Alexandre Salconi-Denis
/
ProjetOctopode
Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.
CtrlBridge
- fonction quelquonque pour communiquer avec les module
- fonction quelquonque pour faire des recherche dans les module dispo
- autre fonction pour jouer avec MemRegistre
Version 1.2.0
- Ajout d'un mode de simulation pour tester le code avec seulement un contrôleur stm32
source/ComSpi.h@36:474d4795aafa, 2015-09-13 (annotated)
- Committer:
- salco
- Date:
- Sun Sep 13 06:56:09 2015 +0000
- Revision:
- 36:474d4795aafa
- Parent:
- 28:ac5c6350ed9a
Mise a jours du labyrinthe et augmentation du debogage graphique.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
salco | 36:474d4795aafa | 1 | /* |
salco | 36:474d4795aafa | 2 | * @file ComSpi.h |
salco | 2:4c5b0f6d0a6b | 3 | * @brief Cette classe est le modele des 3 taches de controle. |
salco | 2:4c5b0f6d0a6b | 4 | * @author Salco |
salco | 2:4c5b0f6d0a6b | 5 | * @version 2.00 |
salco | 2:4c5b0f6d0a6b | 6 | * @date 11 mars 2015 |
salco | 2:4c5b0f6d0a6b | 7 | */ |
salco | 2:4c5b0f6d0a6b | 8 | #ifndef COMSPI_H |
salco | 2:4c5b0f6d0a6b | 9 | #define COMSPI_H |
salco | 9:7295385f02b2 | 10 | |
salco | 15:91b3c572d9df | 11 | #define DEBUG_SEND 0 |
salco | 28:ac5c6350ed9a | 12 | #define DEBUG_COMPACT /*1*/0 |
salco | 28:ac5c6350ed9a | 13 | #define DEBUG_SLIM /*1*/0 |
salco | 15:91b3c572d9df | 14 | #define MAXTABLE 20 |
salco | 7:dcfd81d7f93f | 15 | |
salco | 7:dcfd81d7f93f | 16 | #include "mbed.h" |
salco | 15:91b3c572d9df | 17 | #include <stdio.h> |
salco | 15:91b3c572d9df | 18 | #include <stdlib.h> |
salco | 10:7e6aeaebe1a2 | 19 | #include <string> |
salco | 11:496453b45e25 | 20 | #include "debug.h" |
salco | 13:51bbdc349f20 | 21 | #include "CRC16.h" |
salco | 9:7295385f02b2 | 22 | #include "ComSpiDefine.h" |
salco | 15:91b3c572d9df | 23 | #include "OSNAPprotocoleDefine.h" |
salco | 7:dcfd81d7f93f | 24 | |
salco | 15:91b3c572d9df | 25 | |
salco | 15:91b3c572d9df | 26 | |
salco | 15:91b3c572d9df | 27 | |
salco | 15:91b3c572d9df | 28 | |
salco | 15:91b3c572d9df | 29 | |
salco | 15:91b3c572d9df | 30 | struct module_t{ |
salco | 15:91b3c572d9df | 31 | struct osnapModule_t basicInfo ; |
salco | 15:91b3c572d9df | 32 | unsigned char flagIN ;//ici l'utilisation de unsigned char au lieu de char* nous limite a la possibiliter de lire que le 1er byte dinfo, va faloire les modifier dans le future |
salco | 15:91b3c572d9df | 33 | unsigned char dataIN ; |
salco | 15:91b3c572d9df | 34 | unsigned char flagOUT ; |
salco | 15:91b3c572d9df | 35 | unsigned char dataOUT ; |
salco | 15:91b3c572d9df | 36 | struct module_t *next; |
salco | 15:91b3c572d9df | 37 | }; |
salco | 15:91b3c572d9df | 38 | |
salco | 15:91b3c572d9df | 39 | |
salco | 15:91b3c572d9df | 40 | |
salco | 15:91b3c572d9df | 41 | //////////////////////////////////////////////////////////// |
salco | 7:dcfd81d7f93f | 42 | class ComSpi : public SPI |
salco | 2:4c5b0f6d0a6b | 43 | { |
salco | 15:91b3c572d9df | 44 | |
salco | 15:91b3c572d9df | 45 | union{ |
salco | 15:91b3c572d9df | 46 | unsigned int getBytes; |
salco | 15:91b3c572d9df | 47 | struct |
salco | 15:91b3c572d9df | 48 | { |
salco | 15:91b3c572d9df | 49 | unsigned char syncReceive : 1; |
salco | 15:91b3c572d9df | 50 | unsigned char addrReceive : 1; |
salco | 15:91b3c572d9df | 51 | unsigned char optionReceive: 1; |
salco | 15:91b3c572d9df | 52 | unsigned char flagReceive : 1; |
salco | 15:91b3c572d9df | 53 | unsigned char dataReceive : 1; |
salco | 15:91b3c572d9df | 54 | unsigned char crcReceive : 1; |
salco | 15:91b3c572d9df | 55 | unsigned char finishFlag : 1; |
salco | 15:91b3c572d9df | 56 | unsigned char flagNeed : 1; |
salco | 15:91b3c572d9df | 57 | }; |
salco | 15:91b3c572d9df | 58 | }flagSPI; |
salco | 15:91b3c572d9df | 59 | |
salco | 15:91b3c572d9df | 60 | string sneekpeek; |
salco | 15:91b3c572d9df | 61 | |
salco | 7:dcfd81d7f93f | 62 | bool demuxIsUse; |
salco | 7:dcfd81d7f93f | 63 | char m_demuxPos; |
salco | 7:dcfd81d7f93f | 64 | PinName m_demuxA; |
salco | 7:dcfd81d7f93f | 65 | PinName m_demuxB; |
salco | 7:dcfd81d7f93f | 66 | PinName m_demuxC; |
salco | 7:dcfd81d7f93f | 67 | PinName m_demuxD; |
salco | 7:dcfd81d7f93f | 68 | PinName m_demuxEnable; |
salco | 7:dcfd81d7f93f | 69 | |
salco | 15:91b3c572d9df | 70 | struct module_t *chainedListFirst; |
salco | 15:91b3c572d9df | 71 | struct module_t *chainedListLast; |
salco | 15:91b3c572d9df | 72 | |
salco | 15:91b3c572d9df | 73 | //char result; // variable tempo qui emagasine le resultat, je crois que sa allege le process mais augmente la memoire |
salco | 15:91b3c572d9df | 74 | unsigned char bufferSend[MAXTABLE],bufferReceive[MAXTABLE]; |
salco | 15:91b3c572d9df | 75 | unsigned char counterData, counterTotale; |
salco | 15:91b3c572d9df | 76 | |
salco | 7:dcfd81d7f93f | 77 | void change_demux(void); |
salco | 7:dcfd81d7f93f | 78 | public: |
salco | 7:dcfd81d7f93f | 79 | ComSpi(PinName mosi, PinName miso, PinName sclk, PinName _unused=NC); |
salco | 7:dcfd81d7f93f | 80 | ComSpi(PinName mosi, PinName miso, PinName sclk, PinName demuxA, PinName demuxB, PinName demuxC, PinName demuxD, PinName demuxEnable); |
salco | 7:dcfd81d7f93f | 81 | virtual ~ComSpi(); |
salco | 7:dcfd81d7f93f | 82 | |
salco | 7:dcfd81d7f93f | 83 | |
salco | 9:7295385f02b2 | 84 | // renvois la position qu'il est rendu ( -1 == pas de demux ou problem) |
salco | 9:7295385f02b2 | 85 | char next_demux(void); |
salco | 9:7295385f02b2 | 86 | char back_demux(void); |
salco | 10:7e6aeaebe1a2 | 87 | char get_demux(void); |
salco | 7:dcfd81d7f93f | 88 | |
salco | 15:91b3c572d9df | 89 | //fonction ajouter du C |
salco | 15:91b3c572d9df | 90 | char initComSpi(void);// renvoi le premier char a metre dans le buffer SPI// ps: jaime pas trop le nom pt chercher une meilleur formulation |
salco | 15:91b3c572d9df | 91 | struct module_t* createModule(void); |
salco | 15:91b3c572d9df | 92 | char receiveSPI(char byte); //renvoi le prochain char a metre dans le buffer |
salco | 15:91b3c572d9df | 93 | struct module_t* searchAddr(unsigned char addresse); |
salco | 15:91b3c572d9df | 94 | char commIsfinish(void); |
salco | 15:91b3c572d9df | 95 | char completeCommSend(void); |
salco | 15:91b3c572d9df | 96 | ///// |
salco | 7:dcfd81d7f93f | 97 | |
salco | 7:dcfd81d7f93f | 98 | virtual int write(int value); |
salco | 14:ca1a9230ba7f | 99 | bool send(char portID,unsigned char adresseModule,string *flag,string *data); |
salco | 10:7e6aeaebe1a2 | 100 | /* bool send(char portID, char adresseModule,char *flag,char *data); |
salco | 7:dcfd81d7f93f | 101 | bool send(char portID, char adresseModule,int *flag,char *data); |
salco | 7:dcfd81d7f93f | 102 | bool send(char portID, char adresseModule,char *flag,int *data); |
salco | 10:7e6aeaebe1a2 | 103 | bool send(char portID, char adresseModule,int *flag,int *data);*/ |
salco | 2:4c5b0f6d0a6b | 104 | }; |
salco | 2:4c5b0f6d0a6b | 105 | #endif // COMSPI_H |