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@7:dcfd81d7f93f, 2015-03-19 (annotated)
- Committer:
- salco
- Date:
- Thu Mar 19 00:20:09 2015 +0000
- Revision:
- 7:dcfd81d7f93f
- Parent:
- 2:4c5b0f6d0a6b
- Child:
- 8:e017e3d527d7
Ajout de fonction dans comSpi et jai renomer 2-3 doccument.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
salco | 2:4c5b0f6d0a6b | 1 | /** |
salco | 2:4c5b0f6d0a6b | 2 | * @file TTask.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 | 7:dcfd81d7f93f | 10 | |
salco | 7:dcfd81d7f93f | 11 | #define SYNC 84 //0b01010100 |
salco | 7:dcfd81d7f93f | 12 | #define PFB0 0 |
salco | 7:dcfd81d7f93f | 13 | #define PFB1 1 |
salco | 7:dcfd81d7f93f | 14 | #define PFB2 2 |
salco | 7:dcfd81d7f93f | 15 | #define PFB3 3 |
salco | 7:dcfd81d7f93f | 16 | #define NOACK 0 |
salco | 7:dcfd81d7f93f | 17 | #define TXACK 1 |
salco | 7:dcfd81d7f93f | 18 | #define RXACK 2 |
salco | 7:dcfd81d7f93f | 19 | #define RXNAK 3 |
salco | 7:dcfd81d7f93f | 20 | #define NDB00 0 |
salco | 7:dcfd81d7f93f | 21 | #define NDB01 1 |
salco | 7:dcfd81d7f93f | 22 | #define NDB02 2 |
salco | 7:dcfd81d7f93f | 23 | |
salco | 7:dcfd81d7f93f | 24 | |
salco | 7:dcfd81d7f93f | 25 | #include "mbed.h" |
salco | 7:dcfd81d7f93f | 26 | |
salco | 7:dcfd81d7f93f | 27 | class ComSpi : public SPI |
salco | 2:4c5b0f6d0a6b | 28 | { |
salco | 7:dcfd81d7f93f | 29 | bool demuxIsUse; |
salco | 7:dcfd81d7f93f | 30 | char m_demuxPos; |
salco | 7:dcfd81d7f93f | 31 | PinName m_demuxA; |
salco | 7:dcfd81d7f93f | 32 | PinName m_demuxB; |
salco | 7:dcfd81d7f93f | 33 | PinName m_demuxC; |
salco | 7:dcfd81d7f93f | 34 | PinName m_demuxD; |
salco | 7:dcfd81d7f93f | 35 | PinName m_demuxEnable; |
salco | 7:dcfd81d7f93f | 36 | |
salco | 7:dcfd81d7f93f | 37 | void change_demux(void); |
salco | 7:dcfd81d7f93f | 38 | public: |
salco | 7:dcfd81d7f93f | 39 | ComSpi(PinName mosi, PinName miso, PinName sclk, PinName _unused=NC); |
salco | 7:dcfd81d7f93f | 40 | ComSpi(PinName mosi, PinName miso, PinName sclk, PinName demuxA, PinName demuxB, PinName demuxC, PinName demuxD, PinName demuxEnable); |
salco | 7:dcfd81d7f93f | 41 | virtual ~ComSpi(); |
salco | 7:dcfd81d7f93f | 42 | |
salco | 7:dcfd81d7f93f | 43 | |
salco | 7:dcfd81d7f93f | 44 | |
salco | 7:dcfd81d7f93f | 45 | bool next_demux(void); |
salco | 7:dcfd81d7f93f | 46 | bool back_demux(void); |
salco | 7:dcfd81d7f93f | 47 | |
salco | 7:dcfd81d7f93f | 48 | |
salco | 7:dcfd81d7f93f | 49 | |
salco | 7:dcfd81d7f93f | 50 | |
salco | 7:dcfd81d7f93f | 51 | virtual int write(int value); |
salco | 7:dcfd81d7f93f | 52 | bool send(char portID, char adresseModule,char *flag,char *data); |
salco | 7:dcfd81d7f93f | 53 | bool send(char portID, char adresseModule,int *flag,char *data); |
salco | 7:dcfd81d7f93f | 54 | bool send(char portID, char adresseModule,char *flag,int *data); |
salco | 7:dcfd81d7f93f | 55 | bool send(char portID, char adresseModule,int *flag,int *data); |
salco | 2:4c5b0f6d0a6b | 56 | }; |
salco | 2:4c5b0f6d0a6b | 57 | #endif // COMSPI_H |