Shuto Naruse
/
eurobot_2011_main
main.cpp@0:c8c04928d025, 2012-02-29 (annotated)
- Committer:
- narshu
- Date:
- Wed Feb 29 17:50:49 2012 +0000
- Revision:
- 0:c8c04928d025
Primary Robot with Sonar function - needs PID tuning for motor control
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
narshu | 0:c8c04928d025 | 1 | /********************************************************************** |
narshu | 0:c8c04928d025 | 2 | * @file i2c_monitor.c |
narshu | 0:c8c04928d025 | 3 | * @purpose Eurobot 2012 - Primary Robot MD25 Interface |
narshu | 0:c8c04928d025 | 4 | * @version 0.2 |
narshu | 0:c8c04928d025 | 5 | * @date 13. Feb. 2012 |
narshu | 0:c8c04928d025 | 6 | * @author Crispian Poon |
narshu | 0:c8c04928d025 | 7 | * @email pooncg@gmail.com |
narshu | 0:c8c04928d025 | 8 | ______________________________________________________________________ |
narshu | 0:c8c04928d025 | 9 | |
narshu | 0:c8c04928d025 | 10 | Setup information: |
narshu | 0:c8c04928d025 | 11 | 1. Put pull up 2.2k resistors to +3.3v on I2C SCL and SDA |
narshu | 0:c8c04928d025 | 12 | 2. Connect P28 SDA to MD25 yellow cable, P27 SCL to MD25 blue cable |
narshu | 0:c8c04928d025 | 13 | |
narshu | 0:c8c04928d025 | 14 | **********************************************************************/ |
narshu | 0:c8c04928d025 | 15 | |
narshu | 0:c8c04928d025 | 16 | #include "mbed.h" |
narshu | 0:c8c04928d025 | 17 | #include "PID.h" |
narshu | 0:c8c04928d025 | 18 | //Sonar includes |
narshu | 0:c8c04928d025 | 19 | #include "RF12B.h" |
narshu | 0:c8c04928d025 | 20 | #include "SRF05.h" |
narshu | 0:c8c04928d025 | 21 | |
narshu | 0:c8c04928d025 | 22 | //Constants declaration |
narshu | 0:c8c04928d025 | 23 | const int md25Address = 0xB0; |
narshu | 0:c8c04928d025 | 24 | const char cmdSetMotor1 = 0x00; |
narshu | 0:c8c04928d025 | 25 | const char cmdSetMotor2 = 0x01; |
narshu | 0:c8c04928d025 | 26 | const char cmdByte = 0x10; |
narshu | 0:c8c04928d025 | 27 | const char cmdDisableAcceleration = 0x30; |
narshu | 0:c8c04928d025 | 28 | const char cmdSetMode = 0x0F; |
narshu | 0:c8c04928d025 | 29 | const char cmdResetEncoders = 0x20; |
narshu | 0:c8c04928d025 | 30 | const char cmdGetEncoder1 = 0x02; |
narshu | 0:c8c04928d025 | 31 | const char cmdGetEncoder2 = 0x06; |
narshu | 0:c8c04928d025 | 32 | const int encoderRevCount = 1856; |
narshu | 0:c8c04928d025 | 33 | const int wheelmm = 314; |
narshu | 0:c8c04928d025 | 34 | const int robotCircumference = 1052; |
narshu | 0:c8c04928d025 | 35 | #define RATE 0.01 |
narshu | 0:c8c04928d025 | 36 | //#include <queue> |
narshu | 0:c8c04928d025 | 37 | #define CODE 0x88 |
narshu | 0:c8c04928d025 | 38 | |
narshu | 0:c8c04928d025 | 39 | |
narshu | 0:c8c04928d025 | 40 | //Global variables declaration |
narshu | 0:c8c04928d025 | 41 | int tempByte; |
narshu | 0:c8c04928d025 | 42 | PID PIDController1(0.9, 2, 0, RATE); |
narshu | 0:c8c04928d025 | 43 | |
narshu | 0:c8c04928d025 | 44 | //Interface declaration |
narshu | 0:c8c04928d025 | 45 | I2C i2c(p28, p27); // sda, scl |
narshu | 0:c8c04928d025 | 46 | Serial pc(USBTX, USBRX); // tx, rx |
narshu | 0:c8c04928d025 | 47 | DigitalOut OBLED1(LED1); |
narshu | 0:c8c04928d025 | 48 | DigitalOut OBLED2(LED2); |
narshu | 0:c8c04928d025 | 49 | SRF05 my_srf1(p13,p21); |
narshu | 0:c8c04928d025 | 50 | SRF05 my_srf2(p13,p22); |
narshu | 0:c8c04928d025 | 51 | SRF05 my_srf3(p13,p23); |
narshu | 0:c8c04928d025 | 52 | RF12B RF_Robot(p5,p6,p7,p8,p9); |
narshu | 0:c8c04928d025 | 53 | |
narshu | 0:c8c04928d025 | 54 | //Functions declaration |
narshu | 0:c8c04928d025 | 55 | void resetEncoders(); |
narshu | 0:c8c04928d025 | 56 | long getEncoder1(); |
narshu | 0:c8c04928d025 | 57 | long getEncoder2(); |
narshu | 0:c8c04928d025 | 58 | void move(long distance, int speed); |
narshu | 0:c8c04928d025 | 59 | void turn(int angle, int speed); |
narshu | 0:c8c04928d025 | 60 | int getSignOfInt(int direction); |
narshu | 0:c8c04928d025 | 61 | void stop(); |
narshu | 0:c8c04928d025 | 62 | void setSpeed(int speed); |
narshu | 0:c8c04928d025 | 63 | void setSpeed(int speed1, int speed2); |
narshu | 0:c8c04928d025 | 64 | void setMode(int mode); |
narshu | 0:c8c04928d025 | 65 | long encoderToDistance(long encoder); |
narshu | 0:c8c04928d025 | 66 | long distanceToEncoder(long distance); |
narshu | 0:c8c04928d025 | 67 | void sendCommand(char command); |
narshu | 0:c8c04928d025 | 68 | void sendCommand(char command1, char command2 ); |
narshu | 0:c8c04928d025 | 69 | long get4Bytes(char command); |
narshu | 0:c8c04928d025 | 70 | |
narshu | 0:c8c04928d025 | 71 | //Main loop |
narshu | 0:c8c04928d025 | 72 | int main() { |
narshu | 0:c8c04928d025 | 73 | int Cmd = 30; |
narshu | 0:c8c04928d025 | 74 | |
narshu | 0:c8c04928d025 | 75 | |
narshu | 0:c8c04928d025 | 76 | //PID controller initialisation |
narshu | 0:c8c04928d025 | 77 | PIDController1.setMode(AUTO_MODE); |
narshu | 0:c8c04928d025 | 78 | PIDController1.setInputLimits(0, 2500); //arbitarily set limit of 10000, can change! |
narshu | 0:c8c04928d025 | 79 | PIDController1.setOutputLimits(0, 2500); |
narshu | 0:c8c04928d025 | 80 | |
narshu | 0:c8c04928d025 | 81 | |
narshu | 0:c8c04928d025 | 82 | //TODO serial interface code, maybe with interrupt? |
narshu | 0:c8c04928d025 | 83 | |
narshu | 0:c8c04928d025 | 84 | while (1) { |
narshu | 0:c8c04928d025 | 85 | |
narshu | 0:c8c04928d025 | 86 | //Read serial to change variable |
narshu | 0:c8c04928d025 | 87 | if (pc.readable() == 1) { |
narshu | 0:c8c04928d025 | 88 | pc.scanf("%i", &Cmd); |
narshu | 0:c8c04928d025 | 89 | } |
narshu | 0:c8c04928d025 | 90 | |
narshu | 0:c8c04928d025 | 91 | //Tune PID referece |
narshu | 0:c8c04928d025 | 92 | PIDController1.setTunings(0.4, 2, 0); |
narshu | 0:c8c04928d025 | 93 | |
narshu | 0:c8c04928d025 | 94 | //Debug info |
narshu | 0:c8c04928d025 | 95 | pc.printf("%i",Cmd); |
narshu | 0:c8c04928d025 | 96 | |
narshu | 0:c8c04928d025 | 97 | |
narshu | 0:c8c04928d025 | 98 | move(500, Cmd); |
narshu | 0:c8c04928d025 | 99 | wait_ms(2000); |
narshu | 0:c8c04928d025 | 100 | //move(-200, 70); |
narshu | 0:c8c04928d025 | 101 | |
narshu | 0:c8c04928d025 | 102 | } |
narshu | 0:c8c04928d025 | 103 | } |
narshu | 0:c8c04928d025 | 104 | |
narshu | 0:c8c04928d025 | 105 | //*************************************************************************************** |
narshu | 0:c8c04928d025 | 106 | //Primary robot specific instructions |
narshu | 0:c8c04928d025 | 107 | //*************************************************************************************** |
narshu | 0:c8c04928d025 | 108 | |
narshu | 0:c8c04928d025 | 109 | float getSonar() { |
narshu | 0:c8c04928d025 | 110 | float distance[3]; |
narshu | 0:c8c04928d025 | 111 | float result = 0; |
narshu | 0:c8c04928d025 | 112 | |
narshu | 0:c8c04928d025 | 113 | RF_Robot.write(CODE); |
narshu | 0:c8c04928d025 | 114 | my_srf1.trig(); |
narshu | 0:c8c04928d025 | 115 | wait_ms(50); |
narshu | 0:c8c04928d025 | 116 | |
narshu | 0:c8c04928d025 | 117 | distance[0] = my_srf1.read(); |
narshu | 0:c8c04928d025 | 118 | distance[1] = my_srf2.read(); |
narshu | 0:c8c04928d025 | 119 | distance[2] = my_srf3.read(); |
narshu | 0:c8c04928d025 | 120 | |
narshu | 0:c8c04928d025 | 121 | for (int i = 0; i < 3; i++) { |
narshu | 0:c8c04928d025 | 122 | if ( distance[i] > result) { |
narshu | 0:c8c04928d025 | 123 | result = distance[i]; |
narshu | 0:c8c04928d025 | 124 | } |
narshu | 0:c8c04928d025 | 125 | } |
narshu | 0:c8c04928d025 | 126 | return result; |
narshu | 0:c8c04928d025 | 127 | } |
narshu | 0:c8c04928d025 | 128 | |
narshu | 0:c8c04928d025 | 129 | //********************************************* |
narshu | 0:c8c04928d025 | 130 | //Parameter @distance in mm, @speed is 0 to 127 |
narshu | 0:c8c04928d025 | 131 | //Description: moves robot by @distance mm at @speed in straight line |
narshu | 0:c8c04928d025 | 132 | //********************************************* |
narshu | 0:c8c04928d025 | 133 | void move(long distance, int speed) { |
narshu | 0:c8c04928d025 | 134 | |
narshu | 0:c8c04928d025 | 135 | long tempEndEncoder = 0; |
narshu | 0:c8c04928d025 | 136 | long startEncoderCount = 0; |
narshu | 0:c8c04928d025 | 137 | long previousEncoder1Count = 0; |
narshu | 0:c8c04928d025 | 138 | long previousEncoder2Count = 0; |
narshu | 0:c8c04928d025 | 139 | long tempEncoder1Speed = 0; |
narshu | 0:c8c04928d025 | 140 | long tempEncoder2Speed = 0; |
narshu | 0:c8c04928d025 | 141 | int directionFlag = 0; |
narshu | 0:c8c04928d025 | 142 | float encoderSpeedConstant = 0; |
narshu | 0:c8c04928d025 | 143 | |
narshu | 0:c8c04928d025 | 144 | //Variables initialisation |
narshu | 0:c8c04928d025 | 145 | resetEncoders(); //reset MD25 encoder TODO too large distance may cause overflow |
narshu | 0:c8c04928d025 | 146 | tempEndEncoder = distanceToEncoder(abs(distance)); //Convert distance to end encoder value |
narshu | 0:c8c04928d025 | 147 | directionFlag = getSignOfInt(distance); //get direction from distance e.g. -1mm, +1mm converter to - and + operator |
narshu | 0:c8c04928d025 | 148 | |
narshu | 0:c8c04928d025 | 149 | //setSpeed(speed); |
narshu | 0:c8c04928d025 | 150 | //wait_ms(100); |
narshu | 0:c8c04928d025 | 151 | |
narshu | 0:c8c04928d025 | 152 | while (abs(getEncoder1() - startEncoderCount) < tempEndEncoder) { |
narshu | 0:c8c04928d025 | 153 | |
narshu | 0:c8c04928d025 | 154 | //TODO loop counter |
narshu | 0:c8c04928d025 | 155 | |
narshu | 0:c8c04928d025 | 156 | //calculate speed of encoder1 and encoder 2 change |
narshu | 0:c8c04928d025 | 157 | tempEncoder1Speed = abs(getEncoder1() - previousEncoder1Count); |
narshu | 0:c8c04928d025 | 158 | tempEncoder2Speed = abs(getEncoder2() - previousEncoder2Count); |
narshu | 0:c8c04928d025 | 159 | |
narshu | 0:c8c04928d025 | 160 | |
narshu | 0:c8c04928d025 | 161 | //TODO optimize so only 1 calc is done per function call |
narshu | 0:c8c04928d025 | 162 | //get encoder speed to @speed conversion ratio |
narshu | 0:c8c04928d025 | 163 | encoderSpeedConstant = double(speed) / double(tempEncoder1Speed); |
narshu | 0:c8c04928d025 | 164 | |
narshu | 0:c8c04928d025 | 165 | //set previous loop encoder values |
narshu | 0:c8c04928d025 | 166 | previousEncoder1Count = getEncoder1(); |
narshu | 0:c8c04928d025 | 167 | previousEncoder2Count = getEncoder2(); |
narshu | 0:c8c04928d025 | 168 | |
narshu | 0:c8c04928d025 | 169 | //Set PID input value, tries to adjust encoder2 speed to encoder1 speed |
narshu | 0:c8c04928d025 | 170 | PIDController1.setSetPoint(tempEncoder1Speed); |
narshu | 0:c8c04928d025 | 171 | PIDController1.setProcessValue(tempEncoder2Speed); |
narshu | 0:c8c04928d025 | 172 | |
narshu | 0:c8c04928d025 | 173 | float tempVal = PIDController1.compute(); |
narshu | 0:c8c04928d025 | 174 | //Debug Info |
narshu | 0:c8c04928d025 | 175 | //pc.printf("%f \n", tempVal); |
narshu | 0:c8c04928d025 | 176 | //PID control of real motor speeds, Motor2 actual speed mirros Motor1 actual speed |
narshu | 0:c8c04928d025 | 177 | setSpeed(directionFlag*speed, directionFlag * tempVal * encoderSpeedConstant); |
narshu | 0:c8c04928d025 | 178 | |
narshu | 0:c8c04928d025 | 179 | //delay to increase significant encoder counts |
narshu | 0:c8c04928d025 | 180 | wait(RATE); |
narshu | 0:c8c04928d025 | 181 | |
narshu | 0:c8c04928d025 | 182 | } |
narshu | 0:c8c04928d025 | 183 | |
narshu | 0:c8c04928d025 | 184 | //Stop robot |
narshu | 0:c8c04928d025 | 185 | stop(); |
narshu | 0:c8c04928d025 | 186 | |
narshu | 0:c8c04928d025 | 187 | //Debug info - see if loop is completed. |
narshu | 0:c8c04928d025 | 188 | OBLED1 = true; |
narshu | 0:c8c04928d025 | 189 | |
narshu | 0:c8c04928d025 | 190 | //Reset encoder values |
narshu | 0:c8c04928d025 | 191 | resetEncoders(); |
narshu | 0:c8c04928d025 | 192 | } |
narshu | 0:c8c04928d025 | 193 | |
narshu | 0:c8c04928d025 | 194 | void turn(int angle, int speed) { |
narshu | 0:c8c04928d025 | 195 | resetEncoders(); |
narshu | 0:c8c04928d025 | 196 | long tempDistance = long((float(angle) / 360) * float(robotCircumference)); |
narshu | 0:c8c04928d025 | 197 | long tempEndEncoder = 0; |
narshu | 0:c8c04928d025 | 198 | long startEncoderCount = 0; |
narshu | 0:c8c04928d025 | 199 | |
narshu | 0:c8c04928d025 | 200 | tempEndEncoder = distanceToEncoder(abs(tempDistance)); |
narshu | 0:c8c04928d025 | 201 | startEncoderCount = getEncoder1(); |
narshu | 0:c8c04928d025 | 202 | setSpeed(getSignOfInt(tempDistance) * speed, -getSignOfInt(tempDistance) * speed); |
narshu | 0:c8c04928d025 | 203 | |
narshu | 0:c8c04928d025 | 204 | while (abs(getEncoder1() - startEncoderCount) < tempEndEncoder) { |
narshu | 0:c8c04928d025 | 205 | setSpeed(getSignOfInt(tempDistance) * speed,-getSignOfInt(tempDistance) * speed); |
narshu | 0:c8c04928d025 | 206 | |
narshu | 0:c8c04928d025 | 207 | } |
narshu | 0:c8c04928d025 | 208 | |
narshu | 0:c8c04928d025 | 209 | resetEncoders(); |
narshu | 0:c8c04928d025 | 210 | stop(); |
narshu | 0:c8c04928d025 | 211 | } |
narshu | 0:c8c04928d025 | 212 | |
narshu | 0:c8c04928d025 | 213 | |
narshu | 0:c8c04928d025 | 214 | //*************************************************************************************** |
narshu | 0:c8c04928d025 | 215 | //Primary robot specific helper functions |
narshu | 0:c8c04928d025 | 216 | //*************************************************************************************** |
narshu | 0:c8c04928d025 | 217 | |
narshu | 0:c8c04928d025 | 218 | int getSignOfInt(int direction) { |
narshu | 0:c8c04928d025 | 219 | |
narshu | 0:c8c04928d025 | 220 | direction = (direction < 0); |
narshu | 0:c8c04928d025 | 221 | |
narshu | 0:c8c04928d025 | 222 | switch (direction) { |
narshu | 0:c8c04928d025 | 223 | case 1: |
narshu | 0:c8c04928d025 | 224 | return -1; |
narshu | 0:c8c04928d025 | 225 | case 0: |
narshu | 0:c8c04928d025 | 226 | return 1; |
narshu | 0:c8c04928d025 | 227 | } |
narshu | 0:c8c04928d025 | 228 | |
narshu | 0:c8c04928d025 | 229 | return 0; |
narshu | 0:c8c04928d025 | 230 | } |
narshu | 0:c8c04928d025 | 231 | |
narshu | 0:c8c04928d025 | 232 | long encoderToDistance(long encoder) { |
narshu | 0:c8c04928d025 | 233 | return long((float(encoder) / float(encoderRevCount)) * wheelmm); |
narshu | 0:c8c04928d025 | 234 | } |
narshu | 0:c8c04928d025 | 235 | |
narshu | 0:c8c04928d025 | 236 | long distanceToEncoder(long distance) { |
narshu | 0:c8c04928d025 | 237 | return long((float(distance) / float(wheelmm)) * encoderRevCount); |
narshu | 0:c8c04928d025 | 238 | } |
narshu | 0:c8c04928d025 | 239 | |
narshu | 0:c8c04928d025 | 240 | |
narshu | 0:c8c04928d025 | 241 | //*************************************************************************************** |
narshu | 0:c8c04928d025 | 242 | //MD25 instructions |
narshu | 0:c8c04928d025 | 243 | //*************************************************************************************** |
narshu | 0:c8c04928d025 | 244 | |
narshu | 0:c8c04928d025 | 245 | void stop() { |
narshu | 0:c8c04928d025 | 246 | sendCommand(cmdSetMotor1, 0); |
narshu | 0:c8c04928d025 | 247 | sendCommand(cmdSetMotor2, 0); |
narshu | 0:c8c04928d025 | 248 | } |
narshu | 0:c8c04928d025 | 249 | |
narshu | 0:c8c04928d025 | 250 | void disableAcceleration() { |
narshu | 0:c8c04928d025 | 251 | sendCommand(cmdByte, cmdDisableAcceleration); |
narshu | 0:c8c04928d025 | 252 | } |
narshu | 0:c8c04928d025 | 253 | |
narshu | 0:c8c04928d025 | 254 | void setSpeed(int speed) { |
narshu | 0:c8c04928d025 | 255 | setMode(1); |
narshu | 0:c8c04928d025 | 256 | disableAcceleration(); |
narshu | 0:c8c04928d025 | 257 | sendCommand(cmdSetMotor1, speed); |
narshu | 0:c8c04928d025 | 258 | sendCommand(cmdSetMotor2, speed); |
narshu | 0:c8c04928d025 | 259 | } |
narshu | 0:c8c04928d025 | 260 | |
narshu | 0:c8c04928d025 | 261 | void setSpeed(int speed1, int speed2) { |
narshu | 0:c8c04928d025 | 262 | setMode(1), |
narshu | 0:c8c04928d025 | 263 | disableAcceleration(); |
narshu | 0:c8c04928d025 | 264 | sendCommand(cmdSetMotor1, speed1); |
narshu | 0:c8c04928d025 | 265 | sendCommand(cmdSetMotor2, speed2); |
narshu | 0:c8c04928d025 | 266 | } |
narshu | 0:c8c04928d025 | 267 | |
narshu | 0:c8c04928d025 | 268 | void setMode(int mode) { |
narshu | 0:c8c04928d025 | 269 | sendCommand(cmdSetMode, mode); |
narshu | 0:c8c04928d025 | 270 | } |
narshu | 0:c8c04928d025 | 271 | |
narshu | 0:c8c04928d025 | 272 | void resetEncoders() { |
narshu | 0:c8c04928d025 | 273 | sendCommand(cmdByte, cmdResetEncoders) ; |
narshu | 0:c8c04928d025 | 274 | } |
narshu | 0:c8c04928d025 | 275 | |
narshu | 0:c8c04928d025 | 276 | long getEncoder1() { |
narshu | 0:c8c04928d025 | 277 | return get4Bytes(cmdGetEncoder1); |
narshu | 0:c8c04928d025 | 278 | } |
narshu | 0:c8c04928d025 | 279 | |
narshu | 0:c8c04928d025 | 280 | long getEncoder2() { |
narshu | 0:c8c04928d025 | 281 | return get4Bytes(cmdGetEncoder2); |
narshu | 0:c8c04928d025 | 282 | } |
narshu | 0:c8c04928d025 | 283 | |
narshu | 0:c8c04928d025 | 284 | |
narshu | 0:c8c04928d025 | 285 | //*************************************************************************************** |
narshu | 0:c8c04928d025 | 286 | //Abstract MD25 communication methods and functions |
narshu | 0:c8c04928d025 | 287 | //*************************************************************************************** |
narshu | 0:c8c04928d025 | 288 | |
narshu | 0:c8c04928d025 | 289 | void sendCommand(char command) { |
narshu | 0:c8c04928d025 | 290 | char buffer[1]; |
narshu | 0:c8c04928d025 | 291 | buffer[0] = command; |
narshu | 0:c8c04928d025 | 292 | i2c.write(md25Address, &buffer[0], 1); |
narshu | 0:c8c04928d025 | 293 | } |
narshu | 0:c8c04928d025 | 294 | |
narshu | 0:c8c04928d025 | 295 | void sendCommand(char command1, char command2 ) { |
narshu | 0:c8c04928d025 | 296 | |
narshu | 0:c8c04928d025 | 297 | char buffer[2]; |
narshu | 0:c8c04928d025 | 298 | buffer[0] = command1; |
narshu | 0:c8c04928d025 | 299 | buffer[1] = command2; |
narshu | 0:c8c04928d025 | 300 | |
narshu | 0:c8c04928d025 | 301 | i2c.write(md25Address, &buffer[0], 2); |
narshu | 0:c8c04928d025 | 302 | } |
narshu | 0:c8c04928d025 | 303 | |
narshu | 0:c8c04928d025 | 304 | long get4Bytes(char command) { |
narshu | 0:c8c04928d025 | 305 | long tempWord = 0; |
narshu | 0:c8c04928d025 | 306 | char cmd[4]; |
narshu | 0:c8c04928d025 | 307 | |
narshu | 0:c8c04928d025 | 308 | //i2c request |
narshu | 0:c8c04928d025 | 309 | sendCommand(command); |
narshu | 0:c8c04928d025 | 310 | |
narshu | 0:c8c04928d025 | 311 | //i2c read data back |
narshu | 0:c8c04928d025 | 312 | i2c.read(md25Address, cmd, 4);// Request 4 bytes from MD25 |
narshu | 0:c8c04928d025 | 313 | |
narshu | 0:c8c04928d025 | 314 | //FIXED 22FEB2012 CRISPIAN Taken 0.07 delay off. |
narshu | 0:c8c04928d025 | 315 | |
narshu | 0:c8c04928d025 | 316 | //First byte is largest, shift 4 bytes into tempWord |
narshu | 0:c8c04928d025 | 317 | tempWord += cmd[0] << 24; |
narshu | 0:c8c04928d025 | 318 | tempWord += cmd[1] << 16; |
narshu | 0:c8c04928d025 | 319 | tempWord += cmd[2] << 8; |
narshu | 0:c8c04928d025 | 320 | tempWord += cmd[3] ; |
narshu | 0:c8c04928d025 | 321 | |
narshu | 0:c8c04928d025 | 322 | return tempWord; |
narshu | 0:c8c04928d025 | 323 | } |
narshu | 0:c8c04928d025 | 324 | |
narshu | 0:c8c04928d025 | 325 | |
narshu | 0:c8c04928d025 | 326 |