uint8_t flush_tx(void)
{
uint8_t status;
csn(LOW);
status = spiSendData( FLUSH_TX );
csn(HIGH);
return status;
}
uint8_t read_payload(unit8_t* buf, uint8_t len)
{
uint8_t status;
uint8_t data_len = min(len,payload_size);
uint8_t blank_len = dynamic_payloads_enabled ? 0 : payload_size - data_len;
//printf("[Reading %u bytes %u blanks]",data_len,blank_len);
csn(LOW);
status = spiSendData( R_RX_PAYLOAD );
while ( data_len-- )
*buf++ = spiSendData(0xff);
while ( blank_len-- )
spiSendData(0xff);
csn(HIGH);
return status;
}
uint8_t write_payload(const uint8_t* buf, uint8_t len)
{
uint8_t status;
uint8_t data_len = min(len,payload_size);
uint8_t blank_len = dynamic_payloads_enabled ? 0 : payload_size - data_len;
//printf("[Writing %u bytes %u blanks]",data_len,blank_len);
csn(LOW);
status = spiSendData( W_TX_PAYLOAD );
while ( data_len-- )
spiSendData(*buf++);
while ( blank_len-- )
spiSendData(0);
csn(HIGH);
return status;
}
void BnrOneA::movePID(int speedL,int speedR)
{
byte speedL_H=highByte(speedL);
byte speedL_L=lowByte(speedL);
byte speedR_H=highByte(speedR);
byte speedR_L=lowByte(speedR);
byte buffer[]={KEY1,KEY2,speedL_H,speedL_L,speedR_H,speedR_L};
spiSendData(COMMAND_MOVE_PID,buffer,sizeof(buffer));
delay(5);//Wait while command is processed
}
/**
* Send configuration data to the slave
*
*
* Input : address is the address of the configuration register
* data is the data going to be written into the configuration register
*
* Output : 1 for OK
* 0 for failure as the master did not receive ACK from the slave
*/
uint8 spiSendConfig(uint32 address,uint8 *data)
{
if(!spiSendCommand(CONFIG))
return 0;
if(!spiSendAddressOnly(address))
return 0;
if(!spiSendData(data,1,0))
return 0;
return 1 ;
}
void BnrOneA::minBat(float batmin)
{
int intg=(int)batmin;
int dec=(int)((batmin-intg)*1000);
byte intg_H=highByte(intg);
byte intg_L=lowByte(intg);
byte dec_H=highByte(dec);
byte dec_L=lowByte(dec);
byte buffer[]={KEY1,KEY2,intg_H,intg_L,dec_H,dec_L};
spiSendData(COMMAND_BAT_MIN,buffer,sizeof(buffer));
delay(25);//Wait while command is processed
}
///////////////////////////////////////////////////////////////////////
//private routines
///////////////////////////////////////////////////////////////////////
byte BnrOneA::spiRequestByte(byte command)
{
byte value=(byte)0xFF;
byte buffer[]={KEY1,KEY2};
spiSendData(command,buffer,sizeof(buffer));//Request data from master
digitalWrite(_sspin, LOW); // Select the SPI Slave device to start communication.
delayMicroseconds(10);
value=SPI.transfer(0x00); // Reads one byte
delayMicroseconds(60);
digitalWrite(_sspin, HIGH); // Close communication with slave device.
delayMicroseconds(10);
return value;
}
void BnrOneA::setPID(int kp, int ki, int kd)
{
byte kp_H=highByte(kp);
byte kp_L=lowByte(kp);
byte ki_H=highByte(ki);
byte ki_L=lowByte(ki);
byte kd_H=highByte(kd);
byte kd_L=lowByte(kd);
byte buffer[]={KEY1,KEY2,kp_H,kp_L,ki_H,ki_L,kd_H,kd_L};
spiSendData(COMMAND_PID_CFG,buffer,sizeof(buffer));
delay(20);//Wait while command is processed
}
/**
* Send specific address to the slave
* Note : For sending configuration words and reading device ID purpose only
*
* Input : address is the specific address to be sent to the slave
*
* Output : 1 for OK
* 0 for failure as the master did not receive ACK from the slave
*/
uint8 spiSendAddressOnly(uint32 address)
{
uint8 addressArray[3] ;
addressArray[0] = address ;
addressArray[1] = address >> 8 ;
addressArray[2] = address >> 16 ;
if(!spiSendData(addressArray,3,0))
return 0 ;
else
return 1 ;
}
void Emutex_MAX9657::resetOutputs(void) {
if (!initialised)
return;
for (byte reg = 0; reg < sizeof(port_data_reg_addr); reg++) {
byte len = 0;
for (byte dev = 0; dev < ndev; dev++) {
output_state[dev][reg] = 0x0;
spidata[len++] = port_data_reg_addr[reg];
spidata[len++] = output_state[dev][reg];
do_refresh[dev][reg] = false;
}
spiSendData(len);
}
}
/**
* Send starting address of a segment to the slave
*
* Input : fb contains the segment number
*
* Output : 1 for OK
* 0 for failure as the master did not receive ACK from the slave
*/
uint8 spiSendAddressSegment(FlashBuffer *fb)
{
uint8 addressArray[3] ;
uint32 address = fb->segment * 0x40;
addressArray[0] = address ;
addressArray[1] = address >> 8 ;
addressArray[2] = address >> 16 ;
if(!spiSendData(addressArray,3,0))
return 0 ;
else
return 1 ;
}
void BnrOneA::lcd1(long int number)
{
int i, a=0;
byte buffer[19];
char string[17];
a=sprintf(string,"%ld",number);
buffer[0]=KEY1;
buffer[1]=KEY2;
for(i=0;i<16;i++){
buffer[i+2]=string[i];
}
for(i=a;i<16;i++){
buffer[i+2]=(' ');
}
spiSendData(COMMAND_LCD_L1,buffer,sizeof(buffer));
delay(19);//Wait while command is processed
}
void BnrOneA::lcd2(unsigned int num1, unsigned int num2, unsigned int num3)
{
int i, a=0;
byte buffer[19];
char string[17];
a=sprintf(string,"%5u%5u%5u",num1,num2,num3);
buffer[0]=KEY1;
buffer[1]=KEY2;
for(i=0;i<16;i++){
buffer[i+2]=string[i];
}
for(i=a;i<16;i++){
buffer[i+2]=(' ');
}
spiSendData(COMMAND_LCD_L2,buffer,sizeof(buffer));
delay(19);//Wait while command is processed
}
void BnrOneA::lcd1(const char string[],double number)
{
int i, a, b;
char string1[19];
char string2[19];
byte buffer[19];
int intg, dec;
bool flag_neg=0;
for(i=0;i<16;i++){
string2[i]=string[i];
}
string2[16]=0;
a=sprintf(string1,string2);
buffer[0]=KEY1;
buffer[1]=KEY2;
for(i=0;i<a;i++){
buffer[i+2]=string1[i];
}
a+=2;
if (number<-0.0001){
flag_neg=1;
number*=-1.0;
}
dec = round((number-((double)(int)number))*100.0) % 100;
intg = (dec==0 ? round(number):(int)number);
b=sprintf(string2,"%d.%02d ",intg,dec);
if (flag_neg==1){
buffer[a]='-';
a++;
}
for(i=0;i<b;i++){
if((i+a)<18)
buffer[i+a]=string2[i];
}
for(i=0;i<18;i++){
Serial.println(buffer[i],DEC);
}
Serial.println();
spiSendData(COMMAND_LCD_L1,buffer,sizeof(buffer));
delay(19);//Wait while command is processed
}
void Emutex_MAX9657::updateOutputs(void) {
if (!initialised)
return;
for (byte reg = 0; reg < sizeof(port_data_reg_addr); reg++) {
byte len = 0;
for (byte dev = 0; dev < ndev; dev++) {
if (do_refresh[dev][reg]) {
spidata[len++] = port_data_reg_addr[reg];
spidata[len++] = output_state[dev][reg];
do_refresh[dev][reg] = false;
} else {
spidata[len++] = ADDR_NO_OP;
spidata[len++] = 0;
}
}
if (len)
spiSendData(len);
}
}
void BnrOneA::lcd2(byte string[])
{
int i,a;
byte buffer[19];
char string1[19],string2[19];
for(i=0;i<16;i++){
string2[i]=string[i];
}
string2[16]=0;
a=sprintf(string1,string2);
buffer[0]=KEY1;
buffer[1]=KEY2;
for(i=0;i<a;i++){
buffer[i+2]=string1[i];
}
for(i=a;i<16;i++){
buffer[i+2]=' ';
}
spiSendData(COMMAND_LCD_L2,buffer,sizeof(buffer));
delay(19);//Wait while command is processed
}
int BnrOneA::spiRequestWord(byte command)
{
byte value[2]={0,0};
int i=0;
byte buffer[]={KEY1,KEY2};
spiSendData(command,buffer,sizeof(buffer));//Request data from master
digitalWrite(_sspin, LOW); // Select the SPI Slave device to start communication.
delayMicroseconds(10);
for (i=0; i<2; i++)
{
value[i]=SPI.transfer(0x00); // Reads one byte
delayMicroseconds(60);
}
i=0;
i=value[0];
i=i<<8;
i=i+value[1];
digitalWrite(_sspin, HIGH); // Close communication with slave device.
delayMicroseconds(10);
return i;
}
void BnrOneA::brake(byte torqueL,byte torqueR)
{
byte buffer[]={KEY1,KEY2,torqueL,torqueR};
spiSendData(COMMAND_BRAKE,buffer,sizeof(buffer));
delay(5);//Wait while command is processed
}
void BnrOneA::stop()
{
byte buffer[]={KEY1,KEY2};
spiSendData(COMMAND_STOP,buffer,sizeof(buffer));
delay(5);//Wait while command is processed
}
void BnrOneA::stop1m(byte motor)
{
byte buffer[]={KEY1,KEY2,motor};
spiSendData(COMMAND_STOP_1M,buffer,sizeof(buffer));
delay(5);//Wait while command is processed
}
void BnrOneA::brake1m(byte motor)
{
byte buffer[]={KEY1,KEY2,motor,BRAKE_TORQUE};
spiSendData(COMMAND_BRAKE_1M,buffer,sizeof(buffer));
delay(5);//Wait while command is processed
}
void BnrOneA::resetEncR()
{
byte buffer[]={KEY1,KEY2};
spiSendData(COMMAND_ENCR_RESET,buffer,sizeof(buffer));
delay(1);//Wait while command is processed
}
void BnrOneA::servo2(byte position)
{
byte buffer[]={KEY1,KEY2,position};
spiSendData(COMMAND_SERVO2,buffer,sizeof(buffer));
delay(2);//Wait while command is processed
}
