Diff: main.cpp

Revision:

0:f6b9d01fdda6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Aug 16 05:24:27 2016 +0000
@@ -0,0 +1,71 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "i2cslave.h"
+#include "define.h"
+
+union UNION
+{
+    int i;
+    char c[6];
+};
+
+UNION obj;
+
+DigitalOut led(dp28);
+void Func()
+{
+    obj.c[5]++;
+    //printf(" %d", obj.c[5]);
+    if(obj.c[5] > 2)
+    {
+        //obj.c[4] = 1;
+        NVIC_SystemReset();
+    }
+}
+
+
+QEI rorikon(dp1, dp2, NC, 50, QEI::X4_ENCODING);
+BusOut leds(dp26, dp24);
+Serial slave(dp16, dp15);
+
+int main()
+{
+    Ticker t;
+    t.attach(Func, 0.1);
+    i2cslave i2c(dp5, dp27, obj.c);
+    i2c.frequency(1000000);
+    /*change address every micon***********/
+    i2c.address(RE1_addr);
+    /**************************************/
+    double data = 0;
+    
+    NVIC_SetPriority(TIMER_16_0_IRQn, 5);
+    NVIC_SetPriority(TIMER_16_1_IRQn, 5);
+    NVIC_SetPriority(TIMER_32_0_IRQn, 5);
+    NVIC_SetPriority(TIMER_32_1_IRQn, 5);
+    NVIC_SetPriority(EINT3_IRQn, 20);
+    NVIC_SetPriority(EINT2_IRQn, 20);
+    NVIC_SetPriority(EINT1_IRQn, 20);
+    NVIC_SetPriority(EINT0_IRQn, 20);
+    NVIC_SetPriority(I2C_IRQn, 10);
+    
+    obj.c[4] = 1;
+    led = 0;
+
+    while(1)
+    {
+        data = rorikon.getSumangle();
+        if(data < 0.000)
+        {
+            obj.i = (int)(data*10)*(-1);
+            obj.c[4] = 0;
+            leds = 3;
+        }
+        else
+        {
+            obj.i = (int)(data*10);
+            obj.c[4] = 2;
+            leds = 0;
+        }
+    }
+}
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