vexspi.h File Reference

SPI communication to the master processor, macros and prototypes. More...

Go to the source code of this file.

Data Structures
struct	_jsdata
	joystick data structure More...
union	_spiTxPacket
	SPI transmit data packet. More...
struct	_spiTxPacket::_spiTxPak
union	_spiRxPacket
	SPI receive data packet. More...
struct	_spiRxPacket::_spiRxPak
struct	_SpiData
	SPI data. More...

Macros
#define	CONVEX_TEAM_NAME   "CONVEX ";
	default team name More...
#define	vexTeamnameSet(name)   vexSpiTeamnameSet( name )

Typedefs
typedef struct _jsdata	jsdata
	joystick data structure More...
typedef union _spiTxPacket	spiTxPacket
	SPI transmit data packet. More...
typedef union _spiRxPacket	spiRxPacket
	SPI receive data packet. More...
typedef struct _SpiData	SpiData
	SPI data. More...

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

Detailed Description

SPI communication to the master processor, macros and prototypes.

Macro Definition Documentation

#define CONVEX_TEAM_NAME   "CONVEX ";

default team name

#define vexTeamnameSet

(

name)

vexSpiTeamnameSet( name )

Typedef Documentation

typedef struct _jsdata jsdata

joystick data structure

Format of the joystick component of the SPI receive packet The reserved bytes are really used for other purposes but we keep them here in V1.00

typedef union _spiTxPacket spiTxPacket

SPI transmit data packet.

Format of a SPI transmit packet - 16 words

typedef union _spiRxPacket spiRxPacket

SPI receive data packet.

Format of a SPI receive packet - 16 words

typedef struct _SpiData SpiData

SPI data.

All SPI related data collected in this structure

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

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 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 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

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 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