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/CtrlBridge.cpp@16:5ea4337d785f, 2015-04-23 (annotated)
- Committer:
- salco
- Date:
- Thu Apr 23 00:53:11 2015 +0000
- Revision:
- 16:5ea4337d785f
- Parent:
- 15:91b3c572d9df
- Child:
- 17:095f670f9c14
toute a foirer faut faire un role back;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
salco | 8:e017e3d527d7 | 1 | |
salco | 8:e017e3d527d7 | 2 | #include "CtrlBridge.h" |
salco | 8:e017e3d527d7 | 3 | |
salco | 8:e017e3d527d7 | 4 | CtrlBridge *CtrlBridge::uniqueInstance; |
salco | 8:e017e3d527d7 | 5 | |
salco | 8:e017e3d527d7 | 6 | /** |
salco | 8:e017e3d527d7 | 7 | * @brief Constructeur priver appler par la fonction getInstance() |
salco | 8:e017e3d527d7 | 8 | */ |
salco | 9:7295385f02b2 | 9 | CtrlBridge::CtrlBridge() |
salco | 11:496453b45e25 | 10 | : m_Memory(), ssc32(PA_9, PA_10), |
salco | 9:7295385f02b2 | 11 | spiLowSpeed (SPI_LOW_MOSI, SPI_LOW_MISO, SPI_LOW_SCK, SPI_LOW_DEMUXA, SPI_LOW_DEMUXB, SPI_LOW_DEMUXC, SPI_LOW_DEMUXD, SPI_LOW_CS), |
salco | 11:496453b45e25 | 12 | spiHighSpeed(SPI_HIGH_MOSI, SPI_HIGH_MISO, SPI_HIGH_SCK, SPI_HIGH_DEMUXA, SPI_HIGH_DEMUXB, SPI_HIGH_DEMUXC, SPI_HIGH_DEMUXD, SPI_HIGH_CS), |
salco | 11:496453b45e25 | 13 | pc(SERIAL_TX, SERIAL_RX) |
salco | 8:e017e3d527d7 | 14 | { |
salco | 9:7295385f02b2 | 15 | //faire en sorte d'init SPI speed ici |
salco | 9:7295385f02b2 | 16 | m_regPortUse=0; |
salco | 9:7295385f02b2 | 17 | m_regPortLost=0; |
salco | 15:91b3c572d9df | 18 | spiLowSpeed.format(8,0); |
salco | 15:91b3c572d9df | 19 | spiLowSpeed.frequency(10000); |
salco | 8:e017e3d527d7 | 20 | } |
salco | 8:e017e3d527d7 | 21 | |
salco | 8:e017e3d527d7 | 22 | CtrlBridge::~CtrlBridge() |
salco | 8:e017e3d527d7 | 23 | { |
salco | 9:7295385f02b2 | 24 | } |
salco | 9:7295385f02b2 | 25 | |
salco | 8:e017e3d527d7 | 26 | /** |
salco | 8:e017e3d527d7 | 27 | * @brief Methode permetant une seul instance de la classe |
salco | 8:e017e3d527d7 | 28 | * @return Retourne l'unique instance de la classe |
salco | 8:e017e3d527d7 | 29 | */ |
salco | 8:e017e3d527d7 | 30 | CtrlBridge *CtrlBridge::getInstance() |
salco | 8:e017e3d527d7 | 31 | { |
salco | 9:7295385f02b2 | 32 | if(!uniqueInstance) { |
salco | 8:e017e3d527d7 | 33 | uniqueInstance = new CtrlBridge(); |
salco | 8:e017e3d527d7 | 34 | } |
salco | 8:e017e3d527d7 | 35 | return uniqueInstance; |
salco | 8:e017e3d527d7 | 36 | } |
salco | 8:e017e3d527d7 | 37 | |
salco | 8:e017e3d527d7 | 38 | bool CtrlBridge::initCom(void) |
salco | 8:e017e3d527d7 | 39 | { |
salco | 9:7295385f02b2 | 40 | //char positionInitial; |
salco | 9:7295385f02b2 | 41 | bool portUse; |
salco | 14:ca1a9230ba7f | 42 | unsigned char adresse; |
salco | 10:7e6aeaebe1a2 | 43 | string flag; |
salco | 10:7e6aeaebe1a2 | 44 | string data; |
salco | 10:7e6aeaebe1a2 | 45 | Module* templateModule ; |
salco | 10:7e6aeaebe1a2 | 46 | templateModule= new Module; |
salco | 14:ca1a9230ba7f | 47 | |
salco | 14:ca1a9230ba7f | 48 | debug(DEBUG_INITMODULE, "\n\rInit::debut"); |
salco | 11:496453b45e25 | 49 | //flag.clear(); |
salco | 11:496453b45e25 | 50 | //flag.append(1,Request_Init_Info); |
salco | 9:7295385f02b2 | 51 | //positionInitial = spiLowSpeed.next_demux(); |
salco | 9:7295385f02b2 | 52 | for(char i=0; i != 15; i++) { |
salco | 11:496453b45e25 | 53 | debug(DEBUG_INITMODULE, "\n\r -Debut de boucle :%d ", i); |
salco | 14:ca1a9230ba7f | 54 | //flag = Request_Init_Info; |
salco | 14:ca1a9230ba7f | 55 | //portUse = spiLowSpeed.send(i,0,&flag,&data); |
salco | 14:ca1a9230ba7f | 56 | //if( portUse ) { |
salco | 14:ca1a9230ba7f | 57 | // m_regPortUse|=(1<< i); |
salco | 10:7e6aeaebe1a2 | 58 | |
salco | 14:ca1a9230ba7f | 59 | do { |
salco | 14:ca1a9230ba7f | 60 | flag = Request_Init_Info; |
salco | 15:91b3c572d9df | 61 | adresse = m_Memory.getAdressDispo(0x80);//80 parce que cest le conecteur droit |
salco | 14:ca1a9230ba7f | 62 | data.clear(); |
salco | 15:91b3c572d9df | 63 | data.append(4,1); |
salco | 14:ca1a9230ba7f | 64 | portUse = spiLowSpeed.send(i,adresse,&flag,&data); |
salco | 16:5ea4337d785f | 65 | debug(DEBUG_INITMODULE, "\n\r -Port use result :%d", portUse); |
salco | 16:5ea4337d785f | 66 | |
salco | 14:ca1a9230ba7f | 67 | if( portUse ) { |
salco | 16:5ea4337d785f | 68 | debug(DEBUG_INITMODULE, "\n\r -flag get: "); |
salco | 16:5ea4337d785f | 69 | for (unsigned j=0; j<flag.length(); j++) debug(DEBUG_INITMODULE, "%02X,",flag.at(j)); |
salco | 16:5ea4337d785f | 70 | debug(DEBUG_INITMODULE, "\n\r -data get: "); |
salco | 16:5ea4337d785f | 71 | for (unsigned j=0; j<data.length(); j++) debug(DEBUG_INITMODULE, "%02X,",data.at(j)); |
salco | 16:5ea4337d785f | 72 | |
salco | 14:ca1a9230ba7f | 73 | m_regPortUse|=(1<< i); |
salco | 16:5ea4337d785f | 74 | debug(DEBUG_INITMODULE, "\n\r -Port use :%d", m_regPortUse); |
salco | 16:5ea4337d785f | 75 | |
salco | 14:ca1a9230ba7f | 76 | templateModule->regA = adresse; |
salco | 16:5ea4337d785f | 77 | debug(DEBUG_INITMODULE, "\n\r -Adrr use :%d", adresse); |
salco | 16:5ea4337d785f | 78 | |
salco | 10:7e6aeaebe1a2 | 79 | templateModule->regB = (spiLowSpeed.get_demux()<<4)+(data[0]&0x0F); |
salco | 16:5ea4337d785f | 80 | templateModule->regB |= data[0]; |
salco | 16:5ea4337d785f | 81 | debug(DEBUG_INITMODULE, "\n\r -regB use :%02X", templateModule->regB); |
salco | 16:5ea4337d785f | 82 | |
salco | 10:7e6aeaebe1a2 | 83 | templateModule->regC = data[1]; |
salco | 16:5ea4337d785f | 84 | debug(DEBUG_INITMODULE, "\n\r -regC use :%02X", templateModule->regC); |
salco | 16:5ea4337d785f | 85 | |
salco | 10:7e6aeaebe1a2 | 86 | templateModule->regD = data[2]; |
salco | 16:5ea4337d785f | 87 | debug(DEBUG_INITMODULE, "\n\r -regD use :%02X", templateModule->regD); |
salco | 16:5ea4337d785f | 88 | |
salco | 10:7e6aeaebe1a2 | 89 | switch(templateModule->regD >>6) { |
salco | 10:7e6aeaebe1a2 | 90 | case 1://Capteur |
salco | 16:5ea4337d785f | 91 | debug(DEBUG_INITMODULE, "\n\r -Add Capteur"); |
salco | 10:7e6aeaebe1a2 | 92 | m_Memory.addCapteur(*templateModule); |
salco | 10:7e6aeaebe1a2 | 93 | break; |
salco | 10:7e6aeaebe1a2 | 94 | |
salco | 10:7e6aeaebe1a2 | 95 | case 2://Actionneur |
salco | 16:5ea4337d785f | 96 | debug(DEBUG_INITMODULE, "\n\r -Add Actionneur"); |
salco | 10:7e6aeaebe1a2 | 97 | m_Memory.addActioneur(*templateModule); |
salco | 10:7e6aeaebe1a2 | 98 | break; |
salco | 10:7e6aeaebe1a2 | 99 | |
salco | 10:7e6aeaebe1a2 | 100 | |
salco | 10:7e6aeaebe1a2 | 101 | case 3://Memoire |
salco | 16:5ea4337d785f | 102 | debug(DEBUG_INITMODULE, "\n\r -Add Memoire"); |
salco | 10:7e6aeaebe1a2 | 103 | m_Memory.addMemoire(*templateModule); |
salco | 10:7e6aeaebe1a2 | 104 | break; |
salco | 14:ca1a9230ba7f | 105 | |
salco | 14:ca1a9230ba7f | 106 | default: |
salco | 10:7e6aeaebe1a2 | 107 | break; |
salco | 10:7e6aeaebe1a2 | 108 | } |
salco | 10:7e6aeaebe1a2 | 109 | |
salco | 16:5ea4337d785f | 110 | if(flag[0] == SLAVE_NO_MORE_EMPTY_ADDR_MODULE) |
salco | 10:7e6aeaebe1a2 | 111 | portUse=false; |
salco | 14:ca1a9230ba7f | 112 | |
salco | 14:ca1a9230ba7f | 113 | } |
salco | 14:ca1a9230ba7f | 114 | } while(portUse); |
salco | 13:51bbdc349f20 | 115 | debug(DEBUG_INITMODULE, "\n\r -Fin de boucle :%d", i); |
salco | 9:7295385f02b2 | 116 | } |
salco | 9:7295385f02b2 | 117 | |
salco | 10:7e6aeaebe1a2 | 118 | if(templateModule) |
salco | 14:ca1a9230ba7f | 119 | delete templateModule; |
salco | 14:ca1a9230ba7f | 120 | |
salco | 12:bf44013497c8 | 121 | debug(DEBUG_INITMODULE, "\n\rInit::Fin"); |
salco | 8:e017e3d527d7 | 122 | return true; |
salco | 14:ca1a9230ba7f | 123 | } |
salco | 14:ca1a9230ba7f | 124 | |
salco | 14:ca1a9230ba7f | 125 | bool CtrlBridge::tryComPort(char portID) |
salco | 14:ca1a9230ba7f | 126 | { |
salco | 14:ca1a9230ba7f | 127 | if(portID <= (char)-1)portID=0; |
salco | 14:ca1a9230ba7f | 128 | if(portID > 15)portID=15; |
salco | 14:ca1a9230ba7f | 129 | string flag; |
salco | 14:ca1a9230ba7f | 130 | flag.clear(); |
salco | 14:ca1a9230ba7f | 131 | string data; |
salco | 14:ca1a9230ba7f | 132 | data.clear(); |
salco | 14:ca1a9230ba7f | 133 | return spiLowSpeed.send(portID,0,&flag,&data); |
salco | 14:ca1a9230ba7f | 134 | } |
salco | 14:ca1a9230ba7f | 135 | |
salco | 15:91b3c572d9df | 136 | bool CtrlBridge::send( const unsigned char &adresse,string &flag, string &data) |
salco | 14:ca1a9230ba7f | 137 | { |
salco | 16:5ea4337d785f | 138 | debug(DEBUF_SEND, "\n\rSend::Debut"); |
salco | 14:ca1a9230ba7f | 139 | bool result = false; |
salco | 14:ca1a9230ba7f | 140 | Module moduleRequested; |
salco | 14:ca1a9230ba7f | 141 | if(m_Memory.isAdresseValide(adresse,moduleRequested)) { |
salco | 14:ca1a9230ba7f | 142 | |
salco | 16:5ea4337d785f | 143 | if(adresse&0x80) |
salco | 16:5ea4337d785f | 144 | result = spiLowSpeed.send(moduleRequested.regB>>4,adresse,&flag,&data); |
salco | 16:5ea4337d785f | 145 | else |
salco | 16:5ea4337d785f | 146 | result = spiHighSpeed.send(moduleRequested.regB>>4,adresse,&flag,&data); |
salco | 16:5ea4337d785f | 147 | //result = true; |
salco | 14:ca1a9230ba7f | 148 | } |
salco | 16:5ea4337d785f | 149 | debug(DEBUF_SEND, "\n\rSend::Fin"); |
salco | 14:ca1a9230ba7f | 150 | return result; |
salco | 14:ca1a9230ba7f | 151 | } |
salco | 14:ca1a9230ba7f | 152 | |
salco | 14:ca1a9230ba7f | 153 | string CtrlBridge::findModule(const char &peripheriqueID, const char &type, const char &sousType, const char &posSpatial) |
salco | 14:ca1a9230ba7f | 154 | { |
salco | 14:ca1a9230ba7f | 155 | debug(DEBUF_FINDMODULE, "\n\rFindModule::Debut"); |
salco | 14:ca1a9230ba7f | 156 | string result; |
salco | 14:ca1a9230ba7f | 157 | int maxSize; |
salco | 14:ca1a9230ba7f | 158 | Module moduleScan; |
salco | 14:ca1a9230ba7f | 159 | bool goodModule; |
salco | 16:5ea4337d785f | 160 | |
salco | 16:5ea4337d785f | 161 | debug(DEBUF_FINDMODULE, "\n\r -peripheriqueID: %02X",peripheriqueID); |
salco | 16:5ea4337d785f | 162 | debug(DEBUF_FINDMODULE, "\n\r -type: %02X",type); |
salco | 16:5ea4337d785f | 163 | debug(DEBUF_FINDMODULE, "\n\r -sousType: %02X",sousType); |
salco | 16:5ea4337d785f | 164 | debug(DEBUF_FINDMODULE, "\n\r -posSpatial: %02X",posSpatial); |
salco | 14:ca1a9230ba7f | 165 | |
salco | 14:ca1a9230ba7f | 166 | debug(DEBUF_FINDMODULE, "\n\r -Debut scan Actioneur"); |
salco | 14:ca1a9230ba7f | 167 | maxSize = m_Memory.getSizeActioneur(); |
salco | 14:ca1a9230ba7f | 168 | goodModule = true; |
salco | 14:ca1a9230ba7f | 169 | moduleScan= m_Memory.firstActioneur(); |
salco | 14:ca1a9230ba7f | 170 | |
salco | 14:ca1a9230ba7f | 171 | for(int i=0; i < maxSize; i++) { |
salco | 14:ca1a9230ba7f | 172 | if((peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false; |
salco | 14:ca1a9230ba7f | 173 | else if((type != 0) && (type != moduleScan.regD>>6)) goodModule =false; |
salco | 14:ca1a9230ba7f | 174 | else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))) goodModule =false; |
salco | 14:ca1a9230ba7f | 175 | else if((posSpatial != 0) && (sousType != (moduleScan.regC & 0x3F))) goodModule =false; |
salco | 14:ca1a9230ba7f | 176 | |
salco | 16:5ea4337d785f | 177 | if(goodModule){ |
salco | 14:ca1a9230ba7f | 178 | result.append(1,moduleScan.regA); |
salco | 16:5ea4337d785f | 179 | debug(DEBUF_FINDMODULE, "\n\r -Find one!"); |
salco | 16:5ea4337d785f | 180 | } |
salco | 14:ca1a9230ba7f | 181 | if((goodModule)&&(peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false; |
salco | 14:ca1a9230ba7f | 182 | |
salco | 14:ca1a9230ba7f | 183 | moduleScan= m_Memory.nextActioneur(); |
salco | 14:ca1a9230ba7f | 184 | } |
salco | 14:ca1a9230ba7f | 185 | debug(DEBUF_FINDMODULE, "\n\r -Fin scan Actioneur"); |
salco | 16:5ea4337d785f | 186 | //debug(DEBUF_FINDMODULE, "\n\r -Result size: %0i",result.size()); |
salco | 14:ca1a9230ba7f | 187 | debug(DEBUF_FINDMODULE, "\n\r -Debut scan Capteur"); |
salco | 14:ca1a9230ba7f | 188 | |
salco | 14:ca1a9230ba7f | 189 | maxSize = m_Memory.getSizeCapteur(); |
salco | 14:ca1a9230ba7f | 190 | goodModule = true; |
salco | 14:ca1a9230ba7f | 191 | moduleScan= m_Memory.firstCapteur(); |
salco | 14:ca1a9230ba7f | 192 | |
salco | 14:ca1a9230ba7f | 193 | for(int i=0; i < maxSize; i++) { |
salco | 14:ca1a9230ba7f | 194 | if((peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false; |
salco | 14:ca1a9230ba7f | 195 | else if((type != 0) && (type != moduleScan.regD>>6)) goodModule =false; |
salco | 14:ca1a9230ba7f | 196 | else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))) goodModule =false; |
salco | 14:ca1a9230ba7f | 197 | else if((posSpatial != 0) && (sousType != (moduleScan.regC & 0x3F))) goodModule =false; |
salco | 14:ca1a9230ba7f | 198 | |
salco | 16:5ea4337d785f | 199 | if(goodModule){ |
salco | 14:ca1a9230ba7f | 200 | result.append(1,moduleScan.regA); |
salco | 16:5ea4337d785f | 201 | debug(DEBUF_FINDMODULE, "\n\r -Find one!"); |
salco | 16:5ea4337d785f | 202 | } |
salco | 14:ca1a9230ba7f | 203 | if((goodModule)&&(peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false; |
salco | 14:ca1a9230ba7f | 204 | |
salco | 14:ca1a9230ba7f | 205 | moduleScan= m_Memory.nextCapteur(); |
salco | 14:ca1a9230ba7f | 206 | } |
salco | 14:ca1a9230ba7f | 207 | debug(DEBUF_FINDMODULE, "\n\r -Fin scan Capteur"); |
salco | 16:5ea4337d785f | 208 | //debug(DEBUF_FINDMODULE, "\n\r -Result size: %0i",result.size()); |
salco | 14:ca1a9230ba7f | 209 | debug(DEBUF_FINDMODULE, "\n\r -Debut scan Memoire"); |
salco | 14:ca1a9230ba7f | 210 | |
salco | 14:ca1a9230ba7f | 211 | maxSize = m_Memory.getSizeMemoire(); |
salco | 14:ca1a9230ba7f | 212 | goodModule = true; |
salco | 14:ca1a9230ba7f | 213 | moduleScan= m_Memory.firstMemoire(); |
salco | 14:ca1a9230ba7f | 214 | |
salco | 14:ca1a9230ba7f | 215 | for(int i=0; i < maxSize; i++) { |
salco | 14:ca1a9230ba7f | 216 | if((peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false; |
salco | 14:ca1a9230ba7f | 217 | else if((type != 0) && (type != moduleScan.regD>>6)) goodModule =false; |
salco | 14:ca1a9230ba7f | 218 | else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))) goodModule =false; |
salco | 14:ca1a9230ba7f | 219 | else if((posSpatial != 0) && (sousType != (moduleScan.regC & 0x3F))) goodModule =false; |
salco | 14:ca1a9230ba7f | 220 | |
salco | 16:5ea4337d785f | 221 | if(goodModule){ |
salco | 14:ca1a9230ba7f | 222 | result.append(1,moduleScan.regA); |
salco | 16:5ea4337d785f | 223 | debug(DEBUF_FINDMODULE, "\n\r -Find one!"); |
salco | 16:5ea4337d785f | 224 | } |
salco | 14:ca1a9230ba7f | 225 | if((goodModule)&&(peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false; |
salco | 14:ca1a9230ba7f | 226 | |
salco | 14:ca1a9230ba7f | 227 | moduleScan= m_Memory.nextMemoire(); |
salco | 14:ca1a9230ba7f | 228 | } |
salco | 14:ca1a9230ba7f | 229 | debug(DEBUF_FINDMODULE, "\n\r -Fin scan Memoire"); |
salco | 16:5ea4337d785f | 230 | // debug(DEBUF_FINDMODULE, "\n\r -Result size: %0i",result.size()); |
salco | 14:ca1a9230ba7f | 231 | debug(DEBUF_FINDMODULE, "\n\rFindModule::Fin"); |
salco | 14:ca1a9230ba7f | 232 | return result; |
salco | 14:ca1a9230ba7f | 233 | } |
salco | 14:ca1a9230ba7f | 234 | |
salco | 14:ca1a9230ba7f | 235 | int CtrlBridge::size(const char &peripheriqueID, const char &type, const char &sousType, const char &posSpatial) |
salco | 14:ca1a9230ba7f | 236 | { |
salco | 14:ca1a9230ba7f | 237 | int result; |
salco | 14:ca1a9230ba7f | 238 | string templateString; |
salco | 14:ca1a9230ba7f | 239 | |
salco | 14:ca1a9230ba7f | 240 | templateString = findModule(peripheriqueID,type,sousType,posSpatial); |
salco | 14:ca1a9230ba7f | 241 | result = templateString.size()-1;//pas sure si on met -1 |
salco | 14:ca1a9230ba7f | 242 | return result; |
salco | 9:7295385f02b2 | 243 | } |