Diff: Periphery/SupportSystem.h

Revision:

0:c871d5355b99

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Periphery/SupportSystem.h	Sun Feb 07 06:14:32 2016 +0000
@@ -0,0 +1,219 @@
+#ifndef SUPPORTSYSTEM_H_
+#define SUPPORTSYSTEM_H_
+
+#include <mbed.h>
+#include <I2C.h>
+
+/*
+ * Necessary for strcut sizes
+ */
+#pragma pack (1)
+
+
+/*
+ * Data container
+ */
+
+typedef struct {
+    uint8_t i2cDeviceAddress;
+    uint32_t uptimeMillis;
+} Main_MaintenanceRegisterDataBuffer_t;
+
+typedef struct {
+
+    uint8_t commandRegister;
+
+    int32_t sensorRawXRegister;
+    int32_t sensorRawYRegister;
+
+    float velocityXRegister;
+    float velocityXFilteredRegister;
+    float velocityAngularRegister;
+    float velocityAngularFilteredRegister;
+
+    float positionXRegister;
+    float positionYRegister;
+    float positionAngleRegister;
+
+    float conversionFactorRegister;
+
+    float sensorPositionXRegister;
+    float sensorPositionYRegister;
+    float sensorPositionAngleRegister;
+
+    int32_t curveRadiusRegister;
+
+    float distanceXRegister;
+
+    uint16_t squal;
+
+    uint16_t completeChecksum;
+//  uint16_t velocityChecksumRegister;
+//  uint16_t positionChecksumRegister;
+
+} IMU_RegisterDataBuffer_t;
+
+typedef struct {
+    uint8_t commands;
+} LightManager_RegisterDataBuffer_t;
+
+typedef struct {
+
+    uint8_t  channelValid[3];
+    uint16_t channelActiveTime[3];
+    int8_t   channelPercent[3];
+    uint16_t checksum;
+
+} RadioDecoder_RegisterDataBuffer_t;
+
+
+
+
+/*
+ * Support system - software register
+ */
+
+// Maintenance
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_MAINTENANCE_OFFSET                  0
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_MAINTENANCE_ADDRESS                 (SUPPORT_SYSTEM_REGISTER_ADDRESS_MAINTENANCE_OFFSET + 0)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_MAINTENANCE_UPTIME                  (SUPPORT_SYSTEM_REGISTER_ADDRESS_MAINTENANCE_OFFSET + 1)
+
+// IMU
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET                          sizeof(Main_MaintenanceRegisterDataBuffer_t)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_COMMAND                         (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 0)
+
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_SENSOR_RAW_X                    (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 1)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_SENSOR_RAW_Y                    (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 5)
+
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_VELOCITY_X                      (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 9)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_VELOCITY_X_FILTERED             (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 13)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_VELOCITY_ANGULAR                (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 17)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_VELOCITY_ANGULAR_FILTERED       (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 21)
+
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_POSITION_X                      (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 25)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_POSITION_Y                      (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 29)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_POSITION_ANGLE                  (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 33)
+
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_CONVERSION_FACTOR               (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 37)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_SENSOR_POSITION_X               (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 41)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_SENSOR_POSITION_Y               (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 45)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_SENSOR_POSITION_ANGLE           (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 49)
+
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_CURVE_RADIUS                    (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 53)
+
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_DISTANCE_X                      (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 57)
+
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_SQUAL                           (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 61)
+
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_COMPLETE_CHECKSUM               (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 63)
+
+//#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_VELOCITY_CHECKSUM             (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 63)
+//#define SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_POSITION_CHECKSUM             (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + 65)
+
+// Light manager
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_LIGHTMANAGER_OFFSET                 (SUPPORT_SYSTEM_REGISTER_ADDRESS_IMU_OFFSET + sizeof(IMU_RegisterDataBuffer_t))
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_LIGHTMANAGER_COMMAND                (SUPPORT_SYSTEM_REGISTER_ADDRESS_LIGHTMANAGER_OFFSET + 0)
+
+// Radio decoder
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_OFFSET                     (SUPPORT_SYSTEM_REGISTER_ADDRESS_LIGHTMANAGER_OFFSET + sizeof(LightManager_RegisterDataBuffer_t))
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_CHANNEL_ONE_VALID          (SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_OFFSET + 0)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_CHANNEL_TWO_VALID          (SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_OFFSET + 1)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_CHANNEL_THREE_VALID        (SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_OFFSET + 2)
+
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_CHANNEL_ONE_ACTIVE_TIME    (SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_OFFSET + 3)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_CHANNEL_TWO_ACTIVE_TIME    (SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_OFFSET + 5)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_CHANNEL_THREE_ACTIVE_TIME  (SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_OFFSET + 7)
+
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_CHANNEL_ONE_PERCENTAGE     (SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_OFFSET + 9)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_CHANNEL_TWO_PERCENTAGE     (SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_OFFSET + 10)
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_CHANNEL_THREE_PERCENTAGE   (SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_OFFSET + 11)
+
+#define SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_CHECKSUM                   (SUPPORT_SYSTEM_REGISTER_ADDRESS_RADIODECODER_OFFSET + 12)
+
+
+
+/*
+ * LightManager
+ */
+#define SUPPORT_SYSTEM_LIGHTMANAGER_BIT_REMOTE_LIGHT    0
+#define SUPPORT_SYSTEM_LIGHTMANAGER_BIT_SIGNAL_LEFT     1
+#define SUPPORT_SYSTEM_LIGHTMANAGER_BIT_SIGNAL_RIGHT    2
+#define SUPPORT_SYSTEM_LIGHTMANAGER_BIT_SIGNAL_BOTH     3
+#define SUPPORT_SYSTEM_LIGHTMANAGER_BIT_BRAKE_LIGHT     4
+
+
+class SupportSystem{
+
+
+private:
+
+    uint8_t i2cAddress;
+    I2C *i2c;
+    uint32_t transmissionErrorCount;
+
+    uint16_t crc16_update(uint16_t crc, uint8_t a);
+    uint16_t generateChecksum(void *data, size_t len);
+
+    /*
+     * IMU
+     */
+    uint8_t imuCommand;
+    IMU_RegisterDataBuffer_t IMU_registerDataBuffer;
+
+    /*
+     * LightManager
+     */
+    uint8_t lightManagerCommand;
+    void setLightManagerCommandBit(bool value, uint8_t bit);
+
+    /*
+     * RadioDecoder
+     */
+    RadioDecoder_RegisterDataBuffer_t RadioDecoder_registerDataBuffer;
+
+public:
+
+    SupportSystem();
+    SupportSystem(uint8_t i2cAddress, I2C *i2c);
+
+    void init(uint8_t i2cAddress, I2C *i2c);
+
+    void readData(uint8_t registerAddress, void *buffer, size_t length);
+    void writeData(uint8_t registerAddress, void *buffer, size_t length);
+
+    uint32_t getTransmissionErrorCount();
+
+    /*
+     * Maintenance
+     */
+    uint32_t readMaintenanceUptimeMillis();
+
+
+    /*
+     * IMU
+     */
+    IMU_RegisterDataBuffer_t *getImuRegisterDataBuffer();
+    void writeImuConfig(float *config_register, size_t length=4);
+
+
+
+    /*
+     * LightManager
+     */
+    void writeLightManagerCommand();
+    void setLightManagerBrakeLight(bool active, bool writeOut=true);
+    void setLightManagerRemoteLight(bool active, bool writeOut=true);
+    void setLightManagerSignalLeft(bool active, bool writeOut=true);
+    void setLightManagerSignalRight(bool active, bool writeOut=true);
+    void setLightManagerSignalBoth(bool active, bool writeOut=true);
+
+    /*
+     * RadioDecoder
+     */
+    RadioDecoder_RegisterDataBuffer_t *getRadioDecoderRegisterDataBuffer();
+
+};
+
+
+
+#endif /* SUPPORTSYSTEM_H_ */