Mid level control code

Dependencies:   ros_lib_kinetic

Revision:
36:4459be8296e9
Parent:
34:54e9ebe9e87f
Child:
37:37da606f4466
--- a/LLComms.h	Mon Apr 15 15:12:51 2019 +0000
+++ b/LLComms.h	Tue Jul 09 18:46:44 2019 +0000
@@ -45,6 +45,7 @@
         InterruptIn pinGate6; // This pin HAS TO BE defined before SPI set up. No Clue Why.
         SPI spi_0; // mosi, miso, sclk
         SPI spi_1;
+        SPI spi_2;
         DigitalOut* cs_LL[N_CHANNELS]; // Chip select for low level controller
         //DigitalOut* cs_ADC[N_CHANNELS]; // Chip select for ADC
         // These interrupt pins have to be declared AFTER SPI declaration. No Clue Why.
@@ -55,7 +56,10 @@
         InterruptIn pinGate4;
         InterruptIn pinGate5;
         InterruptIn pinGate7;
+        InterruptIn pinGate8;
         DigitalOut pinReset; // Reset pin for all controllers.
+        DigitalOut chrp;
+        DigitalOut chrp1;
         
         int ThreadID[N_CHANNELS];
         
@@ -74,6 +78,7 @@
         void rise5(void);
         void rise6(void);
         void rise7(void);
+        void rise8(void);
         void fall0(void);
         void fall1(void);
         void fall2(void);
@@ -82,6 +87,7 @@
         void fall5(void);
         void fall6(void);
         void fall7(void);
+        void fall8(void);
 
 };