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Diffstat (limited to 'vex/vexspi.h')
| -rw-r--r-- | vex/vexspi.h | 171 |
1 files changed, 171 insertions, 0 deletions
diff --git a/vex/vexspi.h b/vex/vexspi.h new file mode 100644 index 0000000..aa7eeb9 --- /dev/null +++ b/vex/vexspi.h @@ -0,0 +1,171 @@ +/*-----------------------------------------------------------------------------*/
+/* */
+/* Copyright (c) James Pearman */
+/* 2013 */
+/* All Rights Reserved */
+/* */
+/*-----------------------------------------------------------------------------*/
+/* */
+/* Module: vexspi.h */
+/* 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. */
+/* */
+/*-----------------------------------------------------------------------------*/
+
+#ifndef __VEXSPI__
+#define __VEXSPI__
+
+/*-----------------------------------------------------------------------------*/
+/** @file vexspi.h
+ * @brief SPI communication to the master processor, macros and prototypes
+*//*---------------------------------------------------------------------------*/
+
+#define VEX_SPI_ENABLE_PORT GPIOA
+#define VEX_SPI_ENABLE_PIN 11
+#define VEX_SPI_CS_PORT GPIOE
+#define VEX_SPI_CS_PIN 0
+
+/*-----------------------------------------------------------------------------*/
+/** @brief default team name */
+/*-----------------------------------------------------------------------------*/
+
+#define CONVEX_TEAM_NAME "ZEPHYR ";
+
+typedef struct _jsdata {
+ int Ch1 :8;
+ int Ch2 :8;
+ int Ch3 :8;
+ int Ch4 :8;
+
+ struct accel_t {
+ int y :8;
+ int x :8;
+ int z :8;
+ } __attribute__ ((packed)) accel;
+
+ char Btn5D :1;
+ char Btn5U :1;
+ char Btn6D :1;
+ char Btn6U :1;
+
+ char Reserved :4;
+
+ char Btn8D :1;
+ char Btn8L :1;
+ char Btn8U :1;
+ char Btn8R :1;
+ char Btn7D :1;
+ char Btn7L :1;
+ char Btn7U :1;
+ char Btn7R :1;
+
+ char Reserved2[2];
+
+} __attribute__ ((packed)) jsdata;
+
+/*-----------------------------------------------------------------------------*/
+/** @brief SPI transmit data packet */
+/*-----------------------------------------------------------------------------*/
+/** @details
+ * Format of a SPI transmit packet - 16 words
+ */
+typedef union _spiTxPacket {
+ struct _spiTxPak {
+ unsigned char h1; ///< Header byte one
+ unsigned char h2; ///< Header byte two
+ unsigned char state; ///< Control state
+ unsigned char reserved[2]; ///< unknown data
+ unsigned char type; ///< data type
+ unsigned char motor[8]; ///< motor pwm data
+ unsigned char pad[15]; ///< not used
+ unsigned char rev_lsb; ///< revision of user code lsb
+ unsigned char rev_msb; ///< revision of user code msb
+ unsigned char id; ///< message id
+ } pak; ///< access spiTxPacket as named variables
+
+ unsigned char data[32]; ///< access spiTxPacket as an array of char
+} spiTxPacket;
+
+/*-----------------------------------------------------------------------------*/
+/** @brief SPI receive data packet */
+/*-----------------------------------------------------------------------------*/
+/** @details
+ * Format of a SPI receive packet - 16 words
+ */
+typedef union _spiRxPacket {
+ struct _spiRxPak {
+ unsigned char h1; ///< Header byte one
+ unsigned char h2; ///< Header byte two
+ unsigned char status; ///< status
+ unsigned char ctl; ///< status and control byte
+ unsigned char batt1; ///< main battery level, 59mV per bit
+ unsigned char batt2; ///< backup battery level, 59mV per bit
+ jsdata js_1; ///< data for main joystick
+ unsigned char pad; ///< 1 byte padding
+ jsdata js_2; ///< data for partner joystick
+ unsigned char rev_lsb; ///< revision of master code lsb
+ unsigned char rev_msb; ///< revision of master code msb
+ unsigned char id; ///< message id
+ } pak; ///< access spiRxPacke as named variables
+
+ unsigned char data[32]; ///< access spiRxPacket as an array of char
+} spiRxPacket;
+
+/*-----------------------------------------------------------------------------*/
+/** @brief SPI data */
+/*-----------------------------------------------------------------------------*/
+/** @details
+ * All SPI related data collected in this structure
+ */
+struct SpiData {
+ spiTxPacket txdata; ///< tx data packet
+ spiRxPacket rxdata; ///< valid rx data packet
+ spiRxPacket rxdata_t; ///< receive data packet, may have errors
+ uint16_t online; ///< online status
+ uint32_t errors; ///< number of packets received with error
+};
+
+namespace spi {
+ void init(void);
+ void update(void);
+
+ void setMotors(uint8_t *data);
+
+ const jsdata& getJoystick(int num);
+
+ int getBatteryMain(void);
+ int getBatteryBackup(void);
+}
+
+#endif // __VEXSPI__
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