compAIR/compLIB
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Rework library without unix sockets for now

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This commit is contained in:
Konstantin Lampalzer 2022-05-21 23:29:55 +02:00
parent e9ae1a320a
commit 0bef6035ae
30 changed files with 987 additions and 136 deletions
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213
server_v2/include/spi.hpp
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@ -14,126 +14,129 @@
class Spi {
public:
static Spi& getInstance()
{
static Spi instance;
return instance;
}
static Spi &getInstance() {
static Spi instance;
return instance;
}
Spi(Spi const&) = delete;
void operator=(Spi const&) = delete;
Spi(Spi const &) = delete;
int read(uint8_t reg, uint8_t length);
void read_array(uint8_t reg, uint8_t length, uint8_t* data);
void write(uint8_t reg, uint8_t length, int value);
void write_array(uint8_t reg, uint8_t length, const uint8_t* data);
enum Register : uint8_t {
IDENTIFICATION_MODEL_ID = 1,
IDENTIFICATION_MODEL_REV_MAJOR = 2,
IDENTIFICATION_MODEL_REV_MINOR = 3,
IDENTIFICATION_MODEL_REV_PATCH = 4,
void operator=(Spi const &) = delete;
// Motor encoder positions
MOTOR_1_POS_B3 = 10,
MOTOR_1_POS_B2 = 11,
MOTOR_1_POS_B1 = 12,
MOTOR_1_POS_B0 = 13,
MOTOR_2_POS_B3 = 14,
MOTOR_2_POS_B2 = 15,
MOTOR_2_POS_B1 = 16,
MOTOR_2_POS_B0 = 17,
MOTOR_3_POS_B3 = 18,
MOTOR_3_POS_B2 = 19,
MOTOR_3_POS_B1 = 20,
MOTOR_3_POS_B0 = 21,
MOTOR_4_POS_B3 = 22,
MOTOR_4_POS_B2 = 23,
MOTOR_4_POS_B1 = 24,
MOTOR_4_POS_B0 = 25,
int read(uint8_t reg, uint8_t length);
// PWM Control Modes
PWM_1_CTRL = 26,
PWM_2_CTRL = 27,
PWM_3_CTRL = 28,
PWM_4_CTRL = 29,
void read_array(uint8_t reg, uint8_t length, uint8_t *data);
// Motor pwm speed
MOTOR_1_PWM_H = 30,
MOTOR_1_PWM_L = 31,
MOTOR_2_PWM_H = 32,
MOTOR_2_PWM_L = 33,
MOTOR_3_PWM_H = 34,
MOTOR_3_PWM_L = 35,
MOTOR_4_PWM_H = 36,
MOTOR_4_PWM_L = 37,
void write(uint8_t reg, uint8_t length, int value);
// Servo goal position
SERVO_1_PWM_H = 38,
SERVO_1_PWM_L = 39,
SERVO_2_PWM_H = 40,
SERVO_2_PWM_L = 41,
SERVO_3_PWM_H = 42,
SERVO_3_PWM_L = 43,
SERVO_4_PWM_H = 44,
SERVO_4_PWM_L = 45,
SERVO_5_PWM_H = 46,
SERVO_5_PWM_L = 47,
SERVO_6_PWM_H = 48,
SERVO_6_PWM_L = 49,
SERVO_7_PWM_H = 50,
SERVO_7_PWM_L = 51,
SERVO_8_PWM_H = 52,
SERVO_8_PWM_L = 53,
void write_array(uint8_t reg, uint8_t length, const uint8_t *data);
// IR Sensor value
IR_1_H = 54,
IR_1_L = 55,
IR_2_H = 56,
IR_2_L = 57,
IR_3_H = 58,
IR_3_L = 59,
IR_4_H = 60,
IR_4_L = 61,
IR_5_H = 62,
IR_5_L = 63,
IR_1_LED = 64,
IR_2_LED = 65,
IR_3_LED = 66,
IR_4_LED = 67,
IR_5_LED = 68,
enum Register : uint8_t {
IDENTIFICATION_MODEL_ID = 1,
IDENTIFICATION_MODEL_REV_MAJOR = 2,
IDENTIFICATION_MODEL_REV_MINOR = 3,
IDENTIFICATION_MODEL_REV_PATCH = 4,
// Display registers
DISPLAY_LINE_1_C0 = 69,
DISPLAY_LINE_2_C0 = 85,
DISPLAY_LINE_3_C0 = 101,
DISPLAY_LINE_4_C0 = 117,
// Motor encoder positions
MOTOR_1_POS_B3 = 10,
MOTOR_1_POS_B2 = 11,
MOTOR_1_POS_B1 = 12,
MOTOR_1_POS_B0 = 13,
MOTOR_2_POS_B3 = 14,
MOTOR_2_POS_B2 = 15,
MOTOR_2_POS_B1 = 16,
MOTOR_2_POS_B0 = 17,
MOTOR_3_POS_B3 = 18,
MOTOR_3_POS_B2 = 19,
MOTOR_3_POS_B1 = 20,
MOTOR_3_POS_B0 = 21,
MOTOR_4_POS_B3 = 22,
MOTOR_4_POS_B2 = 23,
MOTOR_4_POS_B1 = 24,
MOTOR_4_POS_B0 = 25,
// Motor encoder velocities
MOTOR_1_VEL_H = 118,
MOTOR_1_VEL_L = 119,
MOTOR_2_VEL_H = 120,
MOTOR_2_VEL_L = 121,
MOTOR_3_VEL_H = 122,
MOTOR_3_VEL_L = 123,
MOTOR_4_VEL_H = 124,
MOTOR_4_VEL_L = 125
};
// PWM Control Modes
PWM_1_CTRL = 26,
PWM_2_CTRL = 27,
PWM_3_CTRL = 28,
PWM_4_CTRL = 29,
// Motor pwm speed
MOTOR_1_PWM_H = 30,
MOTOR_1_PWM_L = 31,
MOTOR_2_PWM_H = 32,
MOTOR_2_PWM_L = 33,
MOTOR_3_PWM_H = 34,
MOTOR_3_PWM_L = 35,
MOTOR_4_PWM_H = 36,
MOTOR_4_PWM_L = 37,
// Servo goal position
SERVO_1_PWM_H = 38,
SERVO_1_PWM_L = 39,
SERVO_2_PWM_H = 40,
SERVO_2_PWM_L = 41,
SERVO_3_PWM_H = 42,
SERVO_3_PWM_L = 43,
SERVO_4_PWM_H = 44,
SERVO_4_PWM_L = 45,
SERVO_5_PWM_H = 46,
SERVO_5_PWM_L = 47,
SERVO_6_PWM_H = 48,
SERVO_6_PWM_L = 49,
SERVO_7_PWM_H = 50,
SERVO_7_PWM_L = 51,
SERVO_8_PWM_H = 52,
SERVO_8_PWM_L = 53,
// IR Sensor value
IR_1_H = 54,
IR_1_L = 55,
IR_2_H = 56,
IR_2_L = 57,
IR_3_H = 58,
IR_3_L = 59,
IR_4_H = 60,
IR_4_L = 61,
IR_5_H = 62,
IR_5_L = 63,
IR_1_LED = 64,
IR_2_LED = 65,
IR_3_LED = 66,
IR_4_LED = 67,
IR_5_LED = 68,
// Display registers
DISPLAY_LINE_1_C0 = 69,
DISPLAY_LINE_2_C0 = 85,
DISPLAY_LINE_3_C0 = 101,
DISPLAY_LINE_4_C0 = 117,
// Motor encoder velocities
MOTOR_1_VEL_H = 133,
MOTOR_1_VEL_L = 134,
MOTOR_2_VEL_H = 135,
MOTOR_2_VEL_L = 136,
MOTOR_3_VEL_H = 137,
MOTOR_3_VEL_L = 138,
MOTOR_4_VEL_H = 139,
MOTOR_4_VEL_L = 140
};
private:
Spi();
Spi();
int spi_file_descriptor{};
uint8_t tx_buffer[SPI_BUFFER_SIZE] = {0};
uint8_t rx_buffer[SPI_BUFFER_SIZE] = {0};
int spi_file_descriptor{};
uint8_t tx_buffer[SPI_BUFFER_SIZE] = {0};
uint8_t rx_buffer[SPI_BUFFER_SIZE] = {0};
std::recursive_mutex spi_mutex;
std::recursive_mutex spi_mutex;
void transfer();
void clear_buffers();
void transfer();
uint8_t calculate_checksum(uint8_t* data, uint8_t length);
void clear_buffers();
uint8_t calculate_checksum(uint8_t *data, uint8_t length);
};