2014 sift / Mbed 2 deprecated TVDctrller2017_brdRev1_PandA

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Dependencies:   mbed

Fork of TVDctrller2017_brdRev1_ver6 by 2014 sift

Steering.cpp@0:276c1dab2d62, 2016-07-08 (annotated)

Committer:
sift
Date:
Fri Jul 08 05:29:15 2016 +0000
Revision:
0:276c1dab2d62
Child:
1:4d86ec2fe4b1
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
sift 0:276c1dab2d62 1 #include "mbed.h"
sift 0:276c1dab2d62 2 #include "Steering.h"
sift 0:276c1dab2d62 3
sift 0:276c1dab2d62 4 extern SPI spi;
sift 0:276c1dab2d62 5 extern DigitalOut cs;
sift 0:276c1dab2d62 6
sift 0:276c1dab2d62 7 void initIoExp(void)
sift 0:276c1dab2d62 8 {
sift 0:276c1dab2d62 9 //SPIバスに複数のデバイスをぶら下げる場合，modeをそろえる必要がある
sift 0:276c1dab2d62 10 spi.format(8, 0);
sift 0:276c1dab2d62 11 spi.frequency(1000000);
sift 0:276c1dab2d62 12 cs = 1;
sift 0:276c1dab2d62 13 wait(0.1); //Omajinai
sift 0:276c1dab2d62 14
sift 0:276c1dab2d62 15 cs = 0;
sift 0:276c1dab2d62 16 spi.write(IOEXP_WRITEADD);
sift 0:276c1dab2d62 17 spi.write(IOEXP_IODIR); //IO方向レジスタ
sift 0:276c1dab2d62 18 spi.write(0xFF); //All input
sift 0:276c1dab2d62 19 cs = 1;
sift 0:276c1dab2d62 20 wait_us(10); //Omajinai
sift 0:276c1dab2d62 21
sift 0:276c1dab2d62 22 cs = 0;
sift 0:276c1dab2d62 23 spi.write(IOEXP_WRITEADD);
sift 0:276c1dab2d62 24 spi.write(IOEXP_IPOL); //入力極性
sift 0:276c1dab2d62 25 spi.write(0xFF); //All inverted
sift 0:276c1dab2d62 26 cs = 1;
sift 0:276c1dab2d62 27 wait_us(10);
sift 0:276c1dab2d62 28
sift 0:276c1dab2d62 29 cs = 0;
sift 0:276c1dab2d62 30 spi.write(IOEXP_WRITEADD);
sift 0:276c1dab2d62 31 spi.write(IOEXP_GPPU); //PULL-UP
sift 0:276c1dab2d62 32 spi.write(0xFF); //ALL PULL-UP
sift 0:276c1dab2d62 33 cs = 1;
sift 0:276c1dab2d62 34 wait_us(10);
sift 0:276c1dab2d62 35 }
sift 0:276c1dab2d62 36
sift 0:276c1dab2d62 37 int readIoExp(void)
sift 0:276c1dab2d62 38 {
sift 0:276c1dab2d62 39 int gpio = 0;
sift 0:276c1dab2d62 40
sift 0:276c1dab2d62 41 cs = 0;
sift 0:276c1dab2d62 42 spi.write(IOEXP_READADD);
sift 0:276c1dab2d62 43 spi.write(IOEXP_GPIO);
sift 0:276c1dab2d62 44 gpio = spi.write(0x00);
sift 0:276c1dab2d62 45 cs = 1;
sift 0:276c1dab2d62 46 //wait_us(10);
sift 0:276c1dab2d62 47 return gpio;
sift 0:276c1dab2d62 48 }
sift 0:276c1dab2d62 49
sift 0:276c1dab2d62 50 void initSteering(void)
sift 0:276c1dab2d62 51 {
sift 0:276c1dab2d62 52
sift 0:276c1dab2d62 53 }