usbMSP430Interface.cpp File Reference

#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <QtCore/QByteArray>
#include <QtCore/QString>
#include <QtCore/QObject>
#include <QtCore/QThread>
#include <QsLog.h>
#include "usbMSP430Defines.h"
#include "usbMSP430Interface.h"

Include dependency graph for usbMSP430Interface.cpp:

Classes
class	Sleeper
	Delays class. More...

Functions
uint32_t	hex2num (char *string, uint16_t pos, uint16_t numsize)
	Extract number from packet. More...
void	makeWriteRegPacket (char *msp_packet, uint8_t dev_addr, uint8_t reg_addr, uint32_t reg_val)
	Make write register packet. More...
void	makeReadRegPacket (char *msp_packet, uint8_t dev_addr, uint8_t reg_addr)
	Make read register packet. More...
uint32_t	decodeReceivedPacket (char *msp_packet, uint8_t &dev_addr, uint8_t &func_code, uint8_t &reg_addr, uint32_t &reg_val)
	Function for decoding received packet. More...
uint32_t	init_USBTTYDevice ()
	Init USB TTY device. More...
uint32_t	sendUSBPacket (char *in_msp_packet, char *out_msp_packet)
	Send USB packet. More...
uint32_t	init_motors_USBMSP ()
	Init power motors. More...
uint32_t	init_servomotors_USBMSP ()
	Init servo motors. More...
uint32_t	init_encoders_USBMSP ()
	Init encoders. More...
uint32_t	init_sensors_USBMSP ()
	Init sensors. More...
uint32_t	init_dhtxx_sensors_USBMSP ()
	Init DHTxx sensors. More...
uint32_t	init_i2c_sensors_USBMSP ()
	Init I2C sensors. More...
uint32_t	connect_USBMSP ()
	Connect to USB MSP430 device. More...
uint32_t	disconnect_USBMSP ()
	Disconnect from USB MSP430 device. More...
uint32_t	power_Motor (QByteArray const &i2c_data)
	Motor power control function. More...
uint32_t	freq_Motor (QByteArray const &i2c_data)
	Set motor frequency function. More...
uint32_t	reset_Encoder (QByteArray const &i2c_data)
	Reset encoder function. More...
uint32_t	read_Encoder (QByteArray const &i2c_data)
	Read encoder function. More...
uint32_t	init_URM04 (uint8_t i2c_addr, uint8_t usart_addr)
	Init I2C + USART + URM04. More...
uint32_t	read_URM04_dist (uint8_t dev_addr, uint8_t urm04_addr)
	Read URM04 distance function. More...
uint32_t	read_Sensor (QByteArray const &i2c_data)
	Read sensor function. More...
uint32_t	send_USBMSP (QByteArray const &i2c_data)
	Send data to MSP430 via USB. More...
uint32_t	read_USBMSP (QByteArray const &i2c_data)
	Read data from MSP430 via USB. More...

Variables
volatile uint16_t	mper
volatile uint16_t	sper
int	usb_out_descr
struct termios	usb_tty
volatile uint8_t	alt_func_flag
uint8_t	addr_table_i2c_usb [84]

Function Documentation

uint32_t connect_USBMSP

(

)

Connect to USB MSP430 device.

uint32_t decodeReceivedPacket	(	char *	msp_packet,
		uint8_t &	dev_addr,
		uint8_t &	func_code,
		uint8_t &	reg_addr,
		uint32_t &	reg_val
	)

Function for decoding received packet.

uint32_t disconnect_USBMSP

(

)

Disconnect from USB MSP430 device.

uint32_t freq_Motor

(

QByteArray const &

i2c_data

)

Set motor frequency function.

uint32_t hex2num	(	char *	string,
		uint16_t	pos,
		uint16_t	numsize
	)

Extract number from packet.

uint32_t init_dhtxx_sensors_USBMSP

(

)

Init DHTxx sensors.

uint32_t init_encoders_USBMSP

(

)

Init encoders.

uint32_t init_i2c_sensors_USBMSP

(

)

Init I2C sensors.

uint32_t init_motors_USBMSP

(

)

Init power motors.

Init motors.

uint32_t init_sensors_USBMSP

(

)

Init sensors.

uint32_t init_servomotors_USBMSP

(

)

Init servo motors.

uint32_t init_URM04	(	uint8_t	i2c_addr,
		uint8_t	usart_addr
	)

Init I2C + USART + URM04.

uint32_t init_USBTTYDevice

(

)

Init USB TTY device.

void makeReadRegPacket	(	char *	msp_packet,
		uint8_t	dev_addr,
		uint8_t	reg_addr
	)

Make read register packet.

void makeWriteRegPacket	(	char *	msp_packet,
		uint8_t	dev_addr,
		uint8_t	reg_addr,
		uint32_t	reg_val
	)

Make write register packet.

uint32_t power_Motor

(

QByteArray const &

i2c_data

)

Motor power control function.

uint32_t read_Encoder

(

QByteArray const &

i2c_data

)

Read encoder function.

uint32_t read_Sensor

(

QByteArray const &

i2c_data

)

Read sensor function.

uint32_t read_URM04_dist	(	uint8_t	dev_addr,
		uint8_t	urm04_addr
	)

Read URM04 distance function.

uint32_t read_USBMSP

(

QByteArray const &

i2c_data

)

Read data from MSP430 via USB.

uint32_t reset_Encoder

(

QByteArray const &

i2c_data

)

Reset encoder function.

uint32_t send_USBMSP

(

QByteArray const &

i2c_data

)

Send data to MSP430 via USB.

uint32_t sendUSBPacket	(	char *	in_msp_packet,
		char *	out_msp_packet
	)

Send USB packet.

Variable Documentation

uint8_t addr_table_i2c_usb[84]

Initial value:

=   
        {0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
        0, 0, 0, 0, 0, 0, MOTOR1, MOTOR2, MOTOR3, MOTOR4,
        MOTOR1, MOTOR2, MOTOR4, MOTOR3, 0, 0, 0, 0, 0, 0,
        0, 0, SENSOR6, SENSOR5, SENSOR4, SENSOR3, SENSOR2, SENSOR1, SENSOR17, 0,
        0, 0, 0, 0, 0, 0, 0, 0, ENCODER1, ENCODER2,
        ENCODER3, ENCODER4, 0, 0, 0, 0, 0, 0, 0, 0,
        0, 0, 0, SPWM1, SPWM2, SPWM3, SPWM4, SPWM5, SPWM6, SPWM7,
        SPWM8, SPWM9, SPWM10, SPWM11, SPWM12, SPWM13, SPWM14, I2C1, I2C2, I2C3,
        I2C4, I2C5, I2C6, I2C7}

volatile uint8_t alt_func_flag

volatile uint16_t mper

volatile uint16_t sper

int usb_out_descr

struct termios usb_tty