tarou yamada / Mbed 2 deprecated NewMD3

MDテスト用プログラム

Dependencies:   FastPWM GMD_template_lib mbed

Fork of NewMD2 by tarou yamada

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
???????

Who changed what in which revision?

UserRevisionLine numberNew 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 }