TheRobotStudio ROSA / Mbed 2 deprecated trs_master

Code for the mbed NXP LPC1768. To be used on The Robot Studio Master Boards. License : Simplified BSD.

Dependencies:   MODSERIAL mbed

main.cpp@4:7da0cd1fcb8a, 2013-03-08 (annotated)

Committer:
rrknight
Date:
Fri Mar 08 17:53:55 2013 +0000
Revision:
4:7da0cd1fcb8a
Parent:
3:af892e4bf53e
Child:
5:c73f87d22142
v1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rrknight 0:369222671f3c 1 #include"mbed.h"
rrknight 0:369222671f3c 2
rrknight 0:369222671f3c 3 #define MODSERIAL_DEFAULT_RX_BUFFER_SIZE 512
rrknight 0:369222671f3c 4 #define MODSERIAL_DEFAULT_TX_BUFFER_SIZE 1024
rrknight 0:369222671f3c 5 #include "MODSERIAL.h"
rrknight 0:369222671f3c 6
rrknight 0:369222671f3c 7 //Define
rrknight 0:369222671f3c 8 #define NUMBER_MAX_EPOS2_PER_SLAVE 15
rrknight 3:af892e4bf53e 9 #define NUMBER_MSG_PER_PACKET 45
rrknight 3:af892e4bf53e 10 #define NUMBER_BYTES_PER_MSG 6
rrknight 3:af892e4bf53e 11 #define NUMBER_BYTES_TO_READ NUMBER_BYTES_PER_MSG + 2
rrknight 0:369222671f3c 12 #define NUMBER_SLAVE_BOARDS 3
rrknight 2:201618ffa295 13 #define FIRST_NODE_ID_SLAVE_1 1
rrknight 2:201618ffa295 14 #define FIRST_NODE_ID_SLAVE_2 FIRST_NODE_ID_SLAVE_1 + NUMBER_MAX_EPOS2_PER_SLAVE
rrknight 2:201618ffa295 15 #define FIRST_NODE_ID_SLAVE_3 FIRST_NODE_ID_SLAVE_2 + NUMBER_MAX_EPOS2_PER_SLAVE
rrknight 0:369222671f3c 16 #define EPOS2_OK 0
rrknight 0:369222671f3c 17 #define EPOS2_ERROR -1
rrknight 0:369222671f3c 18 #define LOOP_PERIOD_TIME 20000 //20 ms
rrknight 0:369222671f3c 19
rrknight 0:369222671f3c 20 //SPI RxTx FIFO bits
rrknight 3:af892e4bf53e 21 //#define TNF 0x02
rrknight 3:af892e4bf53e 22 //#define TFE 0x01
rrknight 3:af892e4bf53e 23 //#define RNE 0x04
rrknight 0:369222671f3c 24
rrknight 2:201618ffa295 25 #define OPEN_ARROW 0x3C //< = 60
rrknight 1:95d85c81bb11 26 #define CLOSE_ARROW 0x3E //< = 62
rrknight 3:af892e4bf53e 27 #define DUMMY_BYTE 0x00
rrknight 1:95d85c81bb11 28 #define NUMBER_OF_ARROWS 5
rrknight 1:95d85c81bb11 29
rrknight 0:369222671f3c 30 MODSERIAL ros(p28, p27, 1024, 512); // tx, rx
rrknight 0:369222671f3c 31 Serial pc(USBTX, USBRX); //terminal for debug
rrknight 0:369222671f3c 32 DigitalOut ledchain[] = {(LED1), (LED2), (LED3), (LED4)}; //used for debugging
rrknight 0:369222671f3c 33 DigitalOut logicPin(p26); //to record with Logic analyser on an event, pin high.
rrknight 0:369222671f3c 34
rrknight 2:201618ffa295 35 SPI spi(p5, p6, p7); // mosi, miso, sclk
rrknight 2:201618ffa295 36 DigitalOut cs[NUMBER_SLAVE_BOARDS] = {(p8), (p9), (p10)}; //Slave Mbed number 1 //chip select
rrknight 2:201618ffa295 37 DigitalOut sync_slave[NUMBER_SLAVE_BOARDS] = {(p25), (p24), (p23)}; //test to sync the slave
rrknight 2:201618ffa295 38
rrknight 0:369222671f3c 39 char* readBufferSerial; //[NUMBER_MSG_PER_PACKET][NUMBER_BYTES_PER_MSG]; //buffer of packets read by the master (written by the ros node on pc side)
rrknight 3:af892e4bf53e 40 uint8_t writeBufferSPI[NUMBER_SLAVE_BOARDS][NUMBER_MAX_EPOS2_PER_SLAVE][NUMBER_BYTES_TO_READ]; //buffer ready to be sent over SPI to different slaves
rrknight 3:af892e4bf53e 41 uint8_t readBufferSPI[NUMBER_SLAVE_BOARDS][NUMBER_MAX_EPOS2_PER_SLAVE][NUMBER_BYTES_TO_READ]; //buffer read by the master on SPI bus
rrknight 0:369222671f3c 42
rrknight 0:369222671f3c 43 Timer timer;
rrknight 0:369222671f3c 44 uint64_t begin, end;
rrknight 0:369222671f3c 45 uint8_t numberCmds[NUMBER_SLAVE_BOARDS];
rrknight 0:369222671f3c 46
rrknight 0:369222671f3c 47 bool newCmd_detected = false;
rrknight 0:369222671f3c 48 uint8_t nbArrows = 0;
rrknight 0:369222671f3c 49
rrknight 0:369222671f3c 50 char rByte = 0x00;
rrknight 3:af892e4bf53e 51 char writeChecksum[NUMBER_SLAVE_BOARDS]; //one checksum per board
rrknight 3:af892e4bf53e 52 char readChecksum[NUMBER_SLAVE_BOARDS];
rrknight 4:7da0cd1fcb8a 53 char serialTxChecksum = 0x00;
rrknight 1:95d85c81bb11 54
rrknight 1:95d85c81bb11 55 bool fiveArrowsFound = false;
rrknight 4:7da0cd1fcb8a 56 bool cmdValid = false;
rrknight 4:7da0cd1fcb8a 57 bool dataValid = false;
rrknight 1:95d85c81bb11 58
rrknight 1:95d85c81bb11 59 int move(char *s, int nbBytes) //custom move function (cp from MODESERIAL without the end character)
rrknight 1:95d85c81bb11 60 {
rrknight 1:95d85c81bb11 61 int counter = 0;
rrknight 1:95d85c81bb11 62 char c;
rrknight 2:201618ffa295 63
rrknight 2:201618ffa295 64 while(ros.readable())
rrknight 2:201618ffa295 65 {
rrknight 1:95d85c81bb11 66 c = ros.getc();
rrknight 1:95d85c81bb11 67 *(s++) = c;
rrknight 1:95d85c81bb11 68 counter++;
rrknight 2:201618ffa295 69 if(counter == nbBytes) break;
rrknight 1:95d85c81bb11 70 }
rrknight 2:201618ffa295 71
rrknight 1:95d85c81bb11 72 return counter;
rrknight 1:95d85c81bb11 73 }
rrknight 1:95d85c81bb11 74
rrknight 4:7da0cd1fcb8a 75 bool verifyCmdChecksum(char* data, int length, char checksum) //verify data comming from he PC
rrknight 1:95d85c81bb11 76 {
rrknight 1:95d85c81bb11 77 for(int i=0; i<length; i++)
rrknight 1:95d85c81bb11 78 {
rrknight 1:95d85c81bb11 79 checksum += data[i];
rrknight 1:95d85c81bb11 80 }
rrknight 1:95d85c81bb11 81
rrknight 1:95d85c81bb11 82 checksum++; //add 1 to obtain 0x00
rrknight 1:95d85c81bb11 83
rrknight 1:95d85c81bb11 84 if(checksum == 0x00) return true;
rrknight 1:95d85c81bb11 85 else return false;
rrknight 1:95d85c81bb11 86 }
rrknight 0:369222671f3c 87
rrknight 4:7da0cd1fcb8a 88 bool verifyDataChecksum() //verify data comming from the slaves on SPI
rrknight 4:7da0cd1fcb8a 89 {
rrknight 4:7da0cd1fcb8a 90 bool allDataValid = true;
rrknight 4:7da0cd1fcb8a 91
rrknight 4:7da0cd1fcb8a 92 for(int k=0; k<NUMBER_SLAVE_BOARDS; k++)
rrknight 4:7da0cd1fcb8a 93 {
rrknight 4:7da0cd1fcb8a 94 for(int i=0; i<NUMBER_MAX_EPOS2_PER_SLAVE; i++)
rrknight 4:7da0cd1fcb8a 95 {
rrknight 4:7da0cd1fcb8a 96 for(int j=0; j<NUMBER_BYTES_TO_READ; j++)
rrknight 4:7da0cd1fcb8a 97 {
rrknight 4:7da0cd1fcb8a 98 readChecksum[k] += readBufferSPI[k][i][j];
rrknight 4:7da0cd1fcb8a 99 }
rrknight 4:7da0cd1fcb8a 100 }
rrknight 4:7da0cd1fcb8a 101
rrknight 4:7da0cd1fcb8a 102 readChecksum[k]++;
rrknight 4:7da0cd1fcb8a 103
rrknight 4:7da0cd1fcb8a 104 if(readChecksum[k] != 0x00) allDataValid = false; //toggle the flag if one of them is corrupted
rrknight 4:7da0cd1fcb8a 105 }
rrknight 4:7da0cd1fcb8a 106
rrknight 4:7da0cd1fcb8a 107 return allDataValid;
rrknight 4:7da0cd1fcb8a 108 }
rrknight 4:7da0cd1fcb8a 109
rrknight 4:7da0cd1fcb8a 110 void calculateSPIChecksum() //compute checksum for each slave to send commands over SPI
rrknight 3:af892e4bf53e 111 {
rrknight 3:af892e4bf53e 112 for(int k=0; k<NUMBER_SLAVE_BOARDS; k++)
rrknight 3:af892e4bf53e 113 {
rrknight 3:af892e4bf53e 114 int sum = 0;
rrknight 3:af892e4bf53e 115
rrknight 3:af892e4bf53e 116 for(int i=0; i<NUMBER_MAX_EPOS2_PER_SLAVE; i++)
rrknight 3:af892e4bf53e 117 {
rrknight 3:af892e4bf53e 118 for(int j=0; j<NUMBER_BYTES_TO_READ; j++)
rrknight 3:af892e4bf53e 119 {
rrknight 4:7da0cd1fcb8a 120 sum += writeBufferSPI[k][i][j];
rrknight 3:af892e4bf53e 121 }
rrknight 3:af892e4bf53e 122 }
rrknight 3:af892e4bf53e 123
rrknight 4:7da0cd1fcb8a 124 writeChecksum[k] = (char)(~sum); //reverse 0 and 1, and cast as byte
rrknight 3:af892e4bf53e 125 }
rrknight 3:af892e4bf53e 126 }
rrknight 3:af892e4bf53e 127
rrknight 4:7da0cd1fcb8a 128 void calculateTxChecksum() //compute checksum for all the data sent to the PC over serial
rrknight 4:7da0cd1fcb8a 129 {
rrknight 4:7da0cd1fcb8a 130 int sum = 0;
rrknight 4:7da0cd1fcb8a 131
rrknight 4:7da0cd1fcb8a 132 for(int k=0; k<NUMBER_SLAVE_BOARDS; k++)
rrknight 4:7da0cd1fcb8a 133 {
rrknight 4:7da0cd1fcb8a 134 for(int i=0; i<NUMBER_MAX_EPOS2_PER_SLAVE; i++)
rrknight 4:7da0cd1fcb8a 135 {
rrknight 4:7da0cd1fcb8a 136 for(int j=0; j<NUMBER_BYTES_TO_READ; j++)
rrknight 4:7da0cd1fcb8a 137 {
rrknight 4:7da0cd1fcb8a 138 sum += readBufferSPI[k][i][j];
rrknight 4:7da0cd1fcb8a 139 }
rrknight 4:7da0cd1fcb8a 140 }
rrknight 4:7da0cd1fcb8a 141 }
rrknight 4:7da0cd1fcb8a 142
rrknight 4:7da0cd1fcb8a 143 serialTxChecksum = (char)(~sum); //reverse 0 and 1, and cast as byte
rrknight 4:7da0cd1fcb8a 144 }
rrknight 4:7da0cd1fcb8a 145
rrknight 0:369222671f3c 146 // Called everytime a new character goes into
rrknight 0:369222671f3c 147 // the RX buffer. Test that character for '/'
rrknight 0:369222671f3c 148 // Note, rxGetLastChar() gets the last char that
rrknight 0:369222671f3c 149 // we received but it does NOT remove it from
rrknight 0:369222671f3c 150 // the RX buffer.
rrknight 0:369222671f3c 151 void rxCallback(MODSERIAL_IRQ_INFO *q)
rrknight 0:369222671f3c 152 {
rrknight 4:7da0cd1fcb8a 153 //logicPin = 1;
rrknight 0:369222671f3c 154
rrknight 2:201618ffa295 155 MODSERIAL *serial = q->serial;
rrknight 0:369222671f3c 156 rByte = serial->rxGetLastChar();
rrknight 0:369222671f3c 157
rrknight 1:95d85c81bb11 158 if(!fiveArrowsFound)
rrknight 0:369222671f3c 159 {
rrknight 1:95d85c81bb11 160 if(nbArrows < NUMBER_OF_ARROWS)
rrknight 1:95d85c81bb11 161 {
rrknight 1:95d85c81bb11 162 if(rByte == CLOSE_ARROW)
rrknight 1:95d85c81bb11 163 {
rrknight 1:95d85c81bb11 164 nbArrows++;
rrknight 1:95d85c81bb11 165 }
rrknight 2:201618ffa295 166
rrknight 1:95d85c81bb11 167 if((nbArrows > 0) && (rByte != CLOSE_ARROW))
rrknight 1:95d85c81bb11 168 {
rrknight 1:95d85c81bb11 169 nbArrows = 0; //reset in case the previous arrows was data.
rrknight 1:95d85c81bb11 170 }
rrknight 1:95d85c81bb11 171
rrknight 1:95d85c81bb11 172 if(nbArrows == NUMBER_OF_ARROWS)
rrknight 1:95d85c81bb11 173 {
rrknight 1:95d85c81bb11 174 fiveArrowsFound = true;
rrknight 1:95d85c81bb11 175 }
rrknight 0:369222671f3c 176 }
rrknight 1:95d85c81bb11 177 }
rrknight 1:95d85c81bb11 178 else //fiveArrowsFound, so rByte is the checksum
rrknight 1:95d85c81bb11 179 {
rrknight 1:95d85c81bb11 180 move(readBufferSerial, NUMBER_MSG_PER_PACKET*NUMBER_BYTES_PER_MSG);
rrknight 1:95d85c81bb11 181 //pc.printf("r cs 0x%02X\n", rByte);
rrknight 1:95d85c81bb11 182 //pc.printf("move %02X %02X %02X %02X %02X %02X %02X \n", readBufferSerial[0], readBufferSerial[1], readBufferSerial[2], readBufferSerial[3], readBufferSerial[4], readBufferSerial[5], readBufferSerial[6]);
rrknight 0:369222671f3c 183
rrknight 4:7da0cd1fcb8a 184 cmdValid = verifyCmdChecksum(readBufferSerial, NUMBER_MSG_PER_PACKET*NUMBER_BYTES_PER_MSG, rByte);
rrknight 4:7da0cd1fcb8a 185 //if(cmdValid) pc.printf("cmdValid\n\r");
rrknight 1:95d85c81bb11 186
rrknight 1:95d85c81bb11 187 //reset
rrknight 1:95d85c81bb11 188 serial->rxBufferFlush();
rrknight 1:95d85c81bb11 189 nbArrows = 0;
rrknight 1:95d85c81bb11 190 fiveArrowsFound = false;
rrknight 1:95d85c81bb11 191 }
rrknight 1:95d85c81bb11 192
rrknight 4:7da0cd1fcb8a 193 //logicPin = 0;
rrknight 0:369222671f3c 194 }
rrknight 0:369222671f3c 195
rrknight 0:369222671f3c 196 int main()
rrknight 0:369222671f3c 197 {
rrknight 2:201618ffa295 198 //Deselect all mbed slaves
rrknight 2:201618ffa295 199 for(int k=0; k<NUMBER_SLAVE_BOARDS; k++)
rrknight 2:201618ffa295 200 {
rrknight 2:201618ffa295 201 cs[k] = 1;
rrknight 2:201618ffa295 202 sync_slave[k] = 0;
rrknight 2:201618ffa295 203 }
rrknight 2:201618ffa295 204
rrknight 0:369222671f3c 205 ros.baud(460800); //460800 works //921600 don't
rrknight 0:369222671f3c 206 pc.baud(115200);
rrknight 0:369222671f3c 207
rrknight 2:201618ffa295 208 // Setup the spi for 8 bit data, high steady state clock,
rrknight 2:201618ffa295 209 // second edge capture, with a 1MHz clock rate
rrknight 2:201618ffa295 210 spi.format(8, 0); //spi.format(8,3);
rrknight 2:201618ffa295 211 spi.frequency(1000000); //32000000
rrknight 2:201618ffa295 212
rrknight 2:201618ffa295 213 //init the SPI arrays
rrknight 2:201618ffa295 214 for(int i=0; i<NUMBER_SLAVE_BOARDS; i++)
rrknight 2:201618ffa295 215 {
rrknight 3:af892e4bf53e 216 for(int j=0; j<NUMBER_MAX_EPOS2_PER_SLAVE; j++)
rrknight 2:201618ffa295 217 {
rrknight 3:af892e4bf53e 218 for(int k=0; k<NUMBER_BYTES_TO_READ; k++)
rrknight 2:201618ffa295 219 {
rrknight 2:201618ffa295 220 writeBufferSPI[i][j][k] = 0x00;
rrknight 2:201618ffa295 221 readBufferSPI[i][j][k] = 0x00;
rrknight 2:201618ffa295 222 }
rrknight 2:201618ffa295 223 }
rrknight 3:af892e4bf53e 224
rrknight 3:af892e4bf53e 225 writeChecksum[i] = 0x00;
rrknight 2:201618ffa295 226 }
rrknight 0:369222671f3c 227
rrknight 0:369222671f3c 228 //init alloc
rrknight 0:369222671f3c 229 readBufferSerial = (char*)malloc(NUMBER_MSG_PER_PACKET*NUMBER_BYTES_PER_MSG*sizeof(char*));
rrknight 0:369222671f3c 230
rrknight 2:201618ffa295 231 //uint8_t my_val;
rrknight 2:201618ffa295 232
rrknight 0:369222671f3c 233 ros.attach(&rxCallback, MODSERIAL::RxIrq);
rrknight 0:369222671f3c 234
rrknight 0:369222671f3c 235 pc.printf("*** Start Master Main ***\n\r");
rrknight 0:369222671f3c 236
rrknight 0:369222671f3c 237 logicPin = 0;
rrknight 0:369222671f3c 238
rrknight 2:201618ffa295 239 // Wait here until we detect a valid message in the serial RX buffer.
rrknight 1:95d85c81bb11 240 while(1)
rrknight 1:95d85c81bb11 241 {
rrknight 4:7da0cd1fcb8a 242 if(cmdValid) //pass it to the SPI bus
rrknight 4:7da0cd1fcb8a 243 {
rrknight 4:7da0cd1fcb8a 244 logicPin = 1;
rrknight 4:7da0cd1fcb8a 245
rrknight 2:201618ffa295 246 //init the SPI arrays
rrknight 2:201618ffa295 247 for(int i=0; i<NUMBER_SLAVE_BOARDS; i++)
rrknight 2:201618ffa295 248 {
rrknight 3:af892e4bf53e 249 for(int j=0; j<NUMBER_MAX_EPOS2_PER_SLAVE; j++)
rrknight 2:201618ffa295 250 {
rrknight 3:af892e4bf53e 251 for(int k=0; k<NUMBER_BYTES_TO_READ; k++)
rrknight 2:201618ffa295 252 {
rrknight 2:201618ffa295 253 writeBufferSPI[i][j][k] = 0x00; //mode 0 for null command
rrknight 2:201618ffa295 254 readBufferSPI[i][j][k] = 0x00;
rrknight 2:201618ffa295 255 }
rrknight 2:201618ffa295 256 }
rrknight 3:af892e4bf53e 257
rrknight 3:af892e4bf53e 258 writeChecksum[i] = 0x00;
rrknight 2:201618ffa295 259 }
rrknight 4:7da0cd1fcb8a 260 /*
rrknight 4:7da0cd1fcb8a 261 //init nb cmds per slave //useless ?
rrknight 2:201618ffa295 262 for(int i=0; i<NUMBER_SLAVE_BOARDS; i++)
rrknight 2:201618ffa295 263 {
rrknight 2:201618ffa295 264 numberCmds[i] = 0;
rrknight 2:201618ffa295 265 }
rrknight 4:7da0cd1fcb8a 266 */
rrknight 4:7da0cd1fcb8a 267 logicPin = 0;
rrknight 2:201618ffa295 268
rrknight 2:201618ffa295 269 //sort messages for each slave
rrknight 2:201618ffa295 270 for(int i=0; i<NUMBER_MSG_PER_PACKET*NUMBER_BYTES_PER_MSG; i+=NUMBER_BYTES_PER_MSG)
rrknight 2:201618ffa295 271 {
rrknight 2:201618ffa295 272 uint8_t nodeID = readBufferSerial[i];
rrknight 2:201618ffa295 273
rrknight 2:201618ffa295 274 if(nodeID>=FIRST_NODE_ID_SLAVE_1 && nodeID<FIRST_NODE_ID_SLAVE_2) //slave 1
rrknight 2:201618ffa295 275 {
rrknight 2:201618ffa295 276 for(int j=0; j<NUMBER_BYTES_PER_MSG; j++)
rrknight 2:201618ffa295 277 {
rrknight 3:af892e4bf53e 278 writeBufferSPI[0][i/NUMBER_BYTES_PER_MSG][j] = readBufferSerial[i+j];
rrknight 4:7da0cd1fcb8a 279 }
rrknight 4:7da0cd1fcb8a 280 //numberCmds[0]++;
rrknight 2:201618ffa295 281 }
rrknight 2:201618ffa295 282 else if(nodeID>=FIRST_NODE_ID_SLAVE_2 && nodeID<FIRST_NODE_ID_SLAVE_3) //slave 2
rrknight 2:201618ffa295 283 {
rrknight 2:201618ffa295 284 for(int j=0; j<NUMBER_BYTES_PER_MSG; j++)
rrknight 2:201618ffa295 285 {
rrknight 4:7da0cd1fcb8a 286 writeBufferSPI[1][i/NUMBER_BYTES_PER_MSG-NUMBER_MAX_EPOS2_PER_SLAVE][j] = readBufferSerial[i+j];
rrknight 2:201618ffa295 287 }
rrknight 4:7da0cd1fcb8a 288
rrknight 4:7da0cd1fcb8a 289 //change nodeID between 1 and 15
rrknight 4:7da0cd1fcb8a 290 writeBufferSPI[1][i/NUMBER_BYTES_PER_MSG-NUMBER_MAX_EPOS2_PER_SLAVE][0] -= NUMBER_MAX_EPOS2_PER_SLAVE; //substract a multiple of 15, example : nodeID 16 will be nodeID 1 for slave nb 2
rrknight 4:7da0cd1fcb8a 291
rrknight 4:7da0cd1fcb8a 292 //pc.printf("ID %d\n", writeBufferSPI[1][0][0]);
rrknight 4:7da0cd1fcb8a 293 //numberCmds[1]++;
rrknight 4:7da0cd1fcb8a 294 //pc.printf("ID[%d] %d\n", i/NUMBER_BYTES_PER_MSG, writeBufferSPI[1][i/NUMBER_BYTES_PER_MSG][0]);
rrknight 2:201618ffa295 295 }
rrknight 2:201618ffa295 296 else if(nodeID>=FIRST_NODE_ID_SLAVE_3) //slave 3
rrknight 2:201618ffa295 297 {
rrknight 2:201618ffa295 298 for(int j=0; j<NUMBER_BYTES_PER_MSG; j++)
rrknight 2:201618ffa295 299 {
rrknight 4:7da0cd1fcb8a 300 writeBufferSPI[2][i/NUMBER_BYTES_PER_MSG-2*NUMBER_MAX_EPOS2_PER_SLAVE][j] = readBufferSerial[i+j];
rrknight 2:201618ffa295 301 }
rrknight 4:7da0cd1fcb8a 302
rrknight 4:7da0cd1fcb8a 303 //change nodeID between 1 and 15
rrknight 4:7da0cd1fcb8a 304 writeBufferSPI[2][i/NUMBER_BYTES_PER_MSG-NUMBER_MAX_EPOS2_PER_SLAVE][0] -= 2*NUMBER_MAX_EPOS2_PER_SLAVE; //substract a multiple of 15, example : nodeID 16 will be nodeID 1 for slave nb 2
rrknight 4:7da0cd1fcb8a 305 //numberCmds[2]++;
rrknight 4:7da0cd1fcb8a 306 }
rrknight 4:7da0cd1fcb8a 307 //pc.printf("ID %d\n", writeBufferSPI[1][0][0]);
rrknight 2:201618ffa295 308 }
rrknight 2:201618ffa295 309
rrknight 4:7da0cd1fcb8a 310 //pc.printf("ID %d\n", writeBufferSPI[1][0][0]);
rrknight 4:7da0cd1fcb8a 311
rrknight 3:af892e4bf53e 312 //add dummy bytes
rrknight 3:af892e4bf53e 313 for(int k=0; k<NUMBER_SLAVE_BOARDS; k++)
rrknight 3:af892e4bf53e 314 {
rrknight 3:af892e4bf53e 315 for(int i=0; i<NUMBER_MAX_EPOS2_PER_SLAVE; i++)
rrknight 3:af892e4bf53e 316 {
rrknight 3:af892e4bf53e 317 for(int j=NUMBER_BYTES_PER_MSG; j<NUMBER_BYTES_TO_READ; j++)
rrknight 3:af892e4bf53e 318 {
rrknight 3:af892e4bf53e 319 writeBufferSPI[k][i][j] = DUMMY_BYTE;
rrknight 3:af892e4bf53e 320 }
rrknight 3:af892e4bf53e 321 }
rrknight 3:af892e4bf53e 322 }
rrknight 3:af892e4bf53e 323
rrknight 3:af892e4bf53e 324 //now all individual SPI buffers for slaves have been created
rrknight 3:af892e4bf53e 325 //compute checksum for each slave and update the variable, it'll be sent later at the end of SPI writting
rrknight 3:af892e4bf53e 326 calculateSPIChecksum(); //this update the writeChecksum[k]
rrknight 3:af892e4bf53e 327
rrknight 3:af892e4bf53e 328 //pc.printf("nbCmd %d %d %d\n", numberCmds[0], numberCmds[1], numberCmds[2]);
rrknight 2:201618ffa295 329 //pc.printf("1st Cmd %02X %02X %02X %02X %02X %02X %02X\n", writeBufferSPI[0][0][0], writeBufferSPI[0][0][1], writeBufferSPI[0][0][2], writeBufferSPI[0][0][3], writeBufferSPI[0][0][4], writeBufferSPI[0][0][5], writeBufferSPI[0][0][6]);
rrknight 2:201618ffa295 330
rrknight 3:af892e4bf53e 331 //new commands has been grabbed and are ready to be sent to slaves
rrknight 2:201618ffa295 332 for(int k=0; k<NUMBER_SLAVE_BOARDS; k++) //NUMBER_SLAVE_BOARDS for each slave
rrknight 2:201618ffa295 333 {
rrknight 4:7da0cd1fcb8a 334 if(k<3) ledchain[k] = 1; //switch on LED nb k
rrknight 4:7da0cd1fcb8a 335
rrknight 2:201618ffa295 336 sync_slave[k] = 1;
rrknight 4:7da0cd1fcb8a 337 wait_us(10); //pause so the slave can see it's been selected
rrknight 2:201618ffa295 338 sync_slave[k] = 0;
rrknight 2:201618ffa295 339
rrknight 4:7da0cd1fcb8a 340 cs[k] = 0;
rrknight 2:201618ffa295 341 spi.write(OPEN_ARROW);
rrknight 2:201618ffa295 342 wait_us(5);
rrknight 2:201618ffa295 343 cs[k] = 1;
rrknight 4:7da0cd1fcb8a 344 wait_us(8);
rrknight 2:201618ffa295 345
rrknight 2:201618ffa295 346 cs[k] = 0;
rrknight 2:201618ffa295 347 spi.write(OPEN_ARROW);
rrknight 2:201618ffa295 348 wait_us(5);
rrknight 2:201618ffa295 349 cs[k] = 1;
rrknight 4:7da0cd1fcb8a 350 wait_us(8);
rrknight 2:201618ffa295 351
rrknight 4:7da0cd1fcb8a 352 cs[k] = 0;
rrknight 2:201618ffa295 353 spi.write(OPEN_ARROW);
rrknight 2:201618ffa295 354 wait_us(5);
rrknight 2:201618ffa295 355 cs[k] = 1;
rrknight 4:7da0cd1fcb8a 356 wait_us(8);
rrknight 2:201618ffa295 357
rrknight 3:af892e4bf53e 358 for(int i=0; i<NUMBER_MAX_EPOS2_PER_SLAVE; i++)
rrknight 4:7da0cd1fcb8a 359 {
rrknight 4:7da0cd1fcb8a 360 //writeBufferSPI[k][i][0] = writeBufferSPI[k][i][0] - 0x0F;
rrknight 4:7da0cd1fcb8a 361
rrknight 4:7da0cd1fcb8a 362 for(int j=0; j<NUMBER_BYTES_TO_READ; j++)
rrknight 2:201618ffa295 363 {
rrknight 2:201618ffa295 364 cs[k] = 0;
rrknight 2:201618ffa295 365 readBufferSPI[k][i][j] = (char)(spi.write(writeBufferSPI[k][i][j]));
rrknight 2:201618ffa295 366 wait_us(5);
rrknight 2:201618ffa295 367 cs[k] = 1;
rrknight 4:7da0cd1fcb8a 368 wait_us(8);
rrknight 2:201618ffa295 369 }
rrknight 3:af892e4bf53e 370 }
rrknight 3:af892e4bf53e 371
rrknight 3:af892e4bf53e 372 //finally write the command checksum and read the data checksum at the same time
rrknight 3:af892e4bf53e 373 cs[k] = 0;
rrknight 3:af892e4bf53e 374 readChecksum[k] = (char)(spi.write(writeChecksum[k]));
rrknight 3:af892e4bf53e 375 wait_us(5);
rrknight 3:af892e4bf53e 376 cs[k] = 1;
rrknight 4:7da0cd1fcb8a 377 wait_us(8);
rrknight 4:7da0cd1fcb8a 378
rrknight 4:7da0cd1fcb8a 379 if(k<3) ledchain[k] = 0; //switch on LED nb k
rrknight 2:201618ffa295 380 }
rrknight 2:201618ffa295 381
rrknight 4:7da0cd1fcb8a 382 //pc.printf("nodeID 1 0x%02X 2 0x%02X 3 0x%02X\n", writeBufferSPI[0][0][0], writeBufferSPI[1][0][0], writeBufferSPI[2][0][0]);
rrknight 4:7da0cd1fcb8a 383 //pc.printf("nodeID 1-%d 2-%d 3-%d\n", writeBufferSPI[0][0][0], writeBufferSPI[1][0][0], writeBufferSPI[2][0][0]);
rrknight 4:7da0cd1fcb8a 384 //pc.printf("rc 0x%02X wc 0x%02X\n", readChecksum[0], writeChecksum[0]);
rrknight 4:7da0cd1fcb8a 385 /*
rrknight 2:201618ffa295 386 logicPin = 0;
rrknight 2:201618ffa295 387 wait_us(10);
rrknight 2:201618ffa295 388 logicPin = 1;
rrknight 2:201618ffa295 389 wait_us(10);
rrknight 4:7da0cd1fcb8a 390 */
rrknight 4:7da0cd1fcb8a 391 //now check the validity of the data
rrknight 4:7da0cd1fcb8a 392 dataValid = verifyDataChecksum();
rrknight 4:7da0cd1fcb8a 393
rrknight 4:7da0cd1fcb8a 394 //Erase Tx serial buffer
rrknight 4:7da0cd1fcb8a 395 //ros.txBufferFlush();
rrknight 4:7da0cd1fcb8a 396
rrknight 4:7da0cd1fcb8a 397 //write the data msg on serial Tx
rrknight 4:7da0cd1fcb8a 398 //if(dataValid)
rrknight 4:7da0cd1fcb8a 399 //{
rrknight 4:7da0cd1fcb8a 400 logicPin = 1;
rrknight 4:7da0cd1fcb8a 401
rrknight 4:7da0cd1fcb8a 402 //compute checksum for all data from slaves
rrknight 4:7da0cd1fcb8a 403 calculateTxChecksum();
rrknight 4:7da0cd1fcb8a 404
rrknight 4:7da0cd1fcb8a 405 //write data and checksum on Tx
rrknight 4:7da0cd1fcb8a 406 for(int k=0; k<NUMBER_SLAVE_BOARDS; k++)
rrknight 4:7da0cd1fcb8a 407 {
rrknight 4:7da0cd1fcb8a 408 for(int i=0; i<NUMBER_MAX_EPOS2_PER_SLAVE; i++)
rrknight 4:7da0cd1fcb8a 409 {
rrknight 4:7da0cd1fcb8a 410 for(int j=0; j<NUMBER_BYTES_TO_READ; j++)
rrknight 4:7da0cd1fcb8a 411 {
rrknight 4:7da0cd1fcb8a 412 ros.putc(readBufferSPI[k][i][j]);
rrknight 4:7da0cd1fcb8a 413 }
rrknight 4:7da0cd1fcb8a 414 }
rrknight 4:7da0cd1fcb8a 415 }
rrknight 4:7da0cd1fcb8a 416
rrknight 4:7da0cd1fcb8a 417 ros.putc(serialTxChecksum);
rrknight 4:7da0cd1fcb8a 418
rrknight 4:7da0cd1fcb8a 419 dataValid = false; //toggle flag for next message
rrknight 4:7da0cd1fcb8a 420
rrknight 4:7da0cd1fcb8a 421 logicPin = 0;
rrknight 4:7da0cd1fcb8a 422 //}
rrknight 4:7da0cd1fcb8a 423
rrknight 2:201618ffa295 424 //print the array :
rrknight 2:201618ffa295 425 /*
rrknight 2:201618ffa295 426 for(int i=0; i<2; i++)
rrknight 2:201618ffa295 427 {
rrknight 2:201618ffa295 428 pc.printf("%02X %02X %02X %02X %02X %02X %02X\n\r", readBufferSPI[0][i][0], readBufferSPI[0][i][1], readBufferSPI[0][i][2], readBufferSPI[0][i][3], readBufferSPI[0][i][4], readBufferSPI[0][i][5], readBufferSPI[0][i][6]);
rrknight 2:201618ffa295 429 }
rrknight 2:201618ffa295 430 */
rrknight 2:201618ffa295 431 /* int i=0;
rrknight 2:201618ffa295 432 pc.printf("%02X %02X %02X %02X %02X %02X %02X\n", readBufferSPI[0][i][0], readBufferSPI[0][i][1], readBufferSPI[0][i][2], readBufferSPI[0][i][3], readBufferSPI[0][i][4], readBufferSPI[0][i][5], readBufferSPI[0][i][6]);
rrknight 2:201618ffa295 433 i=14;
rrknight 2:201618ffa295 434 pc.printf("%02X %02X %02X %02X %02X %02X %02X\n\r", readBufferSPI[0][i][0], readBufferSPI[0][i][1], readBufferSPI[0][i][2], readBufferSPI[0][i][3], readBufferSPI[0][i][4], readBufferSPI[0][i][5], readBufferSPI[0][i][6]);
rrknight 2:201618ffa295 435
rrknight 2:201618ffa295 436 //pc.printf("\n\r");
rrknight 2:201618ffa295 437 logicPin = 0;
rrknight 2:201618ffa295 438
rrknight 2:201618ffa295 439 //build the motorDataSet_msg
rrknight 2:201618ffa295 440 for(int i=0; i<13; i++)
rrknight 2:201618ffa295 441 {
rrknight 2:201618ffa295 442 motorDataSet_msg.motorData[i].encPosition = 100*i;
rrknight 2:201618ffa295 443 motorDataSet_msg.motorData[i].potiPosition = 10*i;
rrknight 2:201618ffa295 444 motorDataSet_msg.motorData[i].current = -10*i;
rrknight 2:201618ffa295 445 motorDataSet_msg.motorData[i].force = 2*i;
rrknight 2:201618ffa295 446 }
rrknight 2:201618ffa295 447 */
rrknight 4:7da0cd1fcb8a 448 //logicPin = 0;
rrknight 2:201618ffa295 449
rrknight 4:7da0cd1fcb8a 450 cmdValid = false; //toggle flag for next message
rrknight 2:201618ffa295 451
rrknight 1:95d85c81bb11 452 }
rrknight 1:95d85c81bb11 453
rrknight 2:201618ffa295 454 wait_us(10);
rrknight 2:201618ffa295 455 }
rrknight 0:369222671f3c 456 }