新部内対抗A班 / Mbed 2 deprecated circle_war_ver_A_NUCLEO

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Dependencies:   mbed

spi_nucleo.h@3:6ab4e8e3aa02, 2016-03-29 (annotated)

Committer:
baba2357
Date:
Tue Mar 29 12:36:50 2016 +0000
Revision:
3:6ab4e8e3aa02
Parent:
2:bed6b204e64c
Child:
4:ef6f18eda3e2
???

Who changed what in which revision?

UserRevisionLine numberNew contents of line
baba2357 1:86d25c1c4bd5 1 #ifndef SPI_NUCLEO_H
baba2357 1:86d25c1c4bd5 2 #define SPI_NUCLEO_H
baba2357 2:bed6b204e64c 3 #include "pin_file.h"
baba2357 2:bed6b204e64c 4 #include <string.h>
baba2357 2:bed6b204e64c 5
baba2357 1:86d25c1c4bd5 6 //SPI mbed
baba2357 3:6ab4e8e3aa02 7 int FM=0;
baba2357 1:86d25c1c4bd5 8 bool RR;
baba2357 1:86d25c1c4bd5 9 bool LR;
baba2357 1:86d25c1c4bd5 10 char speed_X;
baba2357 1:86d25c1c4bd5 11 char speed_Y;
baba2357 3:6ab4e8e3aa02 12 bool Xpm=0;
baba2357 3:6ab4e8e3aa02 13 bool Ypm=0;
baba2357 2:bed6b204e64c 14
baba2357 1:86d25c1c4bd5 15 //SPI NUCLEO
baba2357 1:86d25c1c4bd5 16 void spi_mbed();
baba2357 1:86d25c1c4bd5 17 void spi_nucleo();
baba2357 2:bed6b204e64c 18 void getGyro();
baba2357 2:bed6b204e64c 19 void spiInit();
baba2357 2:bed6b204e64c 20 typedef unsigned short u16;
baba2357 2:bed6b204e64c 21 long int angle;
baba2357 2:bed6b204e64c 22 double now_angle;
baba2357 2:bed6b204e64c 23 Serial pc(USBTX,USBRX);
baba2357 1:86d25c1c4bd5 24 #endif
baba2357 1:86d25c1c4bd5 25 void spiInit(){
baba2357 1:86d25c1c4bd5 26 from_mbed.format(16,3);
baba2357 1:86d25c1c4bd5 27 from_gyro.format(16,3);
baba2357 1:86d25c1c4bd5 28 from_mbed.frequency(1000000);
baba2357 1:86d25c1c4bd5 29 from_gyro.frequency(1000000);
baba2357 1:86d25c1c4bd5 30 }
baba2357 2:bed6b204e64c 31
baba2357 3:6ab4e8e3aa02 32 void spi_mbed()
baba2357 3:6ab4e8e3aa02 33 {
baba2357 3:6ab4e8e3aa02 34 if(from_mbed.receive()) {
baba2357 3:6ab4e8e3aa02 35 FM=from_mbed.read();
baba2357 3:6ab4e8e3aa02 36 RR=FM>>15;
baba2357 3:6ab4e8e3aa02 37 LR=FM>>14;
baba2357 3:6ab4e8e3aa02 38 Xpm=FM>>13;
baba2357 3:6ab4e8e3aa02 39 Ypm=FM>>6;
baba2357 3:6ab4e8e3aa02 40 if(RR==1) {
baba2357 3:6ab4e8e3aa02 41 } //右旋回の関数へ
baba2357 3:6ab4e8e3aa02 42 else if(LR==1) {
baba2357 3:6ab4e8e3aa02 43 } //左旋回の関数へ
baba2357 3:6ab4e8e3aa02 44 else if(Xpm==1) { //コントローラーのＸ方向成分入力
baba2357 3:6ab4e8e3aa02 45 speed_X=FM&0x1F80;
baba2357 3:6ab4e8e3aa02 46 speed_X=speed_X>>7;
baba2357 3:6ab4e8e3aa02 47 if(Ypm==1) speed_Y=FM&0x3F;
baba2357 3:6ab4e8e3aa02 48 else {
baba2357 3:6ab4e8e3aa02 49 speed_Y=FM&0x3F;
baba2357 3:6ab4e8e3aa02 50 speed_Y=speed_Y*(-1);
baba2357 3:6ab4e8e3aa02 51 }
baba2357 3:6ab4e8e3aa02 52 }
baba2357 3:6ab4e8e3aa02 53 else {
baba2357 3:6ab4e8e3aa02 54 speed_X=FM&0x1F80;
baba2357 3:6ab4e8e3aa02 55 speed_X=speed_X>>7;
baba2357 3:6ab4e8e3aa02 56 speed_X=(-1)*speed_X;
baba2357 3:6ab4e8e3aa02 57 if(Ypm==1) speed_Y=FM&0x3F;
baba2357 3:6ab4e8e3aa02 58 else {
baba2357 3:6ab4e8e3aa02 59 speed_Y=FM&0x3F;
baba2357 3:6ab4e8e3aa02 60 speed_Y=speed_Y*(-1);
baba2357 2:bed6b204e64c 61 }
baba2357 1:86d25c1c4bd5 62 }
baba2357 2:bed6b204e64c 63 }
baba2357 3:6ab4e8e3aa02 64 }
baba2357 3:6ab4e8e3aa02 65
baba2357 1:86d25c1c4bd5 66 void getGyro(){
baba2357 1:86d25c1c4bd5 67 u16 data;
baba2357 2:bed6b204e64c 68 if(from_gyro.receive()){
baba2357 2:bed6b204e64c 69 data = from_gyro.read();
baba2357 1:86d25c1c4bd5 70 if(data >> 15) angle = -(data & 0x7fff);
baba2357 1:86d25c1c4bd5 71 else angle = data & 0x7fff;
baba2357 1:86d25c1c4bd5 72 now_angle = (double)angle / 10;
baba2357 2:bed6b204e64c 73 }
baba2357 1:86d25c1c4bd5 74 }