int main(void) { SystemInit(); GPIO_ini(); TIM4_ini(); SPI_ini(); //Serial_ini(9600); SPI_Tx(0x20,0x67); SPI_Tx(0x24,0x48); while(1) { //Rx SPI data xH=SPI_Rx(0x29); xL=SPI_Rx(0x28); yH=SPI_Rx(0x2B); yL=SPI_Rx(0x2A); x= (xH << 8) + xL; y= (yH << 8) + yL; //use data if (x < 0) { TIM4->CCR1 = -x; TIM4->CCR3 = 0; } else { TIM4->CCR1 = 0; TIM4->CCR3 = x; } /* if (y < 0) { TIM4->CCR4 = -y; TIM4->CCR2 = 0; } else { TIM4->CCR4 = 0; TIM4->CCR2 = y; } */ } }
unsigned char SPI_Recv(void) { ChS; /* Chip Select */ SPI_Rx(); /* SPI Rx */ ChD; /* Chip Deselect */ return SPDR; /* Return Value */ }