MorphGI / Mbed OS LoCoMoTE_MidLevel_7-0

Mid level control code

Dependencies:   ros_lib_kinetic

LLComms.cpp@29:10a5cf37a875, 2019-02-08 (annotated)

Committer:
WD40andTape
Date:
Fri Feb 08 18:36:15 2019 +0000
Revision:
29:10a5cf37a875
Parent:
27:6853ee8ffefd
Child:
33:9877ca32e43c
Actuator numbering standardised. Units converted to mm. Added text message feedback. Using Int16MultiArray instead of Float32MultiArray.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WD40andTape 8:d6657767a182 1 // LLComms.cpp
WD40andTape 8:d6657767a182 2
WD40andTape 8:d6657767a182 3 #include "LLComms.h"
WD40andTape 8:d6657767a182 4
dofydoink 12:595ed862e52f 5 LLComms::LLComms() :
WD40andTape 13:a373dfc57b89 6 queue(32 * EVENTS_EVENT_SIZE), //32 //8 * EVENTS_EVENT_SIZE
WD40andTape 8:d6657767a182 7 pinGate6(PE_11),
WD40andTape 14:54c3759e76ed 8 spi_0(PC_12, PC_11, PC_10),
WD40andTape 14:54c3759e76ed 9 spi_1(PF_9, PF_8, PF_7),
WD40andTape 8:d6657767a182 10 pinCheck(PE_5),
WD40andTape 8:d6657767a182 11 // These interrupt pins have to be declared AFTER SPI declaration. No Clue Why.
WD40andTape 8:d6657767a182 12 pinGate0(PF_11),
WD40andTape 8:d6657767a182 13 pinGate1(PG_14),
WD40andTape 8:d6657767a182 14 pinGate2(PF_15),
WD40andTape 8:d6657767a182 15 pinGate3(PF_12),
WD40andTape 8:d6657767a182 16 pinGate4(PF_3),
WD40andTape 8:d6657767a182 17 pinGate5(PF_13),
WD40andTape 8:d6657767a182 18 //pinGate6(PE_11), // See above nonsense
WD40andTape 8:d6657767a182 19 pinGate7(PE_13),
dofydoink 12:595ed862e52f 20 pinReset(PD_2)
WD40andTape 8:d6657767a182 21 { // Constructor
WD40andTape 8:d6657767a182 22
WD40andTape 24:bc852aa89e7a 23 spi_0.format(16,2);
WD40andTape 24:bc852aa89e7a 24 spi_0.frequency(LOW_LEVEL_SPI_FREQUENCY);
WD40andTape 24:bc852aa89e7a 25 spi_1.format(16,2);
WD40andTape 24:bc852aa89e7a 26 spi_1.frequency(LOW_LEVEL_SPI_FREQUENCY);
WD40andTape 24:bc852aa89e7a 27
dofydoink 12:595ed862e52f 28 PinName LLPins[8] = {PD_15, PE_10, PD_11, PD_14, PE_7, PD_12, PF_10, PD_13};
dofydoink 12:595ed862e52f 29 //PinName LLPins[8] = {PD_15, PE_10, PD_14, PD_11, PE_7, PD_12, PF_10, PD_13};
WD40andTape 8:d6657767a182 30 PinName ADCPins[8] = {PG_12, PG_9, PE_1, PG_0, PD_0, PD_1, PF_0, PF_1};
WD40andTape 8:d6657767a182 31 for (short int i = 0; i < 8; i++) {
WD40andTape 10:1b6daba32452 32 isDataReady[i] = 0;
WD40andTape 8:d6657767a182 33 cs_LL[i] = new DigitalOut(LLPins[i]);
WD40andTape 8:d6657767a182 34 cs_ADC[i] = new DigitalOut(ADCPins[i]);
WD40andTape 8:d6657767a182 35 }
WD40andTape 10:1b6daba32452 36
WD40andTape 9:cd3607ba5643 37 // Initialise relevant variables
dofydoink 11:7029367a1840 38 for(short int i = 0; i<N_CHANNELS; i++) {
WD40andTape 9:cd3607ba5643 39 // All chip selects in off state
WD40andTape 9:cd3607ba5643 40 *cs_LL[i] = 1;
WD40andTape 9:cd3607ba5643 41 *cs_ADC[i] = 1;
WD40andTape 26:7c59002c9cd7 42 // Initialise pressures/positions
WD40andTape 29:10a5cf37a875 43 pressureSensor_uint[i] = 0.0;
WD40andTape 26:7c59002c9cd7 44 pressureSensor_bar[i] = -1.0;
WD40andTape 29:10a5cf37a875 45 positionSensor_uint[i] = 0.0;
WD40andTape 26:7c59002c9cd7 46 positionSensor_mm[i] = -1.0;
WD40andTape 9:cd3607ba5643 47 }
WD40andTape 9:cd3607ba5643 48 pinReset = 1; // Initialise reset pin to not reset the controllers.
WD40andTape 9:cd3607ba5643 49 wait(0.25);
WD40andTape 9:cd3607ba5643 50 pinReset=0; // Reset controllers to be safe
WD40andTape 9:cd3607ba5643 51 wait(0.25);
WD40andTape 9:cd3607ba5643 52 pinReset = 1; // Ready to go
WD40andTape 10:1b6daba32452 53
WD40andTape 10:1b6daba32452 54 // Set up rise interrupts MIGHT NOT NEED TO BE POINTERS
dofydoink 12:595ed862e52f 55 pinGate0.rise(callback(this,&LLComms::rise0));
dofydoink 12:595ed862e52f 56 pinGate1.rise(callback(this,&LLComms::rise1));
dofydoink 12:595ed862e52f 57 pinGate2.rise(callback(this,&LLComms::rise2));
dofydoink 12:595ed862e52f 58 pinGate3.rise(callback(this,&LLComms::rise3));
dofydoink 12:595ed862e52f 59 pinGate4.rise(callback(this,&LLComms::rise4));
dofydoink 12:595ed862e52f 60 pinGate5.rise(callback(this,&LLComms::rise5));
dofydoink 12:595ed862e52f 61 pinGate6.rise(callback(this,&LLComms::rise6));
dofydoink 12:595ed862e52f 62 pinGate7.rise(callback(this,&LLComms::rise7));
WD40andTape 10:1b6daba32452 63 // Set up fall interrupts MIGHT NOT NEED TO BE POINTERS
dofydoink 12:595ed862e52f 64 pinGate0.fall(callback(this,&LLComms::fall0));
dofydoink 12:595ed862e52f 65 pinGate1.fall(callback(this,&LLComms::fall1));
dofydoink 12:595ed862e52f 66 pinGate2.fall(callback(this,&LLComms::fall2));
dofydoink 12:595ed862e52f 67 pinGate3.fall(callback(this,&LLComms::fall3));
dofydoink 12:595ed862e52f 68 pinGate4.fall(callback(this,&LLComms::fall4));
dofydoink 12:595ed862e52f 69 pinGate5.fall(callback(this,&LLComms::fall5));
dofydoink 12:595ed862e52f 70 pinGate6.fall(callback(this,&LLComms::fall6));
dofydoink 12:595ed862e52f 71 pinGate7.fall(callback(this,&LLComms::fall7));
WD40andTape 9:cd3607ba5643 72 }
WD40andTape 9:cd3607ba5643 73
dofydoink 11:7029367a1840 74 //LLComms::~LLComms(void) { } // Destructor
WD40andTape 26:7c59002c9cd7 75 unsigned int LLComms::formatMessage(short int type, double dblValue, double dblMaxValue) {
WD40andTape 24:bc852aa89e7a 76 // Convert to a 9-bit number
WD40andTape 24:bc852aa89e7a 77 int intValue = (int) ((dblValue/dblMaxValue)*511);
WD40andTape 24:bc852aa89e7a 78 intValue = intValue & 0x1FF; // Ensure number is 9-bit
WD40andTape 24:bc852aa89e7a 79 // Initialize message with value
WD40andTape 24:bc852aa89e7a 80 unsigned int intMsg = intValue;
WD40andTape 24:bc852aa89e7a 81 // Calculate checksum (the decimal sum of the position data)
WD40andTape 24:bc852aa89e7a 82 int intCheckSum = 0, intTempVar = intValue;
WD40andTape 26:7c59002c9cd7 83 while( intTempVar>0 ) {
WD40andTape 24:bc852aa89e7a 84 intCheckSum += intTempVar%10;
WD40andTape 25:88e6cccde856 85 intTempVar = floor(intTempVar/10.0);
WD40andTape 24:bc852aa89e7a 86 }
WD40andTape 24:bc852aa89e7a 87 // Add checksum to message
WD40andTape 24:bc852aa89e7a 88 intMsg = intMsg<<5;
WD40andTape 24:bc852aa89e7a 89 intMsg = intMsg | intCheckSum;
WD40andTape 24:bc852aa89e7a 90 // Add type bit (0 == position, 1 == velocity)
WD40andTape 24:bc852aa89e7a 91 intMsg = intMsg<<1;
WD40andTape 26:7c59002c9cd7 92 intMsg = intMsg | (int)type; // CAST AS BOOL
WD40andTape 24:bc852aa89e7a 93 // Calculate decimal parity check for the whole message
WD40andTape 24:bc852aa89e7a 94 unsigned int count = 0, b = 1;
WD40andTape 24:bc852aa89e7a 95 for(short int i=0; i<32; i++) {
WD40andTape 24:bc852aa89e7a 96 if( intMsg & (b << i) ) count++;
WD40andTape 24:bc852aa89e7a 97 }
WD40andTape 24:bc852aa89e7a 98 // Add parity bit to message (0 == Odd, 1 == Even)
WD40andTape 27:6853ee8ffefd 99 // Parity selected in this way to prevent 0x0000 from passing checks
WD40andTape 24:bc852aa89e7a 100 bool boolParity = !(bool)(count%2);
WD40andTape 24:bc852aa89e7a 101 intMsg = intMsg<<1;
WD40andTape 24:bc852aa89e7a 102 intMsg = intMsg | (int)boolParity;
WD40andTape 26:7c59002c9cd7 103 return intMsg;
WD40andTape 26:7c59002c9cd7 104 }
WD40andTape 26:7c59002c9cd7 105
WD40andTape 26:7c59002c9cd7 106 bool LLComms::CheckMessage(int msg) {
WD40andTape 26:7c59002c9cd7 107 // Find message parity
WD40andTape 26:7c59002c9cd7 108 short int count = 0;
WD40andTape 26:7c59002c9cd7 109 for(short int i=0; i<32; i++) {
WD40andTape 26:7c59002c9cd7 110 if( msg>>1 & (1<<i) ) count++;
WD40andTape 26:7c59002c9cd7 111 }
WD40andTape 26:7c59002c9cd7 112 int intParity = !(count%2);
WD40andTape 26:7c59002c9cd7 113 // Find message CheckSum
WD40andTape 26:7c59002c9cd7 114 int intChkSum = 0;
WD40andTape 26:7c59002c9cd7 115 int intTempVar = msg>>7;
WD40andTape 26:7c59002c9cd7 116 while(intTempVar > 0) {
WD40andTape 26:7c59002c9cd7 117 intChkSum += intTempVar%10;
WD40andTape 26:7c59002c9cd7 118 intTempVar = int(intTempVar/10);
WD40andTape 26:7c59002c9cd7 119 }
WD40andTape 26:7c59002c9cd7 120 // Check if parity and CheckSum match
WD40andTape 26:7c59002c9cd7 121 bool isParityCorrect = (intParity == (msg&0x1));
WD40andTape 26:7c59002c9cd7 122 bool isChkSumCorrect = (intChkSum == ((msg>>2)&0x1F));
WD40andTape 26:7c59002c9cd7 123 bool isCheckPassed = (isParityCorrect && isChkSumCorrect);
WD40andTape 26:7c59002c9cd7 124 return isCheckPassed;
WD40andTape 26:7c59002c9cd7 125 }
WD40andTape 26:7c59002c9cd7 126
WD40andTape 26:7c59002c9cd7 127 bool LLComms::PerformMasterSPI(SPI *spi, unsigned int outboundMsgs[], unsigned int inboundMsgsData[]) {
WD40andTape 26:7c59002c9cd7 128 unsigned int dummyMsg = 0x5555;
WD40andTape 26:7c59002c9cd7 129 bool isSuccess = true;
WD40andTape 26:7c59002c9cd7 130 unsigned int inboundMsg, typeBit;
WD40andTape 27:6853ee8ffefd 131 AnalogIn ain(PA_4); // Random analogue pin
WD40andTape 26:7c59002c9cd7 132 for(short int i=0; i<3; i++) { // Loop 3 times for 3 SPI messages
WD40andTape 27:6853ee8ffefd 133 ain.read_u16(); // Read analogue pin to cause a delay
WD40andTape 27:6853ee8ffefd 134 ain.read_u16();
WD40andTape 26:7c59002c9cd7 135 if(i==0) {
WD40andTape 26:7c59002c9cd7 136 inboundMsg = spi->write(outboundMsgs[0]);
WD40andTape 26:7c59002c9cd7 137 } else if(i==1) {
WD40andTape 26:7c59002c9cd7 138 inboundMsg = spi->write(outboundMsgs[1]);
WD40andTape 26:7c59002c9cd7 139 } else {
WD40andTape 26:7c59002c9cd7 140 inboundMsg = spi->write(dummyMsg);
WD40andTape 26:7c59002c9cd7 141 }
WD40andTape 26:7c59002c9cd7 142 if((unsigned int)inboundMsg != dummyMsg) { // Message is not dummy which is only used for reply
WD40andTape 26:7c59002c9cd7 143 typeBit = inboundMsg>>1 & 0x1;
WD40andTape 26:7c59002c9cd7 144 inboundMsgsData[typeBit] = inboundMsg>>7 & 0x1FF;
WD40andTape 26:7c59002c9cd7 145 if( !CheckMessage(inboundMsg) ) {
WD40andTape 26:7c59002c9cd7 146 isSuccess = false;
WD40andTape 26:7c59002c9cd7 147 }
WD40andTape 26:7c59002c9cd7 148 }
WD40andTape 26:7c59002c9cd7 149 }
WD40andTape 26:7c59002c9cd7 150 return isSuccess;
WD40andTape 24:bc852aa89e7a 151 }
WD40andTape 24:bc852aa89e7a 152
WD40andTape 10:1b6daba32452 153 void LLComms::SendReceiveData(int channel) {
WD40andTape 24:bc852aa89e7a 154 mutChannel[channel].lock(); // Lock mutex for specific Channel
WD40andTape 24:bc852aa89e7a 155
WD40andTape 24:bc852aa89e7a 156 // Construct messages
WD40andTape 26:7c59002c9cd7 157 unsigned int intPositionMsg = formatMessage(0,demandPosition_mm[channel],MAX_ACTUATOR_LIMIT_MM);
WD40andTape 26:7c59002c9cd7 158 unsigned int intVelocityMsg = formatMessage(1,demandSpeed_mmps[channel],MAX_SPEED_MMPS);
WD40andTape 26:7c59002c9cd7 159
WD40andTape 26:7c59002c9cd7 160 *cs_LL[channel] = 0; // Select relevant chip
WD40andTape 26:7c59002c9cd7 161 unsigned int outboundMsgs[2] = { intPositionMsg , intVelocityMsg };
WD40andTape 27:6853ee8ffefd 162 unsigned int inboundMsgsData[2] = { 0 };
WD40andTape 26:7c59002c9cd7 163 bool isSPIsuccess = false;
WD40andTape 26:7c59002c9cd7 164 if( channel < 4 ) {
WD40andTape 26:7c59002c9cd7 165 isSPIsuccess = PerformMasterSPI(&spi_0,outboundMsgs,inboundMsgsData);
WD40andTape 26:7c59002c9cd7 166 } else {
WD40andTape 26:7c59002c9cd7 167 isSPIsuccess = PerformMasterSPI(&spi_1,outboundMsgs,inboundMsgsData);
WD40andTape 26:7c59002c9cd7 168 }
WD40andTape 26:7c59002c9cd7 169 *cs_LL[channel] = 1; // Deselect chip
WD40andTape 26:7c59002c9cd7 170 if( isSPIsuccess ) {
WD40andTape 26:7c59002c9cd7 171 isDataReady[channel] = 0; // Data no longer ready, i.e. we now require new data
WD40andTape 29:10a5cf37a875 172 positionSensor_uint[channel] = inboundMsgsData[0];
WD40andTape 27:6853ee8ffefd 173 positionSensor_mm[channel] = ((double)inboundMsgsData[0]/511) * (double)MAX_ACTUATOR_LENGTH_MM;
WD40andTape 27:6853ee8ffefd 174 positionSensor_mm[channel] = min( max(positionSensor_mm[channel],0.0) , (double)MAX_ACTUATOR_LENGTH_MM );
WD40andTape 29:10a5cf37a875 175 pressureSensor_uint[channel] = inboundMsgsData[1];
WD40andTape 27:6853ee8ffefd 176 pressureSensor_bar[channel] = ((double)inboundMsgsData[1]/511) * (double)MAX_PRESSURE_LIMIT;
WD40andTape 27:6853ee8ffefd 177 pressureSensor_bar[channel] = min( max(pressureSensor_bar[channel],0.0) , (double)MAX_PRESSURE_LIMIT );
WD40andTape 26:7c59002c9cd7 178 } else { // Data is STILL ready and will be resent at the next pin interrupt
WD40andTape 26:7c59002c9cd7 179 //printf("SPI failed: %d%d. Resending.\n\r",isPositionValid,isPressureValid);
WD40andTape 26:7c59002c9cd7 180 }
WD40andTape 26:7c59002c9cd7 181
WD40andTape 26:7c59002c9cd7 182 mutChannel[channel].unlock();//unlock mutex for specific channel
WD40andTape 26:7c59002c9cd7 183 }
WD40andTape 26:7c59002c9cd7 184
WD40andTape 10:1b6daba32452 185 // Common rise handler function
WD40andTape 10:1b6daba32452 186 void LLComms::common_rise_handler(int channel) {
WD40andTape 10:1b6daba32452 187 pinCheck = 1;
WD40andTape 26:7c59002c9cd7 188 //printf("%d %d common_rise_handler\n\r",channel,isDataReady[channel]);
WD40andTape 26:7c59002c9cd7 189 if (isDataReady[channel]) { // Check if data is ready for transmission
WD40andTape 10:1b6daba32452 190 ThreadID[channel] = queue.call(this,&LLComms::SendReceiveData,channel); // Schedule transmission
WD40andTape 10:1b6daba32452 191 }
WD40andTape 10:1b6daba32452 192 }
WD40andTape 10:1b6daba32452 193
WD40andTape 10:1b6daba32452 194 // Common fall handler functions
WD40andTape 10:1b6daba32452 195 void LLComms::common_fall_handler(int channel) {
WD40andTape 10:1b6daba32452 196 pinCheck = 0;
WD40andTape 10:1b6daba32452 197 queue.cancel(ThreadID[channel]); // Cancel relevant queued event
WD40andTape 10:1b6daba32452 198 }
WD40andTape 10:1b6daba32452 199
WD40andTape 10:1b6daba32452 200 // Stub rise functions
WD40andTape 10:1b6daba32452 201 void LLComms::rise0(void) { common_rise_handler(0); }
WD40andTape 10:1b6daba32452 202 void LLComms::rise1(void) { common_rise_handler(1); }
WD40andTape 10:1b6daba32452 203 void LLComms::rise2(void) { common_rise_handler(2); }
WD40andTape 10:1b6daba32452 204 void LLComms::rise3(void) { common_rise_handler(3); }
WD40andTape 10:1b6daba32452 205 void LLComms::rise4(void) { common_rise_handler(4); }
WD40andTape 10:1b6daba32452 206 void LLComms::rise5(void) { common_rise_handler(5); }
WD40andTape 10:1b6daba32452 207 void LLComms::rise6(void) { common_rise_handler(6); }
WD40andTape 10:1b6daba32452 208 void LLComms::rise7(void) { common_rise_handler(7); }
WD40andTape 10:1b6daba32452 209 // Stub fall functions
WD40andTape 10:1b6daba32452 210 void LLComms::fall0(void) { common_fall_handler(0); }
WD40andTape 10:1b6daba32452 211 void LLComms::fall1(void) { common_fall_handler(1); }
WD40andTape 10:1b6daba32452 212 void LLComms::fall2(void) { common_fall_handler(2); }
WD40andTape 10:1b6daba32452 213 void LLComms::fall3(void) { common_fall_handler(3); }
WD40andTape 10:1b6daba32452 214 void LLComms::fall4(void) { common_fall_handler(4); }
WD40andTape 10:1b6daba32452 215 void LLComms::fall5(void) { common_fall_handler(5); }
WD40andTape 10:1b6daba32452 216 void LLComms::fall6(void) { common_fall_handler(6); }
WD40andTape 25:88e6cccde856 217 void LLComms::fall7(void) { common_fall_handler(7); }