diff options
Diffstat (limited to 'vex/vexspi.cpp')
| -rw-r--r-- | vex/vexspi.cpp | 201 |
1 files changed, 201 insertions, 0 deletions
diff --git a/vex/vexspi.cpp b/vex/vexspi.cpp new file mode 100644 index 0000000..4d05b9e --- /dev/null +++ b/vex/vexspi.cpp @@ -0,0 +1,201 @@ +/*-----------------------------------------------------------------------------*/
+/* */
+/* Copyright (c) James Pearman */
+/* 2013 */
+/* All Rights Reserved */
+/* */
+/*-----------------------------------------------------------------------------*/
+/* */
+/* Module: vexspi.c */
+/* Author: James Pearman */
+/* Created: 7 May 2013 */
+/* */
+/* Revisions: */
+/* V1.00 4 July 2013 - Initial release */
+/* */
+/*-----------------------------------------------------------------------------*/
+/* */
+/* This file is part of ConVEX. */
+/* */
+/* The author is supplying this software for use with the VEX cortex */
+/* control system. ConVEX is free software; you can redistribute it */
+/* and/or modify it under the terms of the GNU General Public License */
+/* as published by the Free Software Foundation; either version 3 of */
+/* the License, or (at your option) any later version. */
+/* */
+/* ConVEX is distributed in the hope that it will be useful, */
+/* but WITHOUT ANY WARRANTY; without even the implied warranty of */
+/* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the */
+/* GNU General Public License for more details. */
+/* */
+/* You should have received a copy of the GNU General Public License */
+/* along with this program. If not, see <http://www.gnu.org/licenses/>. */
+/* */
+/* A special exception to the GPL can be applied should you wish to */
+/* distribute a combined work that includes ConVEX, without being obliged */
+/* to provide the source code for any proprietary components. */
+/* See the file exception.txt for full details of how and when the */
+/* exception can be applied. */
+/* */
+/* The author can be contacted on the vex forums as jpearman */
+/* or electronic mail using jbpearman_at_mac_dot_com */
+/* Mentor for team 8888 RoboLancers, Pasadena CA. */
+/* */
+/*-----------------------------------------------------------------------------*/
+
+#include "ch.h" // needs for all ChibiOS programs
+#include "hal.h" // hardware abstraction layer header
+
+#include <vex/vexspi.h>
+#include <library.hpp>
+
+SpiData vexSpiData; // externed in main.cpp
+
+constexpr GPTDriver *spiGpt = &GPTD2;
+constexpr const char *spiTeamName = CONVEX_TEAM_NAME;
+
+static thread_t *spiThread = nullptr;
+
+static SPIConfig spicfg = {
+ nullptr,
+ /* HW dependent part.*/
+ VEX_SPI_CS_PORT, VEX_SPI_CS_PIN,
+ SPI_CR1_DFF | SPI_CR1_BR_2 | SPI_CR1_CPHA
+};
+
+static void _vspi_gpt_cb(GPTDriver *);
+static const GPTConfig vexSpiGpt = {
+ 1000000, /* 1MHz timer clock.*/
+ _vspi_gpt_cb, /* Timer callback.*/
+ 0, /* DIER = 0, version 2.6.1.and on */
+ 0
+};
+
+static const unsigned char txInitData[32] = {
+ 0x17, 0xC9, 0x02, 0x00, 0x00, 0x00,
+ 0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F, 0x7F,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x01, 0x00
+};
+
+static void _vspi_gpt_cb(GPTDriver *gptp)
+{
+ (void)gptp;
+
+ chSysLockFromISR();
+ if (spiThread != nullptr) {
+ chSchReadyI(spiThread);
+ spiThread = nullptr;
+ }
+ chSysUnlockFromISR();
+}
+
+void vexSpiTickDelay(int ticks)
+{
+ chSysLock();
+ spiThread = chThdGetSelfX();
+ gptStartOneShotI(spiGpt, ticks);
+ chSchGoSleepS(CH_STATE_SUSPENDED);
+ chSysUnlock();
+}
+
+
+
+namespace spi {
+ void init(void) {
+ memncpy(&vexSpiData.txdata, txInitData, 32);
+ vexSpiData.online = 0;
+
+ spiStart(&SPID1, &spicfg);
+ gptStart(spiGpt, &vexSpiGpt);
+ }
+
+
+ void update(void) {
+ auto txbuf = reinterpret_cast<uint16_t *>(vexSpiData.txdata.data);
+ auto rxbuf = reinterpret_cast<uint16_t *>(vexSpiData.rxdata_t.data);
+
+ // configure team name
+ if (vexSpiData.txdata.pak.state == 0x03) {
+ // let spi know what we're sending
+ vexSpiData.txdata.pak.type = 0x55;
+ strncpy(reinterpret_cast<char *>(vexSpiData.txdata.data + 6), spiTeamName, 8);
+ }
+
+ // Set handshake to indicate new spi message
+ palSetPad(VEX_SPI_ENABLE_PORT, VEX_SPI_ENABLE_PIN);
+
+ for (int i = 0; i < 16; i++) {
+ // exchange word (int)
+ spiSelectI(&SPID1);
+ rxbuf[i] = spi_lld_polled_exchange( &SPID1, txbuf[i] );
+ spiUnselectI(&SPID1);
+
+ if (((i%4) == 3) && (i != 15)) {
+ // long delay between each group of 4 words
+ vexSpiTickDelay(73);
+
+ // After 4 words negate handshake pin
+ palClearPad(VEX_SPI_ENABLE_PORT, VEX_SPI_ENABLE_PIN);
+ } else {
+ vexSpiTickDelay(8);
+ }
+ }
+
+ // increase id for next message
+ vexSpiData.txdata.pak.id++;
+
+ // check integrity of received data
+ if( (vexSpiData.rxdata_t.data[0] == 0x17 ) && (vexSpiData.rxdata_t.data[1] == 0xC9 ))
+ {
+ // copy temporary data
+ for(int i=0;i<32;i++)
+ vexSpiData.rxdata.data[i] = vexSpiData.rxdata_t.data[i];
+
+ // Set online status if valid data status set
+ if( (vexSpiData.rxdata.pak.status & 0x0F) == 0x08 )
+ vexSpiData.online = 1;
+
+ // If in configuration initialize state (0x02 or 0x03)
+ if( (vexSpiData.txdata.pak.state & 0x0E) == 0x02 )
+ {
+ // check for configure request
+ if( (vexSpiData.rxdata.pak.status & 0x0F) == 0x02 )
+ vexSpiData.txdata.pak.state = 0x03;
+ // check for configure and acknowledge
+ if( (vexSpiData.rxdata.pak.status & 0x0F) == 0x03 )
+ {
+ vexSpiData.txdata.pak.state = 0x08;
+ vexSpiData.txdata.pak.type = 0;
+ }
+ // Either good or bad data force to normal transmission
+ // status will either be 0x04 or 0x08
+ if( (vexSpiData.rxdata.pak.status & 0x0C) != 0x00 )
+ {
+ vexSpiData.txdata.pak.state = 0x08;
+ vexSpiData.txdata.pak.type = 0;
+ }
+ }
+ }
+ else
+ vexSpiData.errors++;
+ }
+
+ void setMotors(uint8_t *data) {
+ memncpy(data, vexSpiData.txdata.pak.motor, 8);
+ }
+
+ const jsdata& getJoystick(int num) {
+ return (num == 2) ? vexSpiData.rxdata.pak.js_2 : vexSpiData.rxdata.pak.js_1;
+ }
+
+ int getBatteryMain(void) {
+ return vexSpiData.rxdata.pak.batt1 * 59; // in mV
+ }
+
+ int getBatteryBackup(void) {
+ return vexSpiData.rxdata.pak.batt2 * 59;
+ }
+
+}
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