vexspi.c File Reference

SPI communication to the master processor. More...

#include <stdlib.h>
#include "ch.h"
#include "hal.h"
#include "chprintf.h"
#include "vex.h"

Macros
#define	SPI_BATTERY_SCALE   59
	Scale factor for getting battery level in mV. More...

Functions
void	vexSpiInit ()
	Init the SPI communication to the master processor. More...
void	vexSpiTeamnameSet (char *name)
	Set the team name. More...
short	vexSpiGetOnlineStatus ()
	We use presence of js_1 as indication of good joystick data. More...
jsdata *	vexSpiGetJoystickDataPtr (int16_t index)
	return a pointer to a raw joystick data structure More...
uint16_t	vexSpiGetControl ()
	Get competition and status word. More...
uint16_t	vexSpiGetMainBattery ()
	Get main battery level. More...
uint16_t	vexSpiGetBackupBattery ()
	Get backup battery level. More...
void	vexSpiSetMotor (int16_t index, int16_t data, bool_t reversed)
	Set motor value in the SPI tx data array. More...
void	vexSpiTickDelay (int16_t tick)
	Pause for exactly tick uS. More...
void	vexSpiSend ()
	Send/receive one message with the master processor. More...
void	vexSpiDebug (vexStream *chp, int argc, char *argv[])
	Debug function to dump SPI buffers. More...

Detailed Description

SPI communication to the master processor.

Macro Definition Documentation

#define SPI_BATTERY_SCALE   59

Scale factor for getting battery level in mV.

Function Documentation

void vexSpiInit

(

void

)

Init the SPI communication to the master processor.

void vexSpiTeamnameSet

(

char *

name)

Set the team name.

Parameters

[in]

name

pointer to string

short vexSpiGetOnlineStatus

(

void

)

We use presence of js_1 as indication of good joystick data.

Returns

online status

Return values

1	= online
0	= offline

jsdata* vexSpiGetJoystickDataPtr

(

int16_t

index)

return a pointer to a raw joystick data structure

Parameters

[in]

index

Which joystick to use, 1 or 2

Returns

pointer to _jsdata structure

uint16_t vexSpiGetControl

(

void

)

Get competition and status word.

Returns

The status word from the spi data

uint16_t vexSpiGetMainBattery

(

void

)

Get main battery level.

Returns

The battery level in mV

Note

Battery level has a resolution of 59mV

uint16_t vexSpiGetBackupBattery

(

void

)

Get backup battery level.

Returns

The battery level in mV

Note

Battery level has a resolution of 59mV

void vexSpiSetMotor	(	int16_t	index,
		int16_t	data,
		bool_t	reversed
	)

Set motor value in the SPI tx data array.

Parameters

[in]	index	The index of the motor, range is 0 through 7
[in]	data	The motor command data in the range +/- 127
[in]	reversed	A flag indicating the motor data is reversed

This function is used to set the data for one of the 3 wire motor ports on the master processor. These correspond to cortex ports 2 through 9 but are indexed here as ports 0 through 7

void vexSpiTickDelay

(

int16_t

tick)

Pause for exactly tick uS.

Parameters

[in]

tick

The delay in uS

Note

New version suspends thread, timer callback wakes thread

Internal SPI driver use only

void vexSpiSend

(

void

)

Send/receive one message with the master processor.

Note

This is generally called by the system task

This implementation is based on the EasyC code but with the loop delays/ replaced with the use of a timer so compiler optimization can be used. Timing was then changed so there is really not much resemblance to the original code.

void vexSpiDebug	(	vexStream *	chp,
		int	argc,
		char *	argv[]
	)

Debug function to dump SPI buffers.

Parameters

[in]	chp	A pointer to a vexStream object
[in]	argc	The number of command line arguments
[in]	argv	An array of pointers to the command line args