Diff: main.cpp

Revision:

0:41f2e835aa5d

Child:

1:770e1fc380ff

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Sep 11 04:32:13 2016 +0000
@@ -0,0 +1,45 @@
+#include "mbed.h"
+#include "i2cslave.h"
+#include "define.h"
+
+char Registar[128]= {};
+void check();
+
+int main()
+{
+    BusOut motor1(dp4, dp9, dp13, dp14);
+    BusOut motor2(dp25, dp24, dp18, dp17);
+    PwmOut pwm1(dp2);
+    PwmOut pwm2(dp1);
+    motor1 = 0;
+    motor2 = 0;
+    NVIC_SetPriority(TIMER_16_0_IRQn, 20);
+    NVIC_SetPriority(TIMER_16_1_IRQn, 20);
+    NVIC_SetPriority(TIMER_32_0_IRQn, 20);
+    NVIC_SetPriority(TIMER_32_1_IRQn, 20);
+    NVIC_SetPriority(I2C_IRQn, 10);
+    i2cslave i2c(dp5, dp27, Registar);
+    /*change address every micon***********/
+    i2c.address(MD1_addr);
+    /**************************************/
+    i2c.frequency(1000000);
+    Ticker tic;
+    tic.attach(check, 0.1);
+    while(1)
+    {
+        pwm1 = (float)(Registar[motor1_pwm]) / 255;
+        pwm2 = (float)(Registar[motor2_pwm]) / 255;
+        motor1 = Registar[motor1_state];
+        motor2 = Registar[motor2_state];
+        wait_ms(40);
+    }
+}
+
+void check()
+{
+    Registar[check_reg]++;
+    if(Registar[check_reg] > 2)
+    {
+        NVIC_SystemReset();
+    }
+}