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;
}
*/
}
}
void SPI_Send(unsigned char c)
{
ChS; /* Chip Select */
SPI_Tx(c); /* Send Byte */
ChD; /* Chip Deselect */
}