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/ComSpi.cpp
- Revision:
- 17:095f670f9c14
- Parent:
- 16:5ea4337d785f
- Child:
- 18:3f113f8441b2
diff -r 5ea4337d785f -r 095f670f9c14 source/ComSpi.cpp
--- a/source/ComSpi.cpp Thu Apr 23 00:53:11 2015 +0000
+++ b/source/ComSpi.cpp Thu Apr 23 14:44:08 2015 +0000
@@ -68,7 +68,7 @@
if(m_demuxPos & 8) pinDemuxD=1; //0b1000
else pinDemuxD=0;
//wait(1);
- // pinDemuxEnable=1;
+ // pinDemuxEnable=1;
//wait(1);
}
}
@@ -105,27 +105,27 @@
unsigned char spiCurrentState;
int ComSpi::write(int value)
{
- DigitalOut pinDemuxEnable(m_demuxEnable);
+ DigitalOut pinDemuxEnable(m_demuxEnable);
//DigitalOut pinDemuxEnable(m_demuxEnable,0);
int a;
- pinDemuxEnable=1;
- /* switch(spiCurrentState)
+ pinDemuxEnable=1;
+ /* switch(spiCurrentState)
{
- case 0:
- a= SPI::write(0x12);
- spiCurrentState++;
- break;
- default:
- a= SPI::write(0xF5);
- spiCurrentState =0;
- break;
+ case 0:
+ a= SPI::write(0x12);
+ spiCurrentState++;
+ break;
+ default:
+ a= SPI::write(0xF5);
+ spiCurrentState =0;
+ break;
}*/
- wait_us(5);
+ wait_us(5);
a= SPI::write(value);
wait_us(5);
- pinDemuxEnable=0;
- sneekpeek.append(1,value);
- wait_us(1000);
+ pinDemuxEnable=0;
+ sneekpeek.append(1,value);
+ wait_us(1000);
return a;
}
@@ -164,8 +164,8 @@
// PFB //
debug(DEBUG_SEND, "\n\r -Debut PFB. ");
- // if(flag != 0)
- // {
+ // if(flag != 0)
+ // {
switch(flag->size()) {
case 1:
if(flag->at(0) == 0) formatedDataSend.append(1,0<<6); //0 byte
@@ -217,7 +217,7 @@
debug(DEBUG_SEND, "\n\r -Fin NDB. ");
settingMaster = formatedDataSend[formatedDataSend.length()-1];
-
+
// flag //
debug(DEBUG_SEND, "\n\r -Debut flag. ");
if(flag->size() != 0) {
@@ -229,7 +229,7 @@
//ici tu envoi deja ton premier stuf
- debug(DEBUG_SLIM, "\n\r -settingMaster : %X , %i, %X ",settingMaster, (2+(settingMaster>>6)),formatedDataSend[(2+(settingMaster>>6))] );
+//debug(DEBUG_SLIM, "\n\r -settingMaster : %X , %i, %X ",settingMaster, (2+(settingMaster>>6)),formatedDataSend[(2+(settingMaster>>6))] );
@@ -257,13 +257,13 @@
if(formatedDataReceive[0] == SYNC) {
debug(DEBUG_COMPACT, "\n\r -Receve transmission. ");
//!!!!!!!! Problem ici write dans un mais pas lautre
- wait_us(3000);
+ wait_us(3000);
if(retryLoop == 0) {
formatedDataSend.append(1,0);//2,0); cest une patch tempo parce que je trouve pas ou il manque la donner
- }
+ }
formatedDataReceive.append(1,write(0));
- // debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "\n\r -B: ");
-
+ // debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "\n\r -B: ");
+
settingSlave = formatedDataReceive[formatedDataReceive.length()-1];
debug(DEBUG_COMPACT, "\n\r -settingSlave %02X",settingSlave);
if(retryLoop == 0) {
@@ -298,20 +298,25 @@
counterTotale = ((2+(settingMaster>>6))+1);
counterTotale = counterTotale+(settingSlave>>6)+abs((settingMaster & 0x0F) - (settingSlave & 0x0F));
- debug( "\n\r -size : %02X",counterTotale);
-
+ //debug( "\n\r -size : %02X",counterTotale);
+
switch(bufferFlag) { //plus facile pour savoir ce que tu doit tatenre a recevoire
case 1://Request Init Info
if(retryLoop == 0) {
-
- formatedDataSend.append(settingSlave & 0x0F,0);
+ //formatedDataSend.append(1,1<<6); //1 byte flag
+ //formatedDataSend.append(settingSlave & 0x0F,0);
//chek pour comment avoir un address
+ if(formatedDataSend.size()<counterTotale) {
+ formatedDataSend.append(counterTotale+1-formatedDataSend.size(),0);
+ }
}
//verifier si la fonction fait ce quil edt suposer
- for(int i = ((2+(settingMaster>>6))+1); i < formatedDataSend.length()-1; ++i) {
+
+ for(int i = ((2+(settingMaster>>6))+1); i < formatedDataSend.length()-1; ++i) { //on envoi le reste des data
formatedDataReceive.append(1,write(formatedDataSend[i]));
//debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "\n\r -C:%i ",i);
}
+
//templatePtr =searchAddr(0);
// 1 byte flag + 3 byte de data
//bufferSend[4] = (1<<6) + 3;//[2+(bufferReceive[2]>>6)+1] = (1<<6);
@@ -350,12 +355,12 @@
}
//counterTotale = 2+(bufferReceive[2]>>6)+1;
//counterTotale = counterTotale+(bufferSend[counterTotale]>>6)+abs((bufferReceive[2] & 0x5F) - (bufferSend[counterTotale] & 0x5F));
- // if(retryLoop == 0) {
- debug( "\n\r -size : %02X , %02X",formatedDataSend.size(),counterTotale);
- // if(formatedDataSend.size()<counterTotale){
- // formatedDataSend.append(counterTotale-formatedDataSend.size(),0);
- //}
- //}
+ if(retryLoop == 0) {
+ debug( "\n\r -size : %02X , %02X",formatedDataSend.size(),counterTotale);
+ if(formatedDataSend.size()<counterTotale) {
+ formatedDataSend.append(counterTotale+1-formatedDataSend.size(),0);
+ }
+ }
@@ -363,32 +368,32 @@
// DATA //
unsigned short templateValue=0;
if(retryLoop == 0) {
- // CRC //
- debug(DEBUG_SEND, "\n\r -Debut CRC16. ");
- //CRC16* templateCRC;
- //templateCRC = new CRC16();
- //!!!utiliser string cest plus simple
-
-
- //char templateTable[formatedDataSend.length()+1];
- //for (unsigned i=0; i<formatedDataSend.length()+1; ++i) templateTable[i]=0;
- //for (unsigned i=0; i<formatedDataSend.length(); ++i) templateTable[i]=formatedDataSend[i];
- //debug(DEBUG_SEND, "\n\r - envoi au crc: %02X,%02X,%02X,%02X,%02X,%02X ",templateTable[0],templateTable[1],templateTable[2],templateTable[3],templateTable[4],templateTable[5],templateTable[6]);
+ // CRC //
+ debug(DEBUG_SEND, "\n\r -Debut CRC16. ");
+ //CRC16* templateCRC;
+ //templateCRC = new CRC16();
+ //!!!utiliser string cest plus simple
+
- // templateValue = /*templateCRC->*/calculateCRC16(templateTable,formatedDataSend.size()-1); //atention pt un probleme de sortie du range
- //templateValue = /*templateCRC->calculateCRC16*/CRC16_BUYPASS(formatedDataSend.c_str(),formatedDataSend.size()); //atention pt un probleme de sortie du range
- templateValue =CRC16_BUYPASS(sneekpeek.c_str(),sneekpeek.size()); //patch
-
- formatedDataSend.append(1,templateValue>>8);
- formatedDataSend.append(1,templateValue & 0xFF);
+ //char templateTable[formatedDataSend.length()+1];
+ //for (unsigned i=0; i<formatedDataSend.length()+1; ++i) templateTable[i]=0;
+ //for (unsigned i=0; i<formatedDataSend.length(); ++i) templateTable[i]=formatedDataSend[i];
+ //debug(DEBUG_SEND, "\n\r - envoi au crc: %02X,%02X,%02X,%02X,%02X,%02X ",templateTable[0],templateTable[1],templateTable[2],templateTable[3],templateTable[4],templateTable[5],templateTable[6]);
+
+ // templateValue = /*templateCRC->*/calculateCRC16(templateTable,formatedDataSend.size()-1); //atention pt un probleme de sortie du range
+ //templateValue = /*templateCRC->calculateCRC16*/CRC16_BUYPASS(formatedDataSend.c_str(),formatedDataSend.size()); //atention pt un probleme de sortie du range
+ templateValue =CRC16_BUYPASS(sneekpeek.c_str(),sneekpeek.size()); //patch
+
+ formatedDataSend.append(1,templateValue>>8);
+ formatedDataSend.append(1,templateValue & 0xFF);
}
formatedDataReceive.append(1,write(formatedDataSend[formatedDataSend.size()-2]));//templateValue>>8));
//debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "\n\r -D: ");
formatedDataReceive.append(1,write(formatedDataSend[formatedDataSend.size()-1]));//(templateValue & 0xFF));
//debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "\n\r -E: ");
-
-
-
+
+
+
///////////////////////
//avant faut calculer les dernier byte grace a la version 2.0
@@ -399,34 +404,32 @@
// verification du CRC slave
// CRC //
templateValue = CRC16_BUYPASS(formatedDataReceive.c_str(),formatedDataReceive.size()-2);// utiliser les data de setting slave
-
+
if(((templateValue>>8)==(formatedDataReceive.at( formatedDataReceive.length()-2))) &&
- ((templateValue&0xFF)==(formatedDataReceive.at( formatedDataReceive.length()-1))))
- {
+ ((templateValue&0xFF)==(formatedDataReceive.at( formatedDataReceive.length()-1)))) {
result=true;
- }
- else
- {
- result=false;
- }
+ } else {
+ result=false;
+ }
//templateValue=((formatedDataReceive.at( formatedDataReceive.length()-2)) << 8);
//templateValue|=formatedDataReceive.at(formatedDataReceive.length()-1);
- // for (unsigned i=0; i<formatedDataReceive.length()-2; ++i) {
- // templateValue-=formatedDataReceive[i];
- // }
- // debug(DEBUG_SEND, "\n\r -CRC==0? value: %i. ", templateValue);
- // (templateValue==0)? result=true:result=false;
+ // for (unsigned i=0; i<formatedDataReceive.length()-2; ++i) {
+ // templateValue-=formatedDataReceive[i];
+ // }
+ // debug(DEBUG_SEND, "\n\r -CRC==0? value: %i. ", templateValue);
+ // (templateValue==0)? result=true:result=false;
}
- debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "\n\r -Send : ");
- for (unsigned i=0; i<formatedDataSend.length(); i++) debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "%02X,",formatedDataSend.at(i));
+ debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "\n\r -Send : ");
+ for (unsigned i=0; i<sneekpeek.length(); i++) debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "%02X,",sneekpeek.at(i));
debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "\n\r -Reveive: ");
for (unsigned i=0; i<formatedDataReceive.length(); i++) debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "%02X,",formatedDataReceive.at(i));
debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "\n\r -Sneekpe: ");
- /*for (unsigned i=0; i<sneekpeek.length(); i++)*/ debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "%04X,",CRC16_BUYPASS(formatedDataReceive.c_str(),formatedDataReceive.size()-2));//sneekpeek.at(i));
- debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "\n\r-Sneekpe: %04X,",CRC16_BUYPASS(formatedDataSend.c_str(),formatedDataSend.size()-2));//sneekpeek.at(i));
- debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "\n\r-Sneekpe: %04X,",CRC16_BUYPASS(sneekpeek.c_str(),sneekpeek.size()-2));//sneekpeek.at(i));
-
+ /*for (unsigned i=0; i<sneekpeek.length(); i++)*/
+ debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "%04X,",CRC16_BUYPASS(formatedDataReceive.c_str(),formatedDataReceive.size()-2));//sneekpeek.at(i));
+ debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "\n\r-Sneekpe: %04X,",CRC16_BUYPASS(formatedDataSend.c_str(),formatedDataSend.size()-2));//sneekpeek.at(i));
+ debug(DEBUG_SEND|DEBUG_COMPACT|DEBUG_SLIM, "\n\r-Sneekpe: %04X,",CRC16_BUYPASS(sneekpeek.c_str(),sneekpeek.size()-2));//sneekpeek.at(i));
+
}//templateValue = /*templateCRC->*/calculateCRC16(formatedDataSend.c_str(),formatedDataSend.size()-1);sneekpeek
///////////////////////
// // old //
@@ -508,7 +511,7 @@
//
-
+
if(result) {
// Traitement de l'information //
@@ -518,13 +521,12 @@
// flag //
flag->clear();
- if((settingSlave>>6) != 0)
- {
- //string str = formatedDataReceive.substr( ((2+(settingMaster>>6))+1+1),(settingSlave>>6));
- flag->append(formatedDataReceive.substr( ((2+(settingMaster>>6))+1+1),(settingSlave>>6)));// = &str;
-
- //debug(DEBUG_SLIM, "\n\r -flag get: ");
- //for (unsigned i=0; i<str.length(); i++) debug(DEBUG_SLIM, "%02X,",str.at(i));
+ if((settingSlave>>6) != 0) {
+ //string str = formatedDataReceive.substr( ((2+(settingMaster>>6))+1+1),(settingSlave>>6));
+ flag->append(formatedDataReceive.substr( ((2+(settingMaster>>6))+1+1),(settingSlave>>6)));// = &str;
+
+ //debug(DEBUG_SLIM, "\n\r -flag get: ");
+ //for (unsigned i=0; i<str.length(); i++) debug(DEBUG_SLIM, "%02X,",str.at(i));
}
//twoBytesArray=formatedDataReceive[2];
//!!!!! wtf is that cest claire que sa pete la com
@@ -552,50 +554,49 @@
it++;
break;*/
- /*default:
- formatedDataSend.append(1,0<<6);
- break;*/
- // }
+ /*default:
+ formatedDataSend.append(1,0<<6);
+ break;*/
+ // }
// ACK/NAK
//
// NDB //
data->clear();
- if((settingSlave&0x0F) != 0)
- {
- //string str = formatedDataReceive.substr( ((2+(settingMaster>>6))+1+(settingSlave>>6)+1),(settingSlave&0x0F));
- data->append(formatedDataReceive.substr( ((2+(settingMaster>>6))+1+(settingSlave>>6)+1),(settingSlave&0x0F)));
-
- //debug(DEBUG_SLIM, "\n\r -data get: ");
- //for (unsigned i=0; i<str.length(); i++) debug(DEBUG_SLIM, "%02X,",str.at(i));
+ if((settingSlave&0x0F) != 0) {
+ //string str = formatedDataReceive.substr( ((2+(settingMaster>>6))+1+(settingSlave>>6)+1),(settingSlave&0x0F));
+ data->append(formatedDataReceive.substr( ((2+(settingMaster>>6))+1+(settingSlave>>6)+1),(settingSlave&0x0F)));
+
+ //debug(DEBUG_SLIM, "\n\r -data get: ");
+ //for (unsigned i=0; i<str.length(); i++) debug(DEBUG_SLIM, "%02X,",str.at(i));
}
//!!!!! same shit faut rebild la chose en bas
- /* switch(settingSlave&0xFF) {
- case 1:
- data->append(1,*it);
- it++;
- break;
+ /* switch(settingSlave&0xFF) {
+ case 1:
+ data->append(1,*it);
+ it++;
+ break;
- case 2:
- data->append(1,*it);
- it++;
- data->append(1,*it);
- it++;
- break;
+ case 2:
+ data->append(1,*it);
+ it++;
+ data->append(1,*it);
+ it++;
+ break;
- case 3:
- data->append(1,*it);
- it++;
- data->append(1,*it);
- it++;
- data->append(1,*it);
- it++;
- break;*/
+ case 3:
+ data->append(1,*it);
+ it++;
+ data->append(1,*it);
+ it++;
+ data->append(1,*it);
+ it++;
+ break;*/
- /*default:
+ /*default:
- break;*/
+ break;*/
//}
}