test2.c (SPI)

// ***********************************************************
//  test2.c
//
// ***********************************************************

#include "test.h"
#include "../drivers.h"
#include "../bsp.h"

#define PWM_LEFT   TIM4_CH1
#define PWM_TOP    TIM4_CH2
#define PWM_RIGHT  TIM4_CH3
#define PWM_BOTTOM TIM4_CH4

static uint16_t Interpolate(int8_t Value)
{
    uint32_t Abs = (Value > 0) ? Value : -Value;

    return Abs * 0xFFFF / 128;
}

static void test2_onTimer(void)
{
    int8_t X = acc_GetX();
    int8_t Y = acc_GetY();

    if(Y > 0)
    {
        pwm_Set(PWM_LEFT, Interpolate(Y));
        pwm_Set(PWM_RIGHT, 0);
    }
    else
    {
        pwm_Set(PWM_LEFT, 0);
        pwm_Set(PWM_RIGHT, Interpolate(Y));
    }

    if(X > 0)
    {
        pwm_Set(PWM_TOP, Interpolate(X));
        pwm_Set(PWM_BOTTOM, 0);
    }
    else
    {
        pwm_Set(PWM_TOP, 0);
        pwm_Set(PWM_BOTTOM, Interpolate(X));
    }
}

void test2_Init(void)
{
    // Перехватим светодиоды у модуля led.с:
    pwm_Init(PWM_LEFT);
    pwm_Init(PWM_TOP);

    pwm_Init(PWM_RIGHT);

    pwm_Init(PWM_BOTTOM);

    timer_AddFunction(50, &test2_onTimer);
}

void test2_Main(void)
{

}