新部内対抗A班 / Mbed 2 deprecated circle_war_ver_A_NUCLEO

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Dependencies:   mbed

spi_nucleo.h@1:86d25c1c4bd5, 2016-03-25 (annotated)

Committer:
baba2357
Date:
Fri Mar 25 03:08:41 2016 +0000
Revision:
1:86d25c1c4bd5
Child:
2:bed6b204e64c
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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 1:86d25c1c4bd5 3 //SPI mbed
baba2357 1:86d25c1c4bd5 4 SPI from_mbed(PA_5, PA_6, PA_7);
baba2357 1:86d25c1c4bd5 5 DigitalIn (PA_4);
baba2357 1:86d25c1c4bd5 6 int FM;
baba2357 1:86d25c1c4bd5 7 bool RR;
baba2357 1:86d25c1c4bd5 8 bool LR;
baba2357 1:86d25c1c4bd5 9 char speed_X;
baba2357 1:86d25c1c4bd5 10 char speed_Y;
baba2357 1:86d25c1c4bd5 11 //SPI NUCLEO
baba2357 1:86d25c1c4bd5 12
baba2357 1:86d25c1c4bd5 13
baba2357 1:86d25c1c4bd5 14
baba2357 1:86d25c1c4bd5 15 SPI from_gyro(PB_13, PB_14, PB_15);
baba2357 1:86d25c1c4bd5 16 DigitalIn (PB_12);
baba2357 1:86d25c1c4bd5 17 int G;
baba2357 1:86d25c1c4bd5 18 void spi_mbed();
baba2357 1:86d25c1c4bd5 19 void spi_nucleo();
baba2357 1:86d25c1c4bd5 20
baba2357 1:86d25c1c4bd5 21 #endif
baba2357 1:86d25c1c4bd5 22 void spiInit(){
baba2357 1:86d25c1c4bd5 23 from_mbed.format(16,3);
baba2357 1:86d25c1c4bd5 24 from_gyro.format(16,3);
baba2357 1:86d25c1c4bd5 25 from_mbed.frequency(1000000);
baba2357 1:86d25c1c4bd5 26 from_gyro.frequency(1000000);
baba2357 1:86d25c1c4bd5 27 }
baba2357 1:86d25c1c4bd5 28
baba2357 1:86d25c1c4bd5 29 void spi_mbed(){
baba2357 1:86d25c1c4bd5 30 if(from_mbed.receive()){
baba2357 1:86d25c1c4bd5 31 FM=from_mbed.read();
baba2357 1:86d25c1c4bd5 32 RR=FM>>15;
baba2357 1:86d25c1c4bd5 33 LR=FM>>14;
baba2357 1:86d25c1c4bd5 34 if(RR==1) //右旋回の関数へ
baba2357 1:86d25c1c4bd5 35 else if(LR==1) //左旋回の関数へ
baba2357 1:86d25c1c4bd5 36 else if(FM>>13==1){ //コントローラーのＸ方向成分入力
baba2357 1:86d25c1c4bd5 37 speed_X=FM>>7-128;
baba2357 1:86d25c1c4bd5 38 if(FM>>6==1) speed_Y=FM-128;
baba2357 1:86d25c1c4bd5 39 else speed_Y=FM;
baba2357 1:86d25c1c4bd5 40 }
baba2357 1:86d25c1c4bd5 41 else{
baba2357 1:86d25c1c4bd5 42 speed_X=FM>>7*(-1);
baba2357 1:86d25c1c4bd5 43 if(FM>>6==1) speed_Y=FM-128;
baba2357 1:86d25c1c4bd5 44 else speed_Y=FM;
baba2357 1:86d25c1c4bd5 45 }
baba2357 1:86d25c1c4bd5 46 }
baba2357 1:86d25c1c4bd5 47 void getGyro(){
baba2357 1:86d25c1c4bd5 48 u16 data;
baba2357 1:86d25c1c4bd5 49 if(from_gyro.receive()) {
baba2357 1:86d25c1c4bd5 50 data = gyro_gyro.read();
baba2357 1:86d25c1c4bd5 51 if(data >> 15) angle = -(data & 0x7fff);
baba2357 1:86d25c1c4bd5 52 else angle = data & 0x7fff;
baba2357 1:86d25c1c4bd5 53 now_angle = (double)angle / 10;
baba2357 1:86d25c1c4bd5 54 }
baba2357 1:86d25c1c4bd5 55 }