新部内対抗A班 / Mbed 2 deprecated circle_war_ver_A_NUCLEO

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Dependencies:   mbed

spi_nucleo.h@7:4f5cd0051db0, 2016-04-01 (annotated)

Committer:
username16248
Date:
Fri Apr 01 06:15:24 2016 +0000
Revision:
7:4f5cd0051db0
Parent:
6:bb86e2999be0
Parent:
4:ef6f18eda3e2 
removed speed_control

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 4:ef6f18eda3e2 7 bool RR=0;
baba2357 4:ef6f18eda3e2 8 bool LR=0;
baba2357 4:ef6f18eda3e2 9 int speed_X;
baba2357 4:ef6f18eda3e2 10 int speed_Y;
baba2357 3:6ab4e8e3aa02 11 bool Xpm=0;
baba2357 3:6ab4e8e3aa02 12 bool Ypm=0;
baba2357 1:86d25c1c4bd5 13 //SPI NUCLEO
baba2357 1:86d25c1c4bd5 14 void spi_mbed();
baba2357 1:86d25c1c4bd5 15 void spi_nucleo();
baba2357 2:bed6b204e64c 16 void getGyro();
baba2357 2:bed6b204e64c 17 void spiInit();
baba2357 4:ef6f18eda3e2 18 typedef unsigned u16;
baba2357 4:ef6f18eda3e2 19 u16 FM;
baba2357 2:bed6b204e64c 20 long int angle;
baba2357 2:bed6b204e64c 21 double now_angle;
baba2357 2:bed6b204e64c 22 Serial pc(USBTX,USBRX);
baba2357 4:ef6f18eda3e2 23 void spiInit();
baba2357 4:ef6f18eda3e2 24 void spi_mbed();
baba2357 4:ef6f18eda3e2 25 void getGyro();
baba2357 4:ef6f18eda3e2 26 #endif
baba2357 4:ef6f18eda3e2 27
baba2357 4:ef6f18eda3e2 28 void spiInit()
baba2357 4:ef6f18eda3e2 29 {
baba2357 1:86d25c1c4bd5 30 from_mbed.format(16,3);
baba2357 1:86d25c1c4bd5 31 from_gyro.format(16,3);
baba2357 1:86d25c1c4bd5 32 from_mbed.frequency(1000000);
baba2357 1:86d25c1c4bd5 33 from_gyro.frequency(1000000);
baba2357 1:86d25c1c4bd5 34 }
baba2357 2:bed6b204e64c 35
baba2357 3:6ab4e8e3aa02 36 void spi_mbed()
baba2357 4:ef6f18eda3e2 37 {
baba2357 3:6ab4e8e3aa02 38 if(from_mbed.receive()) {
baba2357 4:ef6f18eda3e2 39 RR=0;
baba2357 4:ef6f18eda3e2 40 LR=0;
baba2357 3:6ab4e8e3aa02 41 FM=from_mbed.read();
baba2357 3:6ab4e8e3aa02 42 Xpm=FM>>13;
baba2357 4:ef6f18eda3e2 43 Ypm=(FM&0x40)>>6;
baba2357 4:ef6f18eda3e2 44 if(FM>>15==1) {
baba2357 4:ef6f18eda3e2 45 RR=1;
baba2357 3:6ab4e8e3aa02 46 } //右旋回の関数へ
baba2357 4:ef6f18eda3e2 47 else if(FM>>14==1) {
baba2357 4:ef6f18eda3e2 48 LR=1;
baba2357 3:6ab4e8e3aa02 49 } //左旋回の関数へ
baba2357 3:6ab4e8e3aa02 50 else if(Xpm==1) { //コントローラーのＸ方向成分入力
baba2357 3:6ab4e8e3aa02 51 speed_X=FM&0x1F80;
baba2357 3:6ab4e8e3aa02 52 speed_X=speed_X>>7;
baba2357 4:ef6f18eda3e2 53 if(Ypm==0) speed_Y=FM&0x3F;
baba2357 3:6ab4e8e3aa02 54 else {
baba2357 3:6ab4e8e3aa02 55 speed_Y=FM&0x3F;
baba2357 4:ef6f18eda3e2 56 speed_Y=(-1)*speed_Y;
baba2357 3:6ab4e8e3aa02 57 }
baba2357 3:6ab4e8e3aa02 58 }
baba2357 3:6ab4e8e3aa02 59 else {
baba2357 3:6ab4e8e3aa02 60 speed_X=FM&0x1F80;
baba2357 3:6ab4e8e3aa02 61 speed_X=speed_X>>7;
baba2357 3:6ab4e8e3aa02 62 speed_X=(-1)*speed_X;
baba2357 4:ef6f18eda3e2 63 if(Ypm==0) speed_Y=FM&0x3F;
baba2357 3:6ab4e8e3aa02 64 else {
baba2357 3:6ab4e8e3aa02 65 speed_Y=FM&0x3F;
baba2357 4:ef6f18eda3e2 66 speed_Y=(-1)*speed_Y;
baba2357 2:bed6b204e64c 67 }
baba2357 1:86d25c1c4bd5 68 }
baba2357 2:bed6b204e64c 69 }
baba2357 3:6ab4e8e3aa02 70 }
baba2357 4:ef6f18eda3e2 71
baba2357 4:ef6f18eda3e2 72 void getGyro()
baba2357 4:ef6f18eda3e2 73 {
baba2357 4:ef6f18eda3e2 74 int data;
baba2357 4:ef6f18eda3e2 75 if(from_gyro.receive()) {
baba2357 2:bed6b204e64c 76 data = from_gyro.read();
baba2357 4:ef6f18eda3e2 77 if(data >> 15) angle = -(data & 0x7fff);
baba2357 1:86d25c1c4bd5 78 else angle = data & 0x7fff;
baba2357 1:86d25c1c4bd5 79 now_angle = (double)angle / 10;
baba2357 4:ef6f18eda3e2 80 // pc.printf("%d\r\n",data);
baba2357 1:86d25c1c4bd5 81 }
baba2357 4:ef6f18eda3e2 82 }
baba2357 4:ef6f18eda3e2 83