// SPI command header file // May08 start, // Oct08, CS as mapped from the 74hc238 on Main Spray V1.0 board // Oct2008, CS lines are mapped via the 74hc238 // CF2 input lines (CS0-3) are mapped to the following '238 pins: // CS0 -> '238 OE = OUTPUT ENABLE (needs always to be selected)CS0=0x01 // CS1 -> '238 C CS1 = bit 1 = 0x02 // CS2 -> '238 B CS2 = bit 2 = 0x04 // CS3 -> '238 A CS3 = bit 3 = 0x08 #define CS_Y0 0x01 // CBA = 000 + CS0 #define CS_ROLL 0x09 // CBA = 001 -> CS3=on + CS0 #define CS_PITCH 0x05 // CBA = 010 -> CS2=on + CS0 #define CS_HYD 0x0D // CBA = 011 -> CS2, CS3=on + CS0 #define CS_GPIO 0x03 // CBA = 100 -> CS1=on + CS0 #define CS_Y5 0x0B // CBA = 101 -> CS1, CS3=on + CS0 #define CS_Y6 0x07 // CBA = 110 -> CS1+CS2=on + CS0 #define CS_Y7 0x0F // CBA = 111 -> all on // Y0, Y5-Y7 are presently open for SPI expansion //function prototypes --------------------------------------------------------- void init_qsm ( short m_cs ); void init_spi ( void ); void setup_spi ( short cs, struct spi_param *ss ); short xfr_SPI_byte ( short pcs, uchar b ); // send b, return reply short xfr_SPI_hex ( short pcs, uchar b ); uchar update_crc (int data, unsigned char crc ); short spi_check_CRC ( struct spi_param *ss ); // check sent value of CRC short spi_calc_CRC ( struct spi_param *ss ); // calc CRC value to send uchar b2hex ( short x ); // convert x=0..15 to '0'..'f' short hex2b ( uchar b ); // convert '0'..'f' to 0..15 value void spi_compose_hex ( struct spi_param *ss ); // convert binary to hex void spi_compose_bin ( struct spi_param *ss ); // convert hex to binary void spi_send_stop ( short cs ); short spi_get_attn ( short pcs, short ntry ); // get attn of the slave short spi_try_send ( struct spi_param *ss, short ntry ); short spi_send_cmd ( struct spi_param *ss ); // send the cmd in the struct short spi_query ( struct spi_param *ss ); // query for a response short parse_query_ss ( short rstat, struct spi_param *ss ); void display_gen_query ( short rstat, struct spi_param *ss ); void display_dump ( struct spi_param *ss ); void display_ver ( void ); void display_general_ad12 ( struct spi_param *ss ); void display_pwr ( struct spi_param *ss ); short spi_cmd_ver ( short cs ); // get the module's version info. short spi_aux_pwr ( short val, struct spi_param *ss ); short power_on_off ( short cs, short sensor, short on ); short spi_ad12 ( short val, struct spi_param *ss ); short ant_select ( short ant ); short spi_pwr_rst ( short cs ); short spi_pwr_get ( struct spi_param *ss ); void hpr_pwr_get ( short cs ); short rqst_a2d ( short cs, short chan ); short get_a2d ( short cs, short chan ); short r_get_a2d ( short cs, short chan ); short last_a2d ( short cs, short chan ); short rqst_flash_0 ( short cs ); short spi_flash_dump ( short b, struct spi_param *ss ); short spi_flash_write ( short b, short v , struct spi_param *ss ); void msp430_store_short ( short val, char *addr ); // store val in next 2 bytes // character constants that are used for the SPI exchange #define SPI_BAD -1 // flag that SPI XFR had hardware problem #define SPI_OK ' ' // response that master or slave is OK, ready to receive #define SPI_ATTN '!' // Request for attention; used before sending a command #define SPI_BUSY '.' // Response that the cpu is busy: try again later. #define SPI_RESET '*' // Request for aborting the command-line & resetting buffers. #define SPI_STOP 'S' // Emergency stop! // after ATTN, then: Master sends a command, or receives a command #define SPI_CSEND '>' // Start of command-line = command string follows. #define SPI_QGET '<' // Start of Request-line: slave sends the command string // the above character is followed by the hexadecimal data, // then the CRC, and then #define SPI_END ';' // End of command-line // with a reply of either #define SPI_CRC_OK '#' // command-line received and CRC is OK #define SPI_CRC_ERR 'X' // CRC error #define SPI_ERR '?' // general parsing error #define SPI_NO_Q 'q' // used by spi_query as return value that no message in q // periperal-specific commands: // this byte follows the SPI_CSEND character #define SPI_VER 21 // ask for the code version from the slave #define AUX_PWR 22 // turn on/off necessary sensor power #define SPI_MEASURE 23 // update any measurements #define MOTOR_RUN 24 // Run the motor in the specified direction/time #define FL_BLOCK_RD 25 // Read a 64-byte block of information flash & return #define FL_WORD_WR 26 // write a word to flash #define PWR_RESET 27 // reset the power accum variables #define PWR_RQST 28 // request for the average power since last reset // sub-commands for the a/d #define AD_LAST 99 // if ad_chan = AD_LAST, last buffered val is sent //specific to the GPIO/Watchdog module========================================= #define SPI_MUX 30 // configures the GPIO serial/mux devices (list in gpio_mux.h) #define ANT_SWITCH 31 // configures the antenna switch #define SPI_WDOG 32 // watchdog command request // sub-commands for the watchdog #define WDT_RESET 21 // reset the watchdog counter to 0 #define WDT_QUERY 22 // query for the present settings #define WDT_SET_PRM 23 // set the watchdog parameters //specific to hydraulic module ================================================ #define SETUP_PUMP 40 // set up the hyd pump parameters #define GO_PUMP 41 // run the pump for the specific amount of time #define HYD_MORE_PUMP 42 // pump for an increased time: used at the bottom turn #define HYD_STOP_PUMP 43 // request to do emergency stop pump #define GO_VENT 44 // request to run the vent, up to max sec. //specific to the pitch/roll module =========================================== #define LAST_RQST 51 // request for last motor operation stats. #define CLEAR_RQST 52 // clear the buffer for the last request // flash addr locations in msp430 // !!!WARNING!!! THESE MUST AGREE WITH MSP430 VALUES !!!!! #define F_SER_NO 0 // serial # of this peripheral //#define F_1000S 60 // #s actually occurred over a 1000s count //*** end *********************************************************************