Diff: main.cpp

Revision:

0:831a6764c8cf

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Dec 17 07:16:39 2019 +0000
@@ -0,0 +1,76 @@
+#include "mbed.h"
+#include "i2cslave.h"
+#include "define.h"
+
+
+// define IIC_ADDR 1:0xB0, 2:0xC0, 3:0xD0 or 4:0xD0
+// define I_AM but it not used. 
+#define IIC_ADDR        0xB0
+#define I_AM            RightForward
+
+int32_t Register[0x20] = {};
+i2cslave i2c(dp5, dp27, Register);
+ 
+int main()
+{
+    Register[WHO_AM_I] = I_AM;
+    Register[MY_IIC_ADDR] = IIC_ADDR;
+    
+    Register[MOTOR_DIR] = COAST;
+    
+    PwmOut PWM_PIN(dp24);
+    DigitalOut PWM_ENABLE(dp14);
+    DigitalOut DIR_PIN(dp18);
+    DigitalOut CON_PIN(dp17);
+    
+    DIR_PIN = 0;
+    CON_PIN = 0;
+    
+    i2c.address(IIC_ADDR);
+    
+    float f = 1000;
+    float T = 0.05;
+    float T_last = T;
+    PWM_PIN = 0;
+    int dir = COAST;
+    int last_dir = 0;
+    
+    while(1)
+    {
+        T_last = T;
+        f = float(Register[PWM_FREQUENCY]);
+        if(f > 0 && f <= 1000000) T = 1.0 / f;
+        if(T_last != T) PWM_PIN.period(T);
+        
+        last_dir = dir;
+        dir = Register[MOTOR_DIR];
+        
+        if(dir != last_dir)
+        {
+            switch(dir)
+            {
+                case COAST:
+                    PWM_ENABLE = 0;
+                    CON_PIN = 0;
+                    break;
+                case BRAKE:
+                    CON_PIN = 1;
+                    PWM_ENABLE = 1;
+                    PWM_PIN = 0; 
+                    break;
+                case CW:
+                    CON_PIN = 1;
+                    DIR_PIN = 0;
+                    PWM_ENABLE = 1;
+                    PWM_PIN = 0.5;
+                    break;
+                case CCW:
+                    CON_PIN = 1;
+                    DIR_PIN = 1;
+                    PWM_ENABLE = 1;
+                    PWM_PIN = 0.5;
+                    break;
+            }
+        }
+    }
+}
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