masayuki shindo / Mbed 2 deprecated L6470Stepper_test4

consept_meter

Dependencies:   mbed mbed-rtos

main.cpp@3:accb9e3920f9, 2012-11-06 (annotated)

Committer:
junTMUG
Date:
Tue Nov 06 13:44:19 2012 +0000
Revision:
3:accb9e3920f9
Parent:
2:824d7df88ed9 
385???&???????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shindo 0:134db3267830 1 #include "mbed.h"
junTMUG 1:39b4d6e71f76 2 #include "rtos.h"
shindo 0:134db3267830 3
shindo 0:134db3267830 4 DigitalIn busy1(p26);
shindo 0:134db3267830 5 DigitalIn flag1(p25);
shindo 0:134db3267830 6 DigitalOut cs1(p8);
shindo 0:134db3267830 7 DigitalOut stck1(p28);
shindo 0:134db3267830 8 DigitalOut stby1(p27);
shindo 0:134db3267830 9
shindo 0:134db3267830 10 DigitalIn busy2(p22);
shindo 0:134db3267830 11 DigitalIn flag2(p21);
shindo 0:134db3267830 12 DigitalOut cs2(p19);
shindo 0:134db3267830 13 DigitalOut stck2(p24);
shindo 0:134db3267830 14 DigitalOut stby2(p23);
shindo 0:134db3267830 15
shindo 0:134db3267830 16 DigitalOut led1(LED1);
shindo 0:134db3267830 17 DigitalOut led2(LED2);
shindo 0:134db3267830 18 DigitalOut led3(LED3);
shindo 0:134db3267830 19 DigitalOut led4(LED4);
shindo 0:134db3267830 20
shindo 0:134db3267830 21 SPI spi(p5, p6, p7); // mosi, miso, sclk
junTMUG 1:39b4d6e71f76 22 Mutex motor1_mutex, motor2_mutex;
shindo 0:134db3267830 23
shindo 0:134db3267830 24 void writeCommand(int port, unsigned char data)
shindo 0:134db3267830 25 {
shindo 0:134db3267830 26 if (port == 1) {
shindo 0:134db3267830 27 cs1 = 0;
shindo 0:134db3267830 28 spi.write(data);
shindo 0:134db3267830 29 cs1 = 1;
shindo 0:134db3267830 30 } else {
shindo 0:134db3267830 31 cs2 = 0;
shindo 0:134db3267830 32 spi.write(data);
shindo 0:134db3267830 33 cs2 = 1;
shindo 0:134db3267830 34 }
shindo 0:134db3267830 35 }
shindo 0:134db3267830 36
junTMUG 1:39b4d6e71f76 37 void writeCommand4(int port, unsigned int data)
junTMUG 1:39b4d6e71f76 38 {
junTMUG 1:39b4d6e71f76 39 if (port == 1)
junTMUG 1:39b4d6e71f76 40 motor1_mutex.lock();
junTMUG 1:39b4d6e71f76 41 else
junTMUG 1:39b4d6e71f76 42 motor2_mutex.lock();
junTMUG 1:39b4d6e71f76 43 writeCommand(port, data >> 24);
junTMUG 1:39b4d6e71f76 44 writeCommand(port, (data >> 16) & 0xff);
junTMUG 1:39b4d6e71f76 45 writeCommand(port, (data >> 8) & 0xff);
junTMUG 1:39b4d6e71f76 46 writeCommand(port, data & 0xff);
junTMUG 1:39b4d6e71f76 47 if (port == 1)
junTMUG 1:39b4d6e71f76 48 motor1_mutex.unlock();
junTMUG 1:39b4d6e71f76 49 else
junTMUG 1:39b4d6e71f76 50 motor2_mutex.unlock();
junTMUG 1:39b4d6e71f76 51 }
junTMUG 1:39b4d6e71f76 52
shindo 0:134db3267830 53 unsigned char readCommand(int port)
shindo 0:134db3267830 54 {
shindo 0:134db3267830 55 unsigned char result = 0;
shindo 0:134db3267830 56
shindo 0:134db3267830 57 if (port == 1) {
shindo 0:134db3267830 58 cs1 = 0;
shindo 0:134db3267830 59 result = spi.write(0);
shindo 0:134db3267830 60 cs1 = 1;
shindo 0:134db3267830 61 } else {
shindo 0:134db3267830 62 cs2 = 0;
shindo 0:134db3267830 63 result = spi.write(0);
shindo 0:134db3267830 64 cs2 = 1;
shindo 0:134db3267830 65 }
shindo 0:134db3267830 66
shindo 0:134db3267830 67 return result;
shindo 0:134db3267830 68 }
shindo 0:134db3267830 69
shindo 0:134db3267830 70 void initMotor()
shindo 0:134db3267830 71 {
shindo 0:134db3267830 72 spi.format(8,0);
shindo 0:134db3267830 73 busy1.mode(PullUp);
shindo 0:134db3267830 74 flag1.mode(PullUp);
shindo 0:134db3267830 75 busy2.mode(PullUp);
shindo 0:134db3267830 76 flag2.mode(PullUp);
shindo 0:134db3267830 77 stby1 = 1;
shindo 0:134db3267830 78 stby2 = 1;
shindo 0:134db3267830 79 for (int port = 1; port <= 2; port++) {
shindo 0:134db3267830 80
shindo 0:134db3267830 81 writeCommand(port, 0x08);
shindo 0:134db3267830 82 writeCommand(port, 0x00);
shindo 0:134db3267830 83
shindo 0:134db3267830 84 writeCommand(port, 0x09);
shindo 0:134db3267830 85 writeCommand(port, 0xff);
shindo 0:134db3267830 86
shindo 0:134db3267830 87 writeCommand(port, 0x0a);
shindo 0:134db3267830 88 writeCommand(port, 0xff);
shindo 0:134db3267830 89
shindo 0:134db3267830 90 writeCommand(port, 0x0b);
shindo 0:134db3267830 91 writeCommand(port, 0xff);
shindo 0:134db3267830 92
shindo 0:134db3267830 93 writeCommand(port, 0x0c);
shindo 0:134db3267830 94 writeCommand(port, 0xff);
shindo 0:134db3267830 95
shindo 0:134db3267830 96 writeCommand(port, 0x13);
shindo 0:134db3267830 97 writeCommand(port, 0x0f);
shindo 0:134db3267830 98
shindo 0:134db3267830 99 writeCommand(port, 0x14);
shindo 0:134db3267830 100 writeCommand(port, 0x7f);
shindo 0:134db3267830 101 }
shindo 0:134db3267830 102 }
junTMUG 1:39b4d6e71f76 103
shindo 0:134db3267830 104 void MAXspeed_port_1_A()
shindo 0:134db3267830 105 {
shindo 0:134db3267830 106 writeCommand(1, 0x07);
shindo 0:134db3267830 107 writeCommand(1, 0x00);
shindo 0:134db3267830 108 writeCommand(1, 0x32);
shindo 0:134db3267830 109 }
junTMUG 1:39b4d6e71f76 110
shindo 0:134db3267830 111 void Step_Startspeed_port_1_A()
shindo 0:134db3267830 112 {
shindo 0:134db3267830 113 writeCommand(1, 0x05);
shindo 0:134db3267830 114 writeCommand(1, 0x00);
shindo 0:134db3267830 115 writeCommand(1, 0x23);
shindo 0:134db3267830 116 }
junTMUG 1:39b4d6e71f76 117
shindo 0:134db3267830 118 void Step_Stopspeed_port_1_A()
shindo 0:134db3267830 119 {
shindo 0:134db3267830 120 writeCommand(1, 0x06);
shindo 0:134db3267830 121 writeCommand(1, 0x00);
shindo 0:134db3267830 122 writeCommand(1, 0x15);
shindo 0:134db3267830 123 }
junTMUG 1:39b4d6e71f76 124
shindo 0:134db3267830 125 void CW_port_1_A()
shindo 0:134db3267830 126 {
shindo 0:134db3267830 127 writeCommand(1, 0x51);
shindo 0:134db3267830 128 writeCommand(1, 0x00);
shindo 0:134db3267830 129 writeCommand(1, 0x25);
shindo 0:134db3267830 130 writeCommand(1, 0x00);
shindo 0:134db3267830 131 }
junTMUG 1:39b4d6e71f76 132
shindo 0:134db3267830 133 void CCW_port_1_A()
shindo 0:134db3267830 134 {
shindo 0:134db3267830 135 writeCommand(1, 0x50);
shindo 0:134db3267830 136 writeCommand(1, 0x00);
shindo 0:134db3267830 137 writeCommand(1, 0x10);
shindo 0:134db3267830 138 writeCommand(1, 0x00);
shindo 0:134db3267830 139 }
junTMUG 1:39b4d6e71f76 140
shindo 0:134db3267830 141 void CCW_port_1_A2()
shindo 0:134db3267830 142 {
shindo 0:134db3267830 143 writeCommand(1, 0x50);
shindo 0:134db3267830 144 writeCommand(1, 0x00);
shindo 0:134db3267830 145 writeCommand(1, 0x40);
shindo 0:134db3267830 146 writeCommand(1, 0x00);
shindo 0:134db3267830 147 }
shindo 0:134db3267830 148 //----------------------------------------------
shindo 0:134db3267830 149 void MAXspeed_port_2_A()
shindo 0:134db3267830 150 {
shindo 0:134db3267830 151 writeCommand(2, 0x07);
shindo 0:134db3267830 152 writeCommand(2, 0x00);
shindo 0:134db3267830 153 writeCommand(2, 0x32);
shindo 0:134db3267830 154 }
junTMUG 1:39b4d6e71f76 155
shindo 0:134db3267830 156 void Step_Startspeed_port_2_A()
shindo 0:134db3267830 157 {
shindo 0:134db3267830 158 writeCommand(2, 0x05);
shindo 0:134db3267830 159 writeCommand(2, 0x00);
shindo 0:134db3267830 160 writeCommand(2, 0x23);
shindo 0:134db3267830 161 }
junTMUG 1:39b4d6e71f76 162
shindo 0:134db3267830 163 void Step_Stopspeed_port_2_A()
shindo 0:134db3267830 164 {
shindo 0:134db3267830 165 writeCommand(2, 0x06);
shindo 0:134db3267830 166 writeCommand(2, 0x00);
shindo 0:134db3267830 167 writeCommand(2, 0x15);
shindo 0:134db3267830 168 }
junTMUG 1:39b4d6e71f76 169
shindo 0:134db3267830 170 void CW_port_2_A()
shindo 0:134db3267830 171 {
shindo 0:134db3267830 172 writeCommand(2, 0x51);
shindo 0:134db3267830 173 writeCommand(2, 0x00);
shindo 0:134db3267830 174 writeCommand(2, 0x25);
shindo 0:134db3267830 175 writeCommand(2, 0x00);
shindo 0:134db3267830 176 }
junTMUG 1:39b4d6e71f76 177
shindo 0:134db3267830 178 void CCW_port_2_A()
shindo 0:134db3267830 179 {
shindo 0:134db3267830 180 writeCommand(2, 0x50);
shindo 0:134db3267830 181 writeCommand(2, 0x00);
shindo 0:134db3267830 182 writeCommand(2, 0x10);
shindo 0:134db3267830 183 writeCommand(2, 0x00);
shindo 0:134db3267830 184 }
junTMUG 1:39b4d6e71f76 185
shindo 0:134db3267830 186 void CCW_port_2_A2()
shindo 0:134db3267830 187 {
shindo 0:134db3267830 188 writeCommand(2, 0x50);
shindo 0:134db3267830 189 writeCommand(2, 0x00);
shindo 0:134db3267830 190 writeCommand(2, 0x40);
shindo 0:134db3267830 191 writeCommand(2, 0x00);
shindo 0:134db3267830 192 }
junTMUG 1:39b4d6e71f76 193
shindo 0:134db3267830 194 //-----------------------------------
junTMUG 1:39b4d6e71f76 195 void startup1 ()
shindo 0:134db3267830 196 {
shindo 0:134db3267830 197 CW_port_1_A();
shindo 0:134db3267830 198 CW_port_2_A();
shindo 0:134db3267830 199 }
junTMUG 1:39b4d6e71f76 200
junTMUG 1:39b4d6e71f76 201 void startup2 ()
shindo 0:134db3267830 202 {
shindo 0:134db3267830 203 CCW_port_1_A();
shindo 0:134db3267830 204 CCW_port_2_A();
shindo 0:134db3267830 205 }
junTMUG 1:39b4d6e71f76 206
shindo 0:134db3267830 207 void power_up_p1_p2 ()
shindo 0:134db3267830 208 {
junTMUG 1:39b4d6e71f76 209 writeCommand4(1, 0x51004000);
junTMUG 1:39b4d6e71f76 210 writeCommand4(2, 0x51004000);
shindo 0:134db3267830 211 wait_ms (630);
shindo 0:134db3267830 212 writeCommand(2, 0xb8);
shindo 0:134db3267830 213 wait_ms (175);
shindo 0:134db3267830 214 writeCommand(1, 0xb8);
shindo 0:134db3267830 215 }
junTMUG 1:39b4d6e71f76 216
shindo 0:134db3267830 217 void on ()
shindo 0:134db3267830 218 {
shindo 0:134db3267830 219 CW_port_2_A();
shindo 0:134db3267830 220 wait_ms(200);
shindo 0:134db3267830 221 writeCommand(2, 0xb8);
shindo 0:134db3267830 222 }
junTMUG 1:39b4d6e71f76 223
shindo 0:134db3267830 224 void reb1 ()
shindo 0:134db3267830 225 {
shindo 0:134db3267830 226 CW_port_2_A();
shindo 0:134db3267830 227 wait_ms(331);
shindo 0:134db3267830 228 writeCommand(2, 0xb0);
shindo 0:134db3267830 229 CCW_port_2_A();
shindo 0:134db3267830 230 wait_ms(1400);
shindo 0:134db3267830 231 writeCommand(2, 0xb0);
shindo 0:134db3267830 232 wait_ms(300);
shindo 0:134db3267830 233 }
junTMUG 1:39b4d6e71f76 234
shindo 0:134db3267830 235 void reb2 ()
shindo 0:134db3267830 236 {
junTMUG 1:39b4d6e71f76 237 writeCommand4(2, 0x51003000);
shindo 0:134db3267830 238 wait_ms(60);
shindo 0:134db3267830 239 writeCommand(2, 0xb8);
junTMUG 1:39b4d6e71f76 240 writeCommand4(2, 0x50003000);
junTMUG 1:39b4d6e71f76 241
shindo 0:134db3267830 242 wait_ms(60);
shindo 0:134db3267830 243 writeCommand(2, 0xb8);
junTMUG 1:39b4d6e71f76 244 writeCommand4(2, 0x51003000);
shindo 0:134db3267830 245 wait_ms(60);
shindo 0:134db3267830 246 writeCommand(2, 0xb8);
junTMUG 1:39b4d6e71f76 247 writeCommand4(2, 0x50003000);
shindo 0:134db3267830 248 wait_ms(60);
shindo 0:134db3267830 249 writeCommand(2, 0xb8);
junTMUG 1:39b4d6e71f76 250 writeCommand4(2, 0x51003000);
shindo 0:134db3267830 251 wait_ms(60);
shindo 0:134db3267830 252 }
junTMUG 1:39b4d6e71f76 253
shindo 0:134db3267830 254 void reb3 ()
shindo 0:134db3267830 255 {
junTMUG 1:39b4d6e71f76 256 writeCommand4(2, 0x51001500);
shindo 0:134db3267830 257 wait_ms(500);
shindo 0:134db3267830 258
junTMUG 1:39b4d6e71f76 259 writeCommand4(2, 0x50000300);
shindo 0:134db3267830 260 wait_ms(4000);
shindo 0:134db3267830 261 writeCommand(2, 0xb0);
shindo 0:134db3267830 262 }
shindo 0:134db3267830 263
junTMUG 1:39b4d6e71f76 264 void type1_tacho (void const *argument)
junTMUG 1:39b4d6e71f76 265 {
junTMUG 1:39b4d6e71f76 266 Thread::wait(2000);
junTMUG 1:39b4d6e71f76 267
junTMUG 1:39b4d6e71f76 268 writeCommand4(2, 0x51001000);
junTMUG 1:39b4d6e71f76 269 Thread::wait(500);
shindo 0:134db3267830 270
shindo 0:134db3267830 271 writeCommand(2, 0xb0);
junTMUG 1:39b4d6e71f76 272 Thread::wait(100);
shindo 0:134db3267830 273
junTMUG 1:39b4d6e71f76 274 writeCommand4(2, 0x51002500);
junTMUG 1:39b4d6e71f76 275 Thread::wait(380);
shindo 0:134db3267830 276 reb2 ();
shindo 0:134db3267830 277
junTMUG 1:39b4d6e71f76 278 writeCommand4(2, 0x50002000);
junTMUG 1:39b4d6e71f76 279 Thread::wait(500);
shindo 0:134db3267830 280 writeCommand(2, 0xb0);
shindo 0:134db3267830 281
junTMUG 1:39b4d6e71f76 282 writeCommand4(2, 0x51000800);
junTMUG 1:39b4d6e71f76 283 Thread::wait(2050);
shindo 0:134db3267830 284
junTMUG 1:39b4d6e71f76 285 writeCommand4(2, 0x50002000);
junTMUG 1:39b4d6e71f76 286 Thread::wait(450);
shindo 0:134db3267830 287 writeCommand(2, 0xb8);
junTMUG 1:39b4d6e71f76 288 Thread::wait(200);
junTMUG 1:39b4d6e71f76 289 writeCommand4(2, 0x51000500);//---2---
junTMUG 1:39b4d6e71f76 290 Thread::wait(1550);
shindo 0:134db3267830 291
junTMUG 1:39b4d6e71f76 292 writeCommand4(2, 0x50002000);
junTMUG 1:39b4d6e71f76 293 Thread::wait(430);
shindo 0:134db3267830 294 writeCommand(2, 0xb8);
junTMUG 1:39b4d6e71f76 295 Thread::wait(200);
junTMUG 1:39b4d6e71f76 296 writeCommand4(2, 0x51000400);//---3---
junTMUG 1:39b4d6e71f76 297 Thread::wait(2000);
shindo 0:134db3267830 298
junTMUG 1:39b4d6e71f76 299 writeCommand4(2, 0x50002000);
junTMUG 1:39b4d6e71f76 300 Thread::wait(400);
shindo 0:134db3267830 301 writeCommand(2, 0xb8);
junTMUG 1:39b4d6e71f76 302 Thread::wait(200);
junTMUG 1:39b4d6e71f76 303 writeCommand4(2, 0x51000200);//---4---
junTMUG 1:39b4d6e71f76 304 Thread::wait(4000);
shindo 0:134db3267830 305
junTMUG 1:39b4d6e71f76 306 writeCommand4(2, 0x50002000);
junTMUG 1:39b4d6e71f76 307 Thread::wait(300);
shindo 0:134db3267830 308 writeCommand(2, 0xb8);
junTMUG 1:39b4d6e71f76 309 Thread::wait(200);
junTMUG 1:39b4d6e71f76 310 writeCommand4(2, 0x51000150);//---5---
junTMUG 1:39b4d6e71f76 311 Thread::wait(3000);
junTMUG 1:39b4d6e71f76 312 writeCommand4(2, 0x51000100);//---5---
junTMUG 1:39b4d6e71f76 313 Thread::wait(1500);
shindo 0:134db3267830 314
junTMUG 1:39b4d6e71f76 315 writeCommand4(2, 0x50002000);
junTMUG 1:39b4d6e71f76 316 Thread::wait(300);
shindo 0:134db3267830 317 writeCommand(2, 0xb8);
junTMUG 1:39b4d6e71f76 318 Thread::wait(200);
junTMUG 1:39b4d6e71f76 319 writeCommand4(2, 0x51000150);//---6---
junTMUG 1:39b4d6e71f76 320 Thread::wait(3000);
junTMUG 1:39b4d6e71f76 321 writeCommand4(2, 0x51000100);//---6---
junTMUG 1:39b4d6e71f76 322 Thread::wait(2500);
junTMUG 2:824d7df88ed9 323
junTMUG 2:824d7df88ed9 324 *(bool*)argument = true;
shindo 0:134db3267830 325 }
junTMUG 1:39b4d6e71f76 326
junTMUG 1:39b4d6e71f76 327 void type1_speed (void const *argument)
shindo 0:134db3267830 328 {
junTMUG 1:39b4d6e71f76 329 writeCommand4(1, 0x510004b0);
junTMUG 1:39b4d6e71f76 330 Thread::wait(1500);
junTMUG 1:39b4d6e71f76 331 writeCommand4(1, 0x510003e8);
junTMUG 1:39b4d6e71f76 332 Thread::wait(2000);
junTMUG 1:39b4d6e71f76 333 writeCommand4(1, 0x51000258);
junTMUG 1:39b4d6e71f76 334 Thread::wait(2500);
junTMUG 1:39b4d6e71f76 335 writeCommand4(1, 0x51000190);
junTMUG 1:39b4d6e71f76 336 Thread::wait(3000);
junTMUG 1:39b4d6e71f76 337 writeCommand4(1, 0x5100012c);
junTMUG 1:39b4d6e71f76 338 Thread::wait(3500);
junTMUG 1:39b4d6e71f76 339 writeCommand4(1, 0x510000fa);
junTMUG 1:39b4d6e71f76 340 Thread::wait(4500);
junTMUG 1:39b4d6e71f76 341 writeCommand4(1, 0x51000078);
junTMUG 1:39b4d6e71f76 342 Thread::wait(5200);
shindo 0:134db3267830 343 writeCommand(1, 0xb0);
junTMUG 2:824d7df88ed9 344
junTMUG 2:824d7df88ed9 345 *(bool*)argument = true;
shindo 0:134db3267830 346 }
shindo 0:134db3267830 347
shindo 0:134db3267830 348 int main()
shindo 0:134db3267830 349 {
shindo 0:134db3267830 350 initMotor();
shindo 0:134db3267830 351 MAXspeed_port_1_A();
shindo 0:134db3267830 352 Step_Startspeed_port_1_A();
shindo 0:134db3267830 353 Step_Stopspeed_port_1_A();
shindo 0:134db3267830 354
shindo 0:134db3267830 355 MAXspeed_port_2_A();
shindo 0:134db3267830 356 Step_Startspeed_port_2_A();
shindo 0:134db3267830 357 Step_Stopspeed_port_2_A();
shindo 0:134db3267830 358
shindo 0:134db3267830 359 writeCommand(2, 0x83);
shindo 0:134db3267830 360 writeCommand(1, 0x83);
shindo 0:134db3267830 361
shindo 0:134db3267830 362 int i = 0;
shindo 0:134db3267830 363 while(1) {
shindo 0:134db3267830 364 if (i == 0) {
junTMUG 1:39b4d6e71f76 365 startup1 ();
shindo 0:134db3267830 366 wait_ms(200);
junTMUG 1:39b4d6e71f76 367 startup2 ();
shindo 0:134db3267830 368 wait_ms(4000);
shindo 0:134db3267830 369 } else if (i == 1) {
shindo 0:134db3267830 370 power_up_p1_p2 ();
shindo 0:134db3267830 371 wait_ms(1000);
shindo 0:134db3267830 372 } else if (i == 2) {
shindo 0:134db3267830 373 CCW_port_1_A2();
shindo 0:134db3267830 374 CCW_port_2_A2();
shindo 0:134db3267830 375 wait_ms(1000);
shindo 0:134db3267830 376 } else if (i == 3) {
shindo 0:134db3267830 377 on ();
shindo 0:134db3267830 378 wait_ms(2000);
shindo 0:134db3267830 379 } else if (i == 4) {
shindo 0:134db3267830 380 reb1 ();
shindo 0:134db3267830 381 } else if (i == 5) {
junTMUG 2:824d7df88ed9 382 bool speed_done = false;
junTMUG 2:824d7df88ed9 383 bool tacho_done = false;
junTMUG 2:824d7df88ed9 384 Thread speed_thread(&type1_speed, &speed_done);
junTMUG 3:accb9e3920f9 385 Thread tacho_thread(&type1_tacho, &tacho_done);
junTMUG 2:824d7df88ed9 386 while (!speed_done || !tacho_done)
junTMUG 2:824d7df88ed9 387 wait_ms(10);
shindo 0:134db3267830 388 } else if (i == 6) {
junTMUG 1:39b4d6e71f76 389 writeCommand4(1, 0x5000012c);
shindo 0:134db3267830 390
junTMUG 1:39b4d6e71f76 391 writeCommand4(2, 0x50000300);
shindo 0:134db3267830 392 wait_ms(5000);
shindo 0:134db3267830 393 reb3 ();
shindo 0:134db3267830 394 reb3 ();
shindo 0:134db3267830 395 reb3 ();
shindo 0:134db3267830 396 reb3 ();
shindo 0:134db3267830 397 reb3 ();
shindo 0:134db3267830 398
junTMUG 1:39b4d6e71f76 399 writeCommand4(2, 0x50000300);
shindo 0:134db3267830 400 wait_ms(1800);
shindo 0:134db3267830 401 writeCommand(1, 0xb8);
shindo 0:134db3267830 402 writeCommand(2, 0xb8);
shindo 0:134db3267830 403 wait(10);
shindo 0:134db3267830 404
shindo 0:134db3267830 405 } else if (i == 8) {
shindo 0:134db3267830 406 CCW_port_1_A();
shindo 0:134db3267830 407 CCW_port_2_A();
shindo 0:134db3267830 408 wait_ms(5000);
shindo 0:134db3267830 409 i = -1;
shindo 0:134db3267830 410 }
shindo 0:134db3267830 411 wait_ms(200);
shindo 0:134db3267830 412
shindo 0:134db3267830 413 i++;
shindo 0:134db3267830 414 }
shindo 0:134db3267830 415 }
shindo 0:134db3267830 416
shindo 0:134db3267830 417
shindo 0:134db3267830 418
shindo 0:134db3267830 419
shindo 0:134db3267830 420