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Dependencies: FastPWM GMD_template_lib mbed
main.cpp@8:ad41522dde78, 2016-07-13 (annotated)
- Committer:
- inst
- Date:
- Wed Jul 13 09:09:45 2016 +0000
- Revision:
- 8:ad41522dde78
- Parent:
- 7:9671d3ae163e
- Child:
- 10:bf4b442a5449
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
inst | 0:690d8ed9ee20 | 1 | #include "mbed.h" |
inst | 0:690d8ed9ee20 | 2 | #include "GMD.hpp" |
inst | 0:690d8ed9ee20 | 3 | |
inst | 0:690d8ed9ee20 | 4 | char read_address() { |
inst | 0:690d8ed9ee20 | 5 | const size_t din_num = 4; |
inst | 0:690d8ed9ee20 | 6 | DigitalIn din[] = { |
inst | 0:690d8ed9ee20 | 7 | DigitalIn(dp26), |
inst | 0:690d8ed9ee20 | 8 | DigitalIn(dp25), |
inst | 0:690d8ed9ee20 | 9 | DigitalIn(dp18), |
inst | 0:690d8ed9ee20 | 10 | DigitalIn(dp17) |
inst | 0:690d8ed9ee20 | 11 | }; |
inst | 0:690d8ed9ee20 | 12 | |
inst | 0:690d8ed9ee20 | 13 | char address = 0; |
inst | 5:9d1b1948a9b6 | 14 | size_t address_offset = 0x08 << 1; |
inst | 0:690d8ed9ee20 | 15 | for (size_t i = 0; i < din_num; ++i) { |
inst | 5:9d1b1948a9b6 | 16 | address |= din[i].read() << (i + 1); |
inst | 0:690d8ed9ee20 | 17 | } |
inst | 5:9d1b1948a9b6 | 18 | return address + address_offset; |
inst | 0:690d8ed9ee20 | 19 | } |
inst | 0:690d8ed9ee20 | 20 | |
inst | 0:690d8ed9ee20 | 21 | int main(){ |
inst | 8:ad41522dde78 | 22 | const float timeout_ms = 300.0f; |
inst | 0:690d8ed9ee20 | 23 | I2CSlave i2c(dp5, dp27); |
inst | 7:9671d3ae163e | 24 | Timer timer; |
inst | 0:690d8ed9ee20 | 25 | i2c.address(read_address()); |
inst | 1:29e84d1e7bcc | 26 | basic_motor_driver md(dp1, dp2, dp9); |
inst | 0:690d8ed9ee20 | 27 | |
inst | 7:9671d3ae163e | 28 | timer.start(); |
inst | 7:9671d3ae163e | 29 | |
inst | 0:690d8ed9ee20 | 30 | while (true){ |
inst | 0:690d8ed9ee20 | 31 | char buf; |
inst | 0:690d8ed9ee20 | 32 | switch (i2c.receive()){ |
inst | 0:690d8ed9ee20 | 33 | case I2CSlave::ReadAddressed: |
inst | 7:9671d3ae163e | 34 | timer.reset(); |
inst | 0:690d8ed9ee20 | 35 | break; |
inst | 0:690d8ed9ee20 | 36 | |
inst | 0:690d8ed9ee20 | 37 | case I2CSlave::WriteGeneral: |
inst | 7:9671d3ae163e | 38 | timer.reset(); |
inst | 0:690d8ed9ee20 | 39 | break; |
inst | 0:690d8ed9ee20 | 40 | |
inst | 0:690d8ed9ee20 | 41 | case I2CSlave::WriteAddressed: |
inst | 7:9671d3ae163e | 42 | timer.reset(); |
inst | 0:690d8ed9ee20 | 43 | i2c.read(&buf, 1); |
inst | 6:004e6174445a | 44 | md.set(static_cast<int8_t>(buf) / 127.0f); |
inst | 0:690d8ed9ee20 | 45 | break; |
inst | 0:690d8ed9ee20 | 46 | |
inst | 0:690d8ed9ee20 | 47 | case I2CSlave::NoData: |
inst | 7:9671d3ae163e | 48 | if (timer.read_ms() > timeout_ms) { |
inst | 7:9671d3ae163e | 49 | // I2Cの通信がタイムアウトしたならブレーキ |
inst | 7:9671d3ae163e | 50 | md.release(); |
inst | 7:9671d3ae163e | 51 | } |
inst | 0:690d8ed9ee20 | 52 | break; |
inst | 0:690d8ed9ee20 | 53 | } |
inst | 0:690d8ed9ee20 | 54 | } |
inst | 0:690d8ed9ee20 | 55 | } |