Alexandre Salconi-Denis
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
Diff: source/CtrlBridge.cpp
- Revision:
- 16:5ea4337d785f
- Parent:
- 15:91b3c572d9df
- Child:
- 17:095f670f9c14
--- a/source/CtrlBridge.cpp Wed Apr 22 19:27:44 2015 +0000
+++ b/source/CtrlBridge.cpp Thu Apr 23 00:53:11 2015 +0000
@@ -62,26 +62,44 @@
data.clear();
data.append(4,1);
portUse = spiLowSpeed.send(i,adresse,&flag,&data);
-
+ debug(DEBUG_INITMODULE, "\n\r -Port use result :%d", portUse);
+
if( portUse ) {
+ debug(DEBUG_INITMODULE, "\n\r -flag get: ");
+ for (unsigned j=0; j<flag.length(); j++) debug(DEBUG_INITMODULE, "%02X,",flag.at(j));
+ debug(DEBUG_INITMODULE, "\n\r -data get: ");
+ for (unsigned j=0; j<data.length(); j++) debug(DEBUG_INITMODULE, "%02X,",data.at(j));
+
m_regPortUse|=(1<< i);
-
+ debug(DEBUG_INITMODULE, "\n\r -Port use :%d", m_regPortUse);
+
templateModule->regA = adresse;
+ debug(DEBUG_INITMODULE, "\n\r -Adrr use :%d", adresse);
+
templateModule->regB = (spiLowSpeed.get_demux()<<4)+(data[0]&0x0F);
+ templateModule->regB |= data[0];
+ debug(DEBUG_INITMODULE, "\n\r -regB use :%02X", templateModule->regB);
+
templateModule->regC = data[1];
+ debug(DEBUG_INITMODULE, "\n\r -regC use :%02X", templateModule->regC);
+
templateModule->regD = data[2];
-
+ debug(DEBUG_INITMODULE, "\n\r -regD use :%02X", templateModule->regD);
+
switch(templateModule->regD >>6) {
case 1://Capteur
+ debug(DEBUG_INITMODULE, "\n\r -Add Capteur");
m_Memory.addCapteur(*templateModule);
break;
case 2://Actionneur
+ debug(DEBUG_INITMODULE, "\n\r -Add Actionneur");
m_Memory.addActioneur(*templateModule);
break;
case 3://Memoire
+ debug(DEBUG_INITMODULE, "\n\r -Add Memoire");
m_Memory.addMemoire(*templateModule);
break;
@@ -89,7 +107,7 @@
break;
}
- if(flag[0] != CONTIEN_AUTRE_MODULE)
+ if(flag[0] == SLAVE_NO_MORE_EMPTY_ADDR_MODULE)
portUse=false;
}
@@ -117,15 +135,18 @@
bool CtrlBridge::send( const unsigned char &adresse,string &flag, string &data)
{
+ debug(DEBUF_SEND, "\n\rSend::Debut");
bool result = false;
Module moduleRequested;
if(m_Memory.isAdresseValide(adresse,moduleRequested)) {
- if(adresse&0x80)spiLowSpeed.send(moduleRequested.regB>>4,adresse,&flag,&data);
- else spiHighSpeed.send(moduleRequested.regB>>4,adresse,&flag,&data);
- result = true;
+ if(adresse&0x80)
+ result = spiLowSpeed.send(moduleRequested.regB>>4,adresse,&flag,&data);
+ else
+ result = spiHighSpeed.send(moduleRequested.regB>>4,adresse,&flag,&data);
+ //result = true;
}
-
+ debug(DEBUF_SEND, "\n\rSend::Fin");
return result;
}
@@ -136,6 +157,11 @@
int maxSize;
Module moduleScan;
bool goodModule;
+
+ debug(DEBUF_FINDMODULE, "\n\r -peripheriqueID: %02X",peripheriqueID);
+ debug(DEBUF_FINDMODULE, "\n\r -type: %02X",type);
+ debug(DEBUF_FINDMODULE, "\n\r -sousType: %02X",sousType);
+ debug(DEBUF_FINDMODULE, "\n\r -posSpatial: %02X",posSpatial);
debug(DEBUF_FINDMODULE, "\n\r -Debut scan Actioneur");
maxSize = m_Memory.getSizeActioneur();
@@ -148,14 +174,16 @@
else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))) goodModule =false;
else if((posSpatial != 0) && (sousType != (moduleScan.regC & 0x3F))) goodModule =false;
- if(goodModule)
+ if(goodModule){
result.append(1,moduleScan.regA);
+ debug(DEBUF_FINDMODULE, "\n\r -Find one!");
+ }
if((goodModule)&&(peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false;
moduleScan= m_Memory.nextActioneur();
}
debug(DEBUF_FINDMODULE, "\n\r -Fin scan Actioneur");
- debug(DEBUF_FINDMODULE, "\n\r -Result size: %i",result.size());
+ //debug(DEBUF_FINDMODULE, "\n\r -Result size: %0i",result.size());
debug(DEBUF_FINDMODULE, "\n\r -Debut scan Capteur");
maxSize = m_Memory.getSizeCapteur();
@@ -168,14 +196,16 @@
else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))) goodModule =false;
else if((posSpatial != 0) && (sousType != (moduleScan.regC & 0x3F))) goodModule =false;
- if(goodModule)
+ if(goodModule){
result.append(1,moduleScan.regA);
+ debug(DEBUF_FINDMODULE, "\n\r -Find one!");
+ }
if((goodModule)&&(peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false;
moduleScan= m_Memory.nextCapteur();
}
debug(DEBUF_FINDMODULE, "\n\r -Fin scan Capteur");
- debug(DEBUF_FINDMODULE, "\n\r -Result size: %i",result.size());
+ //debug(DEBUF_FINDMODULE, "\n\r -Result size: %0i",result.size());
debug(DEBUF_FINDMODULE, "\n\r -Debut scan Memoire");
maxSize = m_Memory.getSizeMemoire();
@@ -188,14 +218,16 @@
else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))) goodModule =false;
else if((posSpatial != 0) && (sousType != (moduleScan.regC & 0x3F))) goodModule =false;
- if(goodModule)
+ if(goodModule){
result.append(1,moduleScan.regA);
+ debug(DEBUF_FINDMODULE, "\n\r -Find one!");
+ }
if((goodModule)&&(peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false;
moduleScan= m_Memory.nextMemoire();
}
debug(DEBUF_FINDMODULE, "\n\r -Fin scan Memoire");
- debug(DEBUF_FINDMODULE, "\n\r -Result size: %i",result.size());
+ // debug(DEBUF_FINDMODULE, "\n\r -Result size: %0i",result.size());
debug(DEBUF_FINDMODULE, "\n\rFindModule::Fin");
return result;
}