Mid level control code
Dependencies: ros_lib_kinetic
Diff: LLComms.h
- 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); };