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@6:004e6174445a, 2016-07-10 (annotated)

Committer:
inst
Date:
Sun Jul 10 13:17:14 2016 +0000
Revision:
6:004e6174445a
Parent:
5:9d1b1948a9b6
Child:
7:9671d3ae163e
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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 0:690d8ed9ee20 22 I2CSlave i2c(dp5, dp27);
inst 0:690d8ed9ee20 23 i2c.address(read_address());
inst 1:29e84d1e7bcc 24 basic_motor_driver md(dp1, dp2, dp9);
inst 0:690d8ed9ee20 25
inst 0:690d8ed9ee20 26 while (true){
inst 0:690d8ed9ee20 27 char buf;
inst 0:690d8ed9ee20 28 switch (i2c.receive()){
inst 0:690d8ed9ee20 29 case I2CSlave::ReadAddressed:
inst 0:690d8ed9ee20 30 break;
inst 0:690d8ed9ee20 31
inst 0:690d8ed9ee20 32 case I2CSlave::WriteGeneral:
inst 0:690d8ed9ee20 33 break;
inst 0:690d8ed9ee20 34
inst 0:690d8ed9ee20 35 case I2CSlave::WriteAddressed:
inst 0:690d8ed9ee20 36 i2c.read(&buf, 1);
inst 0:690d8ed9ee20 37
inst 6:004e6174445a 38 /*
inst 1:29e84d1e7bcc 39 float p = (buf & 0x80) ? -1.0f : 1.0f;
inst 0:690d8ed9ee20 40 p *= (buf & 0x7F);
inst 0:690d8ed9ee20 41 p *= 1.0f / 0x7F;
inst 6:004e6174445a 42 */
inst 0:690d8ed9ee20 43
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 0:690d8ed9ee20 48 break;
inst 0:690d8ed9ee20 49 }
inst 0:690d8ed9ee20 50 }
inst 0:690d8ed9ee20 51 }