Diff: main.cpp

Revision:

1:be9b2f6d39c2

Parent:

0:51c43836c1d7

--- a/main.cpp	Wed Aug 14 08:13:36 2019 +0000
+++ b/main.cpp	Tue Aug 20 12:35:26 2019 +0000
@@ -10,13 +10,16 @@
 DigitalOut check_2(PC_3);
 AnalogOut dac_1(PA_4);
 AnalogOut dac_2(PA_5);
+DigitalIn a(PB_7);
+DigitalIn b(PB_6);
+DigitalIn c(PA_6);
+DigitalIn d(PC_9);
 
 // pwm
-float dtc_v=0;
-float dtc_w=0;
+float dtc=0;
 
 // I2C
-I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
+I2C i2c(PB_3,PB_10); // SDA, SCL (for K22F)
 const int i2c_slave_addr1 =  0x56;
 unsigned int value; // 10bit output of reading sensor AS5510
 
@@ -47,9 +50,9 @@
 int i=0;
 float y;
 
-extern "C" void TIM4_IRQHandler(void)
+extern "C" void TIM1_UP_TIM10_IRQHandler(void)
 {
-    if (TIM4->SR & TIM_SR_UIF ) {
+    if (TIM1->SR & TIM_SR_UIF ) {
 //        y=0.05*sin(i*0.00001);
 //        y= 0.1;
 //        if (i>10000){i=0;}
@@ -61,41 +64,19 @@
         //
         
         //PIN_V dir
-        
-        if (y>0) {
-            dtc_v=0;
-            dtc_w=y;
-        } else {
-            dtc_v=0;
-            dtc_w=-y;
-        }
+        dtc=0.5;
         i++;
-//    check = 1;
-//    //spi
-//    eeprom.write(0xff);
-//    eeprom.write(0xff);
-////    ready();
-////    read(1);
-//    //i2c
-////    read_field(i2c_slave_addr1);
         //ADC
         ADC1->CR2  |= 0x40000000;                        // adc _ 12bit
 //      a1=ADC1->DR;
 //    a1=ADC2->DR;
         a1=ADC3->DR;
-//    //계산
-//    //
-//    //
-//
-//    //DAC
-//    dac_1 = ADC1->DR;
-//    dac_2 = ADC2->DR;
+
 //    //pwm
-        TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
-        TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
+        TIM1->CCR1 = (PWM_ARR)*(1.0f-dtc);
 //    check = 0;
     }
-    TIM4->SR = 0x0;  // reset the status register
+    TIM1->SR = 0x0;  // reset the status register
 }
 
 
@@ -103,43 +84,14 @@
 int main()
 {
 
-    // i2c init
-//    i2c.frequency(400 * 1000);          // 0.4 mHz
-//    wait_ms(2);                         // Power Up wait
-//    look_for_hardware_i2c();            // Hardware present
-//    init_as5510(i2c_slave_addr1);
-//    // spi init
-    eeprom.format(8,3);
-    eeprom.frequency(5000000); //5M
-    enc.format(8,0);
-    enc.frequency(5000000); //5M
     // ADC init
     Init_ADC();
     // Pwm init
     Init_PWM();
-    TIM4->CR1 ^= TIM_CR1_UDIS;
-//    //SPI
-//    spi_eeprom_ready();
-//    spi_eeprom_write(0x1,0x112);
-//    spi_eeprom_ready();
-//    int i = spi_eeprom_read(0x1);
+    TIM1->CR1 ^= TIM_CR1_UDIS;
     // CAN
     can.attach(&onMsgReceived);
-    // spi _ enc
-    spi_enc_set_init();
-    msg.len=2;
     while(1) {
-//        dac_1=0.5;
-//        dac_2=0.1;
-        check_2 = 1;
-        //spi _ eeprom
-//        spi_eeprom_ready();
-//        spi_eeprom_write(0x0001,0xFFFFFFFF);
-//        spi_eeprom_ready();
-//        int a=spi_eeprom_read(0x0001);
-        //spi _ enc
-        int a = spi_enc_read();
-//        read_field(i2c_slave_addr1);
         pc.printf("%d\n",a1);
 //        msg.data[0]=0xFF&a1;
 //        msg.data[1]=0xFF&(a1>>8);