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:
- 27:ea60d12dccdf
- Parent:
- 18:3f113f8441b2
- Child:
- 28:ac5c6350ed9a
--- a/source/CtrlBridge.cpp Mon May 11 13:48:38 2015 +0000
+++ b/source/CtrlBridge.cpp Thu May 14 21:40:23 2015 +0000
@@ -16,7 +16,7 @@
m_regPortUse=0;
m_regPortLost=0;
spiLowSpeed.format(8,0);
- spiLowSpeed.frequency(10000);
+ spiLowSpeed.frequency(10000/**/);
}
CtrlBridge::~CtrlBridge()
@@ -148,7 +148,11 @@
if(m_Memory.isAdresseValide(adresse,moduleRequested)) {
if(adresse&0x80)
+ {
+ debug(DEBUF_SEND, "\n\rPointeur SPI: %d",&spiLowSpeed);
+ //debug(DEBUF_SEND, "\n\rPointeur SPI: %p",spiLowSpeed);
result = spiLowSpeed.send(moduleRequested.regB>>4,adresse,&flag,&data);
+ }
else
result = spiHighSpeed.send(moduleRequested.regB>>4,adresse,&flag,&data);
//result = true;
@@ -172,14 +176,27 @@
debug(DEBUF_FINDMODULE, "\n\r -Debut scan Actioneur");
maxSize = m_Memory.getSizeActioneur();
+ debug(DEBUF_FINDMODULE, "\n\r -MaxSize: %02d",maxSize);
goodModule = true;
moduleScan= m_Memory.firstActioneur();
for(int i=0; i < maxSize; i++) {
- if((peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false;
- else if((type != 0) && (type != moduleScan.regD>>6)) goodModule =false;
- else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))) goodModule =false;
- else if((posSpatial != 0) && (sousType != (moduleScan.regC & 0x3F))) goodModule =false;
+ if((peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)){
+ goodModule =false;
+ debug(DEBUF_FINDMODULE, "\n\r -peripheriqueID: %02d == moduleScan.regB>>4: %02d",peripheriqueID,moduleScan.regB>>4);
+ }
+ else if((type != 0) && (type != moduleScan.regD>>6)){
+ goodModule =false;
+ debug(DEBUF_FINDMODULE, "\n\r -type: %02d == moduleScan.regD>>6: %02d",type,moduleScan.regD>>6);
+ }
+ else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))){
+ goodModule =false;
+ debug(DEBUF_FINDMODULE, "\n\r -sousType: %02d == (moduleScan.regD & 0x3F): %02d",sousType,(moduleScan.regD & 0x3F));
+ }
+ else if((posSpatial != 0) && (posSpatial != (moduleScan.regC & 0x3F))){
+ goodModule =false;
+ debug(DEBUF_FINDMODULE, "\n\r -posSpatial: %02d == (moduleScan.regC & 0x3F): %02d",posSpatial,(moduleScan.regC & 0x3F));
+ }
if(goodModule){
result.append(1,moduleScan.regA);
@@ -194,14 +211,34 @@
debug(DEBUF_FINDMODULE, "\n\r -Debut scan Capteur");
maxSize = m_Memory.getSizeCapteur();
- goodModule = true;
+ debug(DEBUF_FINDMODULE, "\n\r -MaxSize: %02d",maxSize);
+
moduleScan= m_Memory.firstCapteur();
for(int i=0; i < maxSize; i++) {
- if((peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false;
- else if((type != 0) && (type != moduleScan.regD>>6)) goodModule =false;
- else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))) goodModule =false;
- else if((posSpatial != 0) && (sousType != (moduleScan.regC & 0x3F))) goodModule =false;
+ goodModule = true;
+ debug(DEBUF_FINDMODULE, "\n\r -adresse: %02x",moduleScan.regA);
+ debug(DEBUF_FINDMODULE, "\n\r -peripheriqueID: %02d == moduleScan.regB>>4: %02d",peripheriqueID,moduleScan.regB>>4);
+ debug(DEBUF_FINDMODULE, "\n\r -type: %02d == moduleScan.regD>>6: %02d",type,moduleScan.regD>>6);
+ debug(DEBUF_FINDMODULE, "\n\r -sousType: %02d == (moduleScan.regD & 0x3F): %02d",sousType,(moduleScan.regD & 0x3F));
+ debug(DEBUF_FINDMODULE, "\n\r -posSpatial: %02d == (moduleScan.regC & 0x3F): %02d",posSpatial,(moduleScan.regC & 0x3F));
+
+ if((peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)){
+ goodModule =false;
+ debug(DEBUF_FINDMODULE, "\n\r -false");
+ }
+ else if((type != 0) && (type != moduleScan.regD>>6)){
+ goodModule =false;
+ debug(DEBUF_FINDMODULE, "\n\r -false");
+ }
+ else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))){
+ goodModule =false;
+ debug(DEBUF_FINDMODULE, "\n\r -false");
+ }
+ else if((posSpatial != 0) && (posSpatial != (moduleScan.regC & 0x3F))){
+ goodModule =false;
+ debug(DEBUF_FINDMODULE, "\n\r -false");
+ }
if(goodModule){
result.append(1,moduleScan.regA);
@@ -216,14 +253,27 @@
debug(DEBUF_FINDMODULE, "\n\r -Debut scan Memoire");
maxSize = m_Memory.getSizeMemoire();
+ debug(DEBUF_FINDMODULE, "\n\r -MaxSize: %02d",maxSize);
goodModule = true;
moduleScan= m_Memory.firstMemoire();
for(int i=0; i < maxSize; i++) {
- if((peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)) goodModule =false;
- else if((type != 0) && (type != moduleScan.regD>>6)) goodModule =false;
- else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))) goodModule =false;
- else if((posSpatial != 0) && (sousType != (moduleScan.regC & 0x3F))) goodModule =false;
+ if((peripheriqueID != 0) && (peripheriqueID != moduleScan.regB>>4)){
+ goodModule =false;
+ debug(DEBUF_FINDMODULE, "\n\r -peripheriqueID: %02d == moduleScan.regB>>4: %02d",peripheriqueID,moduleScan.regB>>4);
+ }
+ else if((type != 0) && (type != moduleScan.regD>>6)){
+ goodModule =false;
+ debug(DEBUF_FINDMODULE, "\n\r -type: %02d == moduleScan.regD>>6: %02d",type,moduleScan.regD>>6);
+ }
+ else if((sousType != 0) && (sousType != (moduleScan.regD & 0x3F))){
+ goodModule =false;
+ debug(DEBUF_FINDMODULE, "\n\r -sousType: %02d == (moduleScan.regD & 0x3F): %02d",sousType,(moduleScan.regD & 0x3F));
+ }
+ else if((posSpatial != 0) && (posSpatial != (moduleScan.regC & 0x3F))){
+ goodModule =false;
+ debug(DEBUF_FINDMODULE, "\n\r -posSpatial: %02d == (moduleScan.regC & 0x3F): %02d",posSpatial,(moduleScan.regC & 0x3F));
+ }
if(goodModule){
result.append(1,moduleScan.regA);