File content as of revision 42:5a5ad23a4bb1:

// LLComms.h

#ifndef LLCOMMS_H
#define LLCOMMS_H

// STANDARD IMPORTS
#include "math.h"
#include <algorithm>
// MBED IMPORTS
#include "mbed.h"
#include "mbed_events.h"
// CUSTOM IMPORTS
#include "MLSettings.h"

// ADC SPI DEFINES
#define PREAMBLE 0x06
#define CHAN_1 0x30
#define CHAN_2 0x70
#define CHAN_3 0xB0
#define CHAN_4 0xF0
#define DATA_MASK 0x0F

class LLComms
{
        
    public:
        
        EventQueue queue;
        Mutex mutChannel[N_CHANNELS];
        bool isDataReady[N_CHANNELS]; // Flag to indicate path data is ready for transmission to low level.
        double demandPosition_mm[N_CHANNELS];
        double demandSpeed_mmps[N_CHANNELS];
        char chrErrorFlag[N_CHANNELS]; // 3 error bits from LL
        unsigned int positionSensor_uint[N_CHANNELS];
        double positionSensor_mm[N_CHANNELS]; // The actual chamber lengths in meters given as the change in length relative to neutral (should always be >=0)
        unsigned int pressureSensor_uint[N_CHANNELS];
        double pressureSensor_bar[N_CHANNELS];  // The pressure in a given chamber in bar (1 bar  = 100,000 Pa)
        unsigned int formatMessage(short int type, double dblValue, double dblMaxValue);
        //bool CheckMessage(int msg, short int trueType);
        bool CheckMessage(int msg);
        bool PerformMasterSPI(SPI *spi, unsigned int outboundMsgs[], unsigned int inboundMsgsData[]);
        void SendReceiveData(int channel);
        int countervar;     
        
        LLComms(); // Constructor
        //~LLComms(); // Destructor
    
    private:
    
        // PIN DECLARATIONS     
        SPI spi_0; // mosi, miso, sclk
        //SPI spi_1; // mosi, miso, sclk
        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.
        InterruptIn pinGate0;
        InterruptIn pinGate1;
        InterruptIn pinGate2;
        //InterruptIn pinGate3;
        DigitalInOut pinReset; // Reset pin for all controllers.
        
        int ThreadID[N_CHANNELS];
        
        
        void common_rise_handler(int channel);
        void common_fall_handler(int channel);
        void rise0(void);
        void rise1(void);
        void rise2(void);
        //void rise3(void);
        void fall0(void);
        void fall1(void);
        void fall2(void);
        //void fall3(void);

};

#endif