新部内対抗A班 / Mbed 2 deprecated circle_war_ver_A_NUCLEO__

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Dependencies:   mbed

Fork of circle_war_ver_A_NUCLEO_ by 新部内対抗A班

spi_nucleo.h@14:3403ce49a37a, 2016-04-05 (annotated)

Committer:
baba2357
Date:
Tue Apr 05 17:25:09 2016 +0000
Revision:
14:3403ce49a37a
Parent:
8:554e3d643b2d 
??????;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
baba2357 8:554e3d643b2d 1 #include "mbed.h"
baba2357 8:554e3d643b2d 2 #include "pin_file.h"
baba2357 8:554e3d643b2d 3 #include <string.h>
baba2357 1:86d25c1c4bd5 4 #ifndef SPI_NUCLEO_H
baba2357 1:86d25c1c4bd5 5 #define SPI_NUCLEO_H
baba2357 14:3403ce49a37a 6 //SPI mbed
baba2357 14:3403ce49a37a 7 SPISlave from_mbed(PA_7, PA_6, PA_5, PA_4);
baba2357 14:3403ce49a37a 8 //SPI NUCLEO
baba2357 14:3403ce49a37a 9 SPISlave from_gyro(PB_15, PB_14, PB_13, PB_12);
baba2357 1:86d25c1c4bd5 10 //SPI mbed
baba2357 8:554e3d643b2d 11 bool RR=0,LR=0,Xpm=0,cilinder=0,onoff=0,updown=0,Ypm=0;
baba2357 8:554e3d643b2d 12 int speed_X,speed_Y;
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 8:554e3d643b2d 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 8:554e3d643b2d 43 Ypm=(FM&0x10)>>4;
baba2357 8:554e3d643b2d 44 cilinder=(FM&0x0100)>>8;
baba2357 8:554e3d643b2d 45 onoff=(FM&0x0080)>>7;
baba2357 8:554e3d643b2d 46 updown=(FM&0x0040)>>6;
baba2357 8:554e3d643b2d 47 if((FM>>15)==1) {
baba2357 4:ef6f18eda3e2 48 RR=1;
baba2357 3:6ab4e8e3aa02 49 } //右旋回の関数へ
baba2357 8:554e3d643b2d 50 else if((FM>>14)==1) {
baba2357 4:ef6f18eda3e2 51 LR=1;
baba2357 3:6ab4e8e3aa02 52 } //左旋回の関数へ
baba2357 3:6ab4e8e3aa02 53 else if(Xpm==1) { //コントローラーのＸ方向成分入力
baba2357 8:554e3d643b2d 54 speed_X=FM&0x1e00;
baba2357 8:554e3d643b2d 55 speed_X=speed_X>>9;
baba2357 8:554e3d643b2d 56 if(Ypm==0) speed_Y=FM&0xf;
baba2357 3:6ab4e8e3aa02 57 else {
baba2357 8:554e3d643b2d 58 speed_Y=FM&0xf;
baba2357 4:ef6f18eda3e2 59 speed_Y=(-1)*speed_Y;
baba2357 3:6ab4e8e3aa02 60 }
baba2357 3:6ab4e8e3aa02 61 }
baba2357 3:6ab4e8e3aa02 62 else {
baba2357 8:554e3d643b2d 63 speed_X=FM&0x1e00;
baba2357 8:554e3d643b2d 64 speed_X=speed_X>>9;
baba2357 3:6ab4e8e3aa02 65 speed_X=(-1)*speed_X;
baba2357 8:554e3d643b2d 66 if(Ypm==0) speed_Y=FM&0xf;
baba2357 3:6ab4e8e3aa02 67 else {
baba2357 8:554e3d643b2d 68 speed_Y=FM&0xf;
baba2357 4:ef6f18eda3e2 69 speed_Y=(-1)*speed_Y;
baba2357 2:bed6b204e64c 70 }
baba2357 1:86d25c1c4bd5 71 }
baba2357 2:bed6b204e64c 72 }
baba2357 3:6ab4e8e3aa02 73 }
baba2357 4:ef6f18eda3e2 74
baba2357 4:ef6f18eda3e2 75 void getGyro()
baba2357 4:ef6f18eda3e2 76 {
baba2357 4:ef6f18eda3e2 77 int data;
baba2357 4:ef6f18eda3e2 78 if(from_gyro.receive()) {
baba2357 2:bed6b204e64c 79 data = from_gyro.read();
baba2357 4:ef6f18eda3e2 80 if(data >> 15) angle = -(data & 0x7fff);
baba2357 1:86d25c1c4bd5 81 else angle = data & 0x7fff;
baba2357 1:86d25c1c4bd5 82 now_angle = (double)angle / 10;
baba2357 4:ef6f18eda3e2 83 // pc.printf("%d\r\n",data);
baba2357 1:86d25c1c4bd5 84 }
baba2357 4:ef6f18eda3e2 85 }