140 lines
3.7 KiB
C++
140 lines
3.7 KiB
C++
#ifndef COMPLIB_SERVER_SPI_HPP
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#define COMPLIB_SERVER_SPI_HPP
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#include <mutex>
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//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
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//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
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//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
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//SPI_MODE_3 (1,1) CPOL = 1, CPHA = 1, Clock idle high, data is clocked in on rising, edge output data (change) on falling edge
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#define SPI_BUFFER_SIZE 20
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#define SPI_SPEED 2000000 // 2 MHz
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#define SPI_BITS_PER_WORD 8
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class Spi {
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public:
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static Spi& getInstance()
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{
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static Spi instance;
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return instance;
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}
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Spi(Spi const&) = delete;
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void operator=(Spi const&) = delete;
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int read(uint8_t reg, uint8_t length);
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void read_array(uint8_t reg, uint8_t length, uint8_t* data);
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void write(uint8_t reg, uint8_t length, int value);
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void write_array(uint8_t reg, uint8_t length, const uint8_t* data);
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enum Register : uint8_t {
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IDENTIFICATION_MODEL_ID = 1,
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IDENTIFICATION_MODEL_REV_MAJOR = 2,
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IDENTIFICATION_MODEL_REV_MINOR = 3,
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IDENTIFICATION_MODEL_REV_PATCH = 4,
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// Motor encoder positions
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MOTOR_1_POS_B3 = 10,
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MOTOR_1_POS_B2 = 11,
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MOTOR_1_POS_B1 = 12,
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MOTOR_1_POS_B0 = 13,
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MOTOR_2_POS_B3 = 14,
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MOTOR_2_POS_B2 = 15,
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MOTOR_2_POS_B1 = 16,
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MOTOR_2_POS_B0 = 17,
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MOTOR_3_POS_B3 = 18,
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MOTOR_3_POS_B2 = 19,
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MOTOR_3_POS_B1 = 20,
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MOTOR_3_POS_B0 = 21,
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MOTOR_4_POS_B3 = 22,
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MOTOR_4_POS_B2 = 23,
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MOTOR_4_POS_B1 = 24,
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MOTOR_4_POS_B0 = 25,
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// PWM Control Modes
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PWM_1_CTRL = 26,
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PWM_2_CTRL = 27,
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PWM_3_CTRL = 28,
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PWM_4_CTRL = 29,
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// Motor pwm speed
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MOTOR_1_PWM_H = 30,
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MOTOR_1_PWM_L = 31,
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MOTOR_2_PWM_H = 32,
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MOTOR_2_PWM_L = 33,
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MOTOR_3_PWM_H = 34,
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MOTOR_3_PWM_L = 35,
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MOTOR_4_PWM_H = 36,
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MOTOR_4_PWM_L = 37,
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// Servo goal position
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SERVO_1_PWM_H = 38,
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SERVO_1_PWM_L = 39,
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SERVO_2_PWM_H = 40,
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SERVO_2_PWM_L = 41,
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SERVO_3_PWM_H = 42,
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SERVO_3_PWM_L = 43,
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SERVO_4_PWM_H = 44,
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SERVO_4_PWM_L = 45,
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SERVO_5_PWM_H = 46,
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SERVO_5_PWM_L = 47,
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SERVO_6_PWM_H = 48,
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SERVO_6_PWM_L = 49,
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SERVO_7_PWM_H = 50,
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SERVO_7_PWM_L = 51,
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SERVO_8_PWM_H = 52,
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SERVO_8_PWM_L = 53,
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// IR Sensor value
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IR_1_H = 54,
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IR_1_L = 55,
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IR_2_H = 56,
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IR_2_L = 57,
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IR_3_H = 58,
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IR_3_L = 59,
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IR_4_H = 60,
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IR_4_L = 61,
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IR_5_H = 62,
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IR_5_L = 63,
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IR_1_LED = 64,
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IR_2_LED = 65,
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IR_3_LED = 66,
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IR_4_LED = 67,
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IR_5_LED = 68,
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// Display registers
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DISPLAY_LINE_1_C0 = 69,
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DISPLAY_LINE_2_C0 = 85,
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DISPLAY_LINE_3_C0 = 101,
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DISPLAY_LINE_4_C0 = 117,
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// Motor encoder velocities
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MOTOR_1_VEL_H = 118,
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MOTOR_1_VEL_L = 119,
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MOTOR_2_VEL_H = 120,
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MOTOR_2_VEL_L = 121,
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MOTOR_3_VEL_H = 122,
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MOTOR_3_VEL_L = 123,
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MOTOR_4_VEL_H = 124,
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MOTOR_4_VEL_L = 125
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};
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private:
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Spi();
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int spi_file_descriptor{};
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uint8_t tx_buffer[SPI_BUFFER_SIZE] = {0};
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uint8_t rx_buffer[SPI_BUFFER_SIZE] = {0};
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std::recursive_mutex spi_mutex;
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void transfer();
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void clear_buffers();
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uint8_t calculate_checksum(uint8_t* data, uint8_t length);
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};
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#endif //COMPLIB_SERVER_SPI_HPP
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