compAIR/compLIB
compAIR/compLIB
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Rework PID

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root 2022-04-02 22:49:04 +01:00
parent 5d8df998ae
commit 1fc400c695
9 changed files with 186 additions and 56 deletions
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16
server/include/spi.hpp
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@ -1,6 +1,8 @@
#ifndef COMPLIB_SERVER_SPI_HPP
#define COMPLIB_SERVER_SPI_HPP
#include <mutex>
//SPI_MODE_0 (0,0) CPOL = 0, CPHA = 0, Clock idle low, data is clocked in on rising edge, output data (change) on falling edge
//SPI_MODE_1 (0,1) CPOL = 0, CPHA = 1, Clock idle low, data is clocked in on falling edge, output data (change) on rising edge
//SPI_MODE_2 (1,0) CPOL = 1, CPHA = 0, Clock idle high, data is clocked in on falling edge, output data (change) on rising edge
@ -106,7 +108,17 @@ public:
DISPLAY_LINE_1_C0 = 69,
DISPLAY_LINE_2_C0 = 85,
DISPLAY_LINE_3_C0 = 101,
DISPLAY_LINE_4_C0 = 117
DISPLAY_LINE_4_C0 = 117,
// 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
};
private:
@ -116,6 +128,8 @@ private:
uint8_t tx_buffer[SPI_BUFFER_SIZE] = {0};
uint8_t rx_buffer[SPI_BUFFER_SIZE] = {0};
std::recursive_mutex spi_mutex;
void transfer();
void clear_buffers();