File content as of revision 1:7b9e3032bb7b:

#include <math.h>
#include "Utils.h"
#include "USBHost.h"
#include "hci.h"
#include "ps3.h"
#include "TestShell.h"
#include "User.h"
#include "caninit.h"
#include "mbed.h"
#ifndef M_PI
#define M_PI 3.14159265f
#endif
#ifdef common
#define ab 15
#define buf 14
#define ga 13
#define shdn 12
#define LSXcent 128
#define LSYcent 128
#define RSXcent 128
#define RSYcent 128

//Ticker ticker1;
//Timer timer1;
SPI slave(p5, p6, p7); 
CAN can1(p9, p10);
CANMessage msg;  
// pin settings
//DigitalOut air1(p5);
//DigitalOut air2(p6);
//SPI settings//

//SPI spi(p11,p12,p13);
//DigitalOut ss1(p20);
//DigitalOut ss2(p19);
//DigitalOut ss3(p18);
//DigitalOut ss4(p17);
//PINsettings
//DigitalOut ldac1(p21);
//DigitalOut ldac2(p22);
//DigitalOut ldac3(p23);
//DigitalOut ldac4(p24);
// LED settings//
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
//
int serial_counter = 0;
int dac_data=0;
double debug_val = 0, debug_val2 = 0;
double real_val[4] = {};
double tar_val[4] = {};
double val[4] = {};
int send_val[4] = {};
double c_accel=5000;
char teisu=13;//23;
char can_send_data[8];

int con_x;
int con_y;
int con_theta;
double val_ratio, math1;
double sai_time[5]={}, sai_hensa[5]={}; 

long angle_ulong;
float raw_angle;
float angle;
float axis_angle = 0;
double sin2, cos2;
float kitai_angle = 0;
bool caninit_triger = 0;
int can_counter = 0;
double  avr_accel_x, avr_accel_y;


//
u8 RSX,RSY,LSX,LSY,BSU,BSL;
//コントローラ断線時対策用
u8 accel[5];
u8 accel_nowsub=0;
//////////
char cnt=0;


void UserLoopSetting(){
    //spi.format(16,0);
    //spi.frequency(1000000);//1M
    /*
    ss1=1;
    ss2=1;
    ss3=1;
    ss4=1;
    ldac1=1;
    ldac2=1;
    ldac3=1;
    ldac4=1;
    */
    can1.frequency(125000);
    
    slave.format(16,0);
    slave.frequency(1000000);
    
}

void UserLoop(char n,const u8* data){
                //PS3conSTATE--->value
                u16 ButtonState;
                char Send_data[8] = {};
                u16 spi_send_data[10] = {};
                if(n==0){//有線Ps3USB.cpp
                    RSX = ((ps3report*)data)->RightStickX;
                    RSY = ((ps3report*)data)->RightStickY;
                    LSX = ((ps3report*)data)->LeftStickX;
                    LSY = ((ps3report*)data)->LeftStickY;
                    BSU = (u8)(((ps3report*)data)->ButtonState & 0x00ff);
                    BSL = (u8)(((ps3report*)data)->ButtonState >> 8);
                    //ボタンの処理
                    ButtonState =  ((ps3report*)data)->ButtonState;
                }else {//無線TestShell.cpp
                    RSX = ((ps3report*)(data + 1))->RightStickX;
                    RSY = ((ps3report*)(data + 1))->RightStickY;
                    LSX = ((ps3report*)(data + 1))->LeftStickX;
                    LSY = ((ps3report*)(data + 1))->LeftStickY;
                    BSU = (u8)(((ps3report*)(data + 1))->ButtonState & 0x00ff);
                    BSL = (u8)(((ps3report*)(data + 1))->ButtonState >> 8);
                    //ボタンの処理
                    ButtonState =  ((ps3report*)(data + 1))->ButtonState;
                }
                Send_data[0] = RSX;
                Send_data[1] = RSY;
                Send_data[2] = LSX;
                Send_data[3] = LSY;
                Send_data[4] = BSU;
                Send_data[5] = BSL;
                Send_data[6] =  ButtonState       & 0xFF;
                Send_data[7] = (ButtonState >> 8) & 0xFF;
                can1.write(CANMessage(100, &Send_data[0], 8));
                
                static int can1_counter = 0;
                can1_counter ++;
                if(can1_counter > 100){
                    led1 = !led1;
                    can1_counter = 0;   
                }
                /*
                spi_send_data[0] = ButtonState;
                spi_send_data[1] = RSX;
                spi_send_data[1] = (spi_send_data[1] << 8) & 0xFF00;
                spi_send_data[1] = spi_send_data[1] | RSY;
                spi_send_data[2] = RSX;
                spi_send_data[2] = (spi_send_data[2] << 8) & 0xFF00;
                spi_send_data[2] = spi_send_data[2] | RSY;
                */
                /*
                if(slave.receive()){
                    int recive = slave.read();
                    switch(recive){
                        case 1:
                            slave.reply(spi_send_data[0]);
                            break; 
                        case 2:
                            slave.reply(spi_send_data[1]);
                            break; 
                        case 3:
                            slave.reply(spi_send_data[2]);
                            break; 
                    }
                }
                */
                
                
                
                //slave.write(1);
                
                

                
                
                
                
                
                                             
                //can1.read(msg); //CAN読み取り
                                     
                
                
                
                
                
                
                    
                    
                

                //LRの処理
                
                
                
                serial_counter ++;
                
               
#ifdef DEBUG_MODE                
                if(serial_counter > REFRESHRATE_PRINTF){
                printf("angle %f",angle*180/M_PI);
                printf("\t avr_accel_x %f",avr_accel_x);
                printf("\t math1 %f",math1);
                printf("\t c_accel %f",c_accel);
                //printf("\t con_rtheta %f",con_rtheta*180/M_PI);
                printf("\t kitai_angle %f",kitai_angle*180/M_PI);
                printf("\n");
                
                
                printf("data[0] %f",val[0]);
                printf("\t");
                printf("data[1] %f",val[1]);
                printf("\t");
                printf("data[2] %f",val[2]);
                printf("\t");
                printf("data[3] %f",val[3]);
                printf("\n");
                
                serial_counter = 0;
                }
#endif
                
                
                


#endif



}