00001 /* 00002 * Copyright (c) 2013, Shadow Robot Company, All rights reserved. 00003 * 00004 * This library is free software; you can redistribute it and/or 00005 * modify it under the terms of the GNU Lesser General Public 00006 * License as published by the Free Software Foundation; either 00007 * version 3.0 of the License, or (at your option) any later version. 00008 * 00009 * This library is distributed in the hope that it will be useful, 00010 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00012 * Lesser General Public License for more details. 00013 * 00014 * You should have received a copy of the GNU Lesser General Public 00015 * License along with this library. 00016 */ 00017 00025 #ifndef _SPI_HARDWARE_INTERFACE_H_ 00026 #define _SPI_HARDWARE_INTERFACE_H_ 00027 00028 #include <ros_ethercat_model/hardware_interface.hpp> 00029 #include <sr_ronex_external_protocol/Ronex_Protocol_0x02000002_SPI_00.h> 00030 #include <vector> 00031 #include <sr_ronex_utilities/sr_ronex_utilities.hpp> 00032 00033 namespace ronex 00034 { 00045 class SPI 00046 : public ros_ethercat_model::CustomHW 00047 { 00048 public: 00049 SPI() 00050 { 00051 state_.reset(new RONEX_STATUS_02000002()); 00052 command_.reset(new RONEX_COMMAND_02000002()); 00053 } 00054 00055 boost::shared_ptr<RONEX_STATUS_02000002> state_; 00056 boost::shared_ptr<RONEX_COMMAND_02000002> command_; 00057 00058 inline void nullify_command(size_t spi_index) 00059 { 00060 command_->command_type = RONEX_COMMAND_02000002_COMMAND_TYPE_NORMAL; 00061 00062 // set allocated CS pins to high (pre and post) 00063 switch ( spi_index ) 00064 { 00065 case 0: 00066 command_->pin_output_states_pre |= PIN_OUTPUT_STATE_CS_0; 00067 command_->pin_output_states_post |= PIN_OUTPUT_STATE_CS_0; 00068 break; 00069 00070 case 1: 00071 command_->pin_output_states_pre |= PIN_OUTPUT_STATE_CS_1; 00072 command_->pin_output_states_post |= PIN_OUTPUT_STATE_CS_1; 00073 break; 00074 00075 case 2: 00076 command_->pin_output_states_pre |= PIN_OUTPUT_STATE_CS_2; 00077 command_->pin_output_states_post |= PIN_OUTPUT_STATE_CS_2; 00078 break; 00079 00080 case 3: 00081 command_->pin_output_states_pre |= PIN_OUTPUT_STATE_CS_3; 00082 command_->pin_output_states_post |= PIN_OUTPUT_STATE_CS_3; 00083 break; 00084 } 00085 00086 // setting num bytes to 0 for each SPI outputs 00087 command_->spi_out[spi_index].num_bytes = 0; 00088 }; 00089 }; 00090 } // namespace ronex 00091 /* For the emacs weenies in the crowd. 00092 Local Variables: 00093 c-basic-offset: 2 00094 End: 00095 */ 00096 00097 #endif /* _SPI_HARDWARE_INTERFACE_H_ */