pico で鉄道模型を動かす

(by K, 2024.10.22)

(1) pico側に書き込んだスケッチ

#include <hardware/pwm.h>

void pico_analogWriteFreqRang(int pin, float freq, uint32_t rang)
// rang=[0,65535], freq > 125000000.0 / (rang + 1) / 256
// slice0: GP0,  GP1,  GP16, GP17
// slice1: GP2,  GP3,  GP18, GP19
// slice2: GP4,  GP5,  GP20, GP21
// slice3: GP6,  GP7,  GP22
// slice4: GP8,  GP9,  GP25
// slice5: GP10, GP11, GP26, GP27
// slice6: GP12, GP13, GP28
// slice7: GP14, GP15
// [註]sliceが同じものは、freqとrangは共通になる.
{
    int slice_num = pwm_gpio_to_slice_num(pin);
    float tmp = (rang + 1) * freq;
    gpio_set_function(pin, GPIO_FUNC_PWM);
    pwm_set_clkdiv(slice_num, 125000000.0 / tmp); // 256未満.
    pwm_set_wrap(slice_num, rang);
}

void pico_analogWrite(int pin, uint32_t val)
{
    int slice_num = pwm_gpio_to_slice_num(pin);
    pwm_set_chan_level(slice_num, pin & 1, val);
    pwm_set_enabled(slice_num, true);
}

void setup() { Serial.begin(115200); }

int prm_f0[4][4], prm_f1[16][4], prm_f2[3] = { A0, A1, A2 };
int prms[8] = { 4, 4, 1, 0, 1, 2, 1, 1 };

void loop()
{
    int c = Serial.read(), ch, p[8], dir, i, j;
    if (c < 0) { delay(3); }
    if (0xf0 <= c && c <= 0xf7) {
        j = prms[c - 0xf0];
        for (i = 0; i < j; i++) {
            while (Serial.available() < 1) {}
            p[i] = Serial.read();
        }
        ch = p[0] & 63;
        dir = (p[0] >> 6) & 3;
    }
    if (c == 0xf0 && 0 <= ch && ch <= 3) {
        prm_f0[ch][0] = p[1]; pinMode(p[1], OUTPUT);
        prm_f0[ch][1] = p[2]; pinMode(p[2], OUTPUT);
        prm_f0[ch][2] = p[3]; pinMode(p[3], OUTPUT);
        pico_analogWriteFreqRang(p[1], 100 * 1000, 255); // 100KHz
        pico_analogWrite(p[1], 0);
        digitalWrite(p[2], LOW);
        digitalWrite(p[3], LOW);
    }
    if (c == 0xf1 && 0 <= ch && ch <= 15) {
        prm_f1[ch][0] = p[1];
        prm_f1[ch][1] = p[2]; pinMode(p[2], OUTPUT);
        prm_f1[ch][2] = p[3]; pinMode(p[3], OUTPUT);
        digitalWrite(p[2], LOW);
        digitalWrite(p[3], LOW);
    }
    if (c == 0xf4 && 0 <= ch && ch <= 3) {
        digitalWrite(prm_f0[ch][1],  dir       & 1);
        digitalWrite(prm_f0[ch][2], (dir >> 1) & 1);
    }
    if (c == 0xf5 && 0 <= ch && ch <= 3) {
        pico_analogWrite(prm_f0[ch][0], p[1]);
    }
    if (c == 0xf6 && 0 <= ch && ch <= 15) {
        digitalWrite(prm_f1[ch][1],  dir       & 1);
        digitalWrite(prm_f1[ch][2], (dir >> 1) & 1);
        delay(prm_f1[ch][0] * 8); // max 2.0sec.
        digitalWrite(prm_f1[ch][1], LOW);
        digitalWrite(prm_f1[ch][2], LOW);
    }
    if (c == 0xf7 && 0 <= ch && ch <= 2) {
        i = analogRead(prm_f2[ch]);
        Serial.write((i >> 8) & 255);
        Serial.write( i       & 255);
    }
}