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@15:91b3c572d9df, 2015-04-22 (annotated)
- Committer:
- salco
- Date:
- Wed Apr 22 19:27:44 2015 +0000
- Revision:
- 15:91b3c572d9df
- Parent:
- 14:ca1a9230ba7f
- Child:
- 16:5ea4337d785f
Voila la communication est authentifier des deux coter. Reste plus qu'a utiliser les bytes transporter dans cette communication.
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 | 14:ca1a9230ba7f | 65 | |
salco | 14:ca1a9230ba7f | 66 | if( portUse ) { |
salco | 14:ca1a9230ba7f | 67 | m_regPortUse|=(1<< i); |
salco | 14:ca1a9230ba7f | 68 | |
salco | 14:ca1a9230ba7f | 69 | templateModule->regA = adresse; |
salco | 10:7e6aeaebe1a2 | 70 | templateModule->regB = (spiLowSpeed.get_demux()<<4)+(data[0]&0x0F); |
salco | 10:7e6aeaebe1a2 | 71 | templateModule->regC = data[1]; |
salco | 10:7e6aeaebe1a2 | 72 | templateModule->regD = data[2]; |
salco | 10:7e6aeaebe1a2 | 73 | |
salco | 10:7e6aeaebe1a2 | 74 | switch(templateModule->regD >>6) { |
salco | 10:7e6aeaebe1a2 | 75 | case 1://Capteur |
salco | 10:7e6aeaebe1a2 | 76 | m_Memory.addCapteur(*templateModule); |
salco | 10:7e6aeaebe1a2 | 77 | break; |
salco | 10:7e6aeaebe1a2 | 78 | |
salco | 10:7e6aeaebe1a2 | 79 | case 2://Actionneur |
salco | 10:7e6aeaebe1a2 | 80 | m_Memory.addActioneur(*templateModule); |
salco | 10:7e6aeaebe1a2 | 81 | break; |
salco | 10:7e6aeaebe1a2 | 82 | |
salco | 10:7e6aeaebe1a2 | 83 | |
salco | 10:7e6aeaebe1a2 | 84 | case 3://Memoire |
salco | 10:7e6aeaebe1a2 | 85 | m_Memory.addMemoire(*templateModule); |
salco | 10:7e6aeaebe1a2 | 86 | break; |
salco | 14:ca1a9230ba7f | 87 | |
salco | 14:ca1a9230ba7f | 88 | default: |
salco | 10:7e6aeaebe1a2 | 89 | break; |
salco | 10:7e6aeaebe1a2 | 90 | } |
salco | 10:7e6aeaebe1a2 | 91 | |
salco | 14:ca1a9230ba7f | 92 | if(flag[0] != CONTIEN_AUTRE_MODULE) |
salco | 10:7e6aeaebe1a2 | 93 | portUse=false; |
salco | 14:ca1a9230ba7f | 94 | |
salco | 14:ca1a9230ba7f | 95 | } |
salco | 14:ca1a9230ba7f | 96 | } while(portUse); |
salco | 13:51bbdc349f20 | 97 | debug(DEBUG_INITMODULE, "\n\r -Fin de boucle :%d", i); |
salco | 9:7295385f02b2 | 98 | } |
salco | 9:7295385f02b2 | 99 | |
salco | 10:7e6aeaebe1a2 | 100 | if(templateModule) |
salco | 14:ca1a9230ba7f | 101 | delete templateModule; |
salco | 14:ca1a9230ba7f | 102 | |
salco | 12:bf44013497c8 | 103 | debug(DEBUG_INITMODULE, "\n\rInit::Fin"); |
salco | 8:e017e3d527d7 | 104 | return true; |
salco | 14:ca1a9230ba7f | 105 | } |
salco | 14:ca1a9230ba7f | 106 | |
salco | 14:ca1a9230ba7f | 107 | bool CtrlBridge::tryComPort(char portID) |
salco | 14:ca1a9230ba7f | 108 | { |
salco | 14:ca1a9230ba7f | 109 | if(portID <= (char)-1)portID=0; |
salco | 14:ca1a9230ba7f | 110 | if(portID > 15)portID=15; |
salco | 14:ca1a9230ba7f | 111 | string flag; |
salco | 14:ca1a9230ba7f | 112 | flag.clear(); |
salco | 14:ca1a9230ba7f | 113 | string data; |
salco | 14:ca1a9230ba7f | 114 | data.clear(); |
salco | 14:ca1a9230ba7f | 115 | return spiLowSpeed.send(portID,0,&flag,&data); |
salco | 14:ca1a9230ba7f | 116 | } |
salco | 14:ca1a9230ba7f | 117 | |
salco | 15:91b3c572d9df | 118 | bool CtrlBridge::send( const unsigned char &adresse,string &flag, string &data) |
salco | 14:ca1a9230ba7f | 119 | { |
salco | 14:ca1a9230ba7f | 120 | bool result = false; |
salco | 14:ca1a9230ba7f | 121 | Module moduleRequested; |
salco | 14:ca1a9230ba7f | 122 | if(m_Memory.isAdresseValide(adresse,moduleRequested)) { |
salco | 14:ca1a9230ba7f | 123 | |
salco | 14:ca1a9230ba7f | 124 | if(adresse&0x80)spiLowSpeed.send(moduleRequested.regB>>4,adresse,&flag,&data); |
salco | 14:ca1a9230ba7f | 125 | else spiHighSpeed.send(moduleRequested.regB>>4,adresse,&flag,&data); |
salco | 14:ca1a9230ba7f | 126 | result = true; |
salco | 14:ca1a9230ba7f | 127 | } |
salco | 14:ca1a9230ba7f | 128 | |
salco | 14:ca1a9230ba7f | 129 | return result; |
salco | 14:ca1a9230ba7f | 130 | } |
salco | 14:ca1a9230ba7f | 131 | |
salco | 14:ca1a9230ba7f | 132 | string CtrlBridge::findModule(const char &peripheriqueID, const char &type, const char &sousType, const char &posSpatial) |
salco | 14:ca1a9230ba7f | 133 | { |
salco | 14:ca1a9230ba7f | 134 | debug(DEBUF_FINDMODULE, "\n\rFindModule::Debut"); |
salco | 14:ca1a9230ba7f | 135 | string result; |
salco | 14:ca1a9230ba7f | 136 | int maxSize; |
salco | 14:ca1a9230ba7f | 137 | Module moduleScan; |
salco | 14:ca1a9230ba7f | 138 | bool goodModule; |
salco | 14:ca1a9230ba7f | 139 | |
salco | 14:ca1a9230ba7f | 140 | debug(DEBUF_FINDMODULE, "\n\r -Debut scan Actioneur"); |
salco | 14:ca1a9230ba7f | 141 | maxSize = m_Memory.getSizeActioneur(); |
salco | 14:ca1a9230ba7f | 142 | goodModule = true; |
salco | 14:ca1a9230ba7f | 143 | moduleScan= m_Memory.firstActioneur(); |
salco | 14:ca1a9230ba7f | 144 | |
salco | 14:ca1a9230ba7f | 145 | for(int i=0; i < maxSize; i++) { |
salco | 14:ca1a9230ba7f | 146 | if((peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false; |
salco | 14:ca1a9230ba7f | 147 | else if((type != 0) && (type != moduleScan.regD>>6)) goodModule =false; |
salco | 14:ca1a9230ba7f | 148 | else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))) goodModule =false; |
salco | 14:ca1a9230ba7f | 149 | else if((posSpatial != 0) && (sousType != (moduleScan.regC & 0x3F))) goodModule =false; |
salco | 14:ca1a9230ba7f | 150 | |
salco | 14:ca1a9230ba7f | 151 | if(goodModule) |
salco | 14:ca1a9230ba7f | 152 | result.append(1,moduleScan.regA); |
salco | 14:ca1a9230ba7f | 153 | if((goodModule)&&(peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false; |
salco | 14:ca1a9230ba7f | 154 | |
salco | 14:ca1a9230ba7f | 155 | moduleScan= m_Memory.nextActioneur(); |
salco | 14:ca1a9230ba7f | 156 | } |
salco | 14:ca1a9230ba7f | 157 | debug(DEBUF_FINDMODULE, "\n\r -Fin scan Actioneur"); |
salco | 14:ca1a9230ba7f | 158 | debug(DEBUF_FINDMODULE, "\n\r -Result size: %i",result.size()); |
salco | 14:ca1a9230ba7f | 159 | debug(DEBUF_FINDMODULE, "\n\r -Debut scan Capteur"); |
salco | 14:ca1a9230ba7f | 160 | |
salco | 14:ca1a9230ba7f | 161 | maxSize = m_Memory.getSizeCapteur(); |
salco | 14:ca1a9230ba7f | 162 | goodModule = true; |
salco | 14:ca1a9230ba7f | 163 | moduleScan= m_Memory.firstCapteur(); |
salco | 14:ca1a9230ba7f | 164 | |
salco | 14:ca1a9230ba7f | 165 | for(int i=0; i < maxSize; i++) { |
salco | 14:ca1a9230ba7f | 166 | if((peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false; |
salco | 14:ca1a9230ba7f | 167 | else if((type != 0) && (type != moduleScan.regD>>6)) goodModule =false; |
salco | 14:ca1a9230ba7f | 168 | else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))) goodModule =false; |
salco | 14:ca1a9230ba7f | 169 | else if((posSpatial != 0) && (sousType != (moduleScan.regC & 0x3F))) goodModule =false; |
salco | 14:ca1a9230ba7f | 170 | |
salco | 14:ca1a9230ba7f | 171 | if(goodModule) |
salco | 14:ca1a9230ba7f | 172 | result.append(1,moduleScan.regA); |
salco | 14:ca1a9230ba7f | 173 | if((goodModule)&&(peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false; |
salco | 14:ca1a9230ba7f | 174 | |
salco | 14:ca1a9230ba7f | 175 | moduleScan= m_Memory.nextCapteur(); |
salco | 14:ca1a9230ba7f | 176 | } |
salco | 14:ca1a9230ba7f | 177 | debug(DEBUF_FINDMODULE, "\n\r -Fin scan Capteur"); |
salco | 14:ca1a9230ba7f | 178 | debug(DEBUF_FINDMODULE, "\n\r -Result size: %i",result.size()); |
salco | 14:ca1a9230ba7f | 179 | debug(DEBUF_FINDMODULE, "\n\r -Debut scan Memoire"); |
salco | 14:ca1a9230ba7f | 180 | |
salco | 14:ca1a9230ba7f | 181 | maxSize = m_Memory.getSizeMemoire(); |
salco | 14:ca1a9230ba7f | 182 | goodModule = true; |
salco | 14:ca1a9230ba7f | 183 | moduleScan= m_Memory.firstMemoire(); |
salco | 14:ca1a9230ba7f | 184 | |
salco | 14:ca1a9230ba7f | 185 | for(int i=0; i < maxSize; i++) { |
salco | 14:ca1a9230ba7f | 186 | if((peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false; |
salco | 14:ca1a9230ba7f | 187 | else if((type != 0) && (type != moduleScan.regD>>6)) goodModule =false; |
salco | 14:ca1a9230ba7f | 188 | else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))) goodModule =false; |
salco | 14:ca1a9230ba7f | 189 | else if((posSpatial != 0) && (sousType != (moduleScan.regC & 0x3F))) goodModule =false; |
salco | 14:ca1a9230ba7f | 190 | |
salco | 14:ca1a9230ba7f | 191 | if(goodModule) |
salco | 14:ca1a9230ba7f | 192 | result.append(1,moduleScan.regA); |
salco | 14:ca1a9230ba7f | 193 | if((goodModule)&&(peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false; |
salco | 14:ca1a9230ba7f | 194 | |
salco | 14:ca1a9230ba7f | 195 | moduleScan= m_Memory.nextMemoire(); |
salco | 14:ca1a9230ba7f | 196 | } |
salco | 14:ca1a9230ba7f | 197 | debug(DEBUF_FINDMODULE, "\n\r -Fin scan Memoire"); |
salco | 14:ca1a9230ba7f | 198 | debug(DEBUF_FINDMODULE, "\n\r -Result size: %i",result.size()); |
salco | 14:ca1a9230ba7f | 199 | debug(DEBUF_FINDMODULE, "\n\rFindModule::Fin"); |
salco | 14:ca1a9230ba7f | 200 | return result; |
salco | 14:ca1a9230ba7f | 201 | } |
salco | 14:ca1a9230ba7f | 202 | |
salco | 14:ca1a9230ba7f | 203 | int CtrlBridge::size(const char &peripheriqueID, const char &type, const char &sousType, const char &posSpatial) |
salco | 14:ca1a9230ba7f | 204 | { |
salco | 14:ca1a9230ba7f | 205 | int result; |
salco | 14:ca1a9230ba7f | 206 | string templateString; |
salco | 14:ca1a9230ba7f | 207 | |
salco | 14:ca1a9230ba7f | 208 | templateString = findModule(peripheriqueID,type,sousType,posSpatial); |
salco | 14:ca1a9230ba7f | 209 | result = templateString.size()-1;//pas sure si on met -1 |
salco | 14:ca1a9230ba7f | 210 | return result; |
salco | 9:7295385f02b2 | 211 | } |