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/*-----------------------------------------------------------------------------*/
/* */
/* 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);
int getState(void);
}
#endif // __VEXSPI__
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