mirror of
https://github.com/esp8266/Arduino.git
synced 2025-07-30 16:24:09 +03:00
SPI library to the new format and moved Robot_Motor and Robot_Control libraries
This commit is contained in:
Fede85
66
libraries/SPI/arch/avr/SPI.cpp
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66
libraries/SPI/arch/avr/SPI.cpp
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/*
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* Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st>
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* SPI Master library for arduino.
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*
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* This file is free software; you can redistribute it and/or modify
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* it under the terms of either the GNU General Public License version 2
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* or the GNU Lesser General Public License version 2.1, both as
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* published by the Free Software Foundation.
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*/
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#include "pins_arduino.h"
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#include "SPI_Class.h"
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SPIClass SPI;
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void SPIClass::begin() {
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// Set SS to high so a connected chip will be "deselected" by default
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digitalWrite(SS, HIGH);
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// When the SS pin is set as OUTPUT, it can be used as
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// a general purpose output port (it doesn't influence
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// SPI operations).
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pinMode(SS, OUTPUT);
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// Warning: if the SS pin ever becomes a LOW INPUT then SPI
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// automatically switches to Slave, so the data direction of
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// the SS pin MUST be kept as OUTPUT.
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SPCR |= _BV(MSTR);
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SPCR |= _BV(SPE);
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// Set direction register for SCK and MOSI pin.
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// MISO pin automatically overrides to INPUT.
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// By doing this AFTER enabling SPI, we avoid accidentally
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// clocking in a single bit since the lines go directly
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// from "input" to SPI control.
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// http://code.google.com/p/arduino/issues/detail?id=888
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pinMode(SCK, OUTPUT);
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pinMode(MOSI, OUTPUT);
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}
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void SPIClass::end() {
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SPCR &= ~_BV(SPE);
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}
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void SPIClass::setBitOrder(uint8_t bitOrder)
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{
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if(bitOrder == LSBFIRST) {
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SPCR |= _BV(DORD);
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} else {
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SPCR &= ~(_BV(DORD));
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}
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}
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void SPIClass::setDataMode(uint8_t mode)
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{
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SPCR = (SPCR & ~SPI_MODE_MASK) | mode;
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}
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void SPIClass::setClockDivider(uint8_t rate)
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{
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SPCR = (SPCR & ~SPI_CLOCK_MASK) | (rate & SPI_CLOCK_MASK);
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SPSR = (SPSR & ~SPI_2XCLOCK_MASK) | ((rate >> 2) & SPI_2XCLOCK_MASK);
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}
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70
libraries/SPI/arch/avr/SPI_Class.h
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70
libraries/SPI/arch/avr/SPI_Class.h
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@ -0,0 +1,70 @@
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/*
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* Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st>
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* SPI Master library for arduino.
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*
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* This file is free software; you can redistribute it and/or modify
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* it under the terms of either the GNU General Public License version 2
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* or the GNU Lesser General Public License version 2.1, both as
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* published by the Free Software Foundation.
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*/
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#ifndef _SPI_H_INCLUDED
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#define _SPI_H_INCLUDED
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#include <stdio.h>
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#include <Arduino.h>
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#include <avr/pgmspace.h>
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#define SPI_CLOCK_DIV4 0x00
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#define SPI_CLOCK_DIV16 0x01
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#define SPI_CLOCK_DIV64 0x02
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#define SPI_CLOCK_DIV128 0x03
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#define SPI_CLOCK_DIV2 0x04
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#define SPI_CLOCK_DIV8 0x05
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#define SPI_CLOCK_DIV32 0x06
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//#define SPI_CLOCK_DIV64 0x07
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#define SPI_MODE0 0x00
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#define SPI_MODE1 0x04
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#define SPI_MODE2 0x08
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#define SPI_MODE3 0x0C
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#define SPI_MODE_MASK 0x0C // CPOL = bit 3, CPHA = bit 2 on SPCR
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#define SPI_CLOCK_MASK 0x03 // SPR1 = bit 1, SPR0 = bit 0 on SPCR
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#define SPI_2XCLOCK_MASK 0x01 // SPI2X = bit 0 on SPSR
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class SPIClass {
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public:
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inline static byte transfer(byte _data);
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// SPI Configuration methods
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inline static void attachInterrupt();
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inline static void detachInterrupt(); // Default
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static void begin(); // Default
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static void end();
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static void setBitOrder(uint8_t);
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static void setDataMode(uint8_t);
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static void setClockDivider(uint8_t);
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};
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extern SPIClass SPI;
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byte SPIClass::transfer(byte _data) {
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SPDR = _data;
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while (!(SPSR & _BV(SPIF)))
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;
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return SPDR;
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}
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void SPIClass::attachInterrupt() {
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SPCR |= _BV(SPIE);
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}
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void SPIClass::detachInterrupt() {
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SPCR &= ~_BV(SPIE);
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}
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#endif
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36
libraries/SPI/arch/avr/keywords.txt
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36
libraries/SPI/arch/avr/keywords.txt
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#######################################
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# Syntax Coloring Map SPI
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#######################################
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#######################################
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# Datatypes (KEYWORD1)
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#######################################
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SPI KEYWORD1
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#######################################
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# Methods and Functions (KEYWORD2)
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#######################################
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begin KEYWORD2
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end KEYWORD2
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transfer KEYWORD2
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setBitOrder KEYWORD2
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setDataMode KEYWORD2
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setClockDivider KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
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SPI_CLOCK_DIV4 LITERAL1
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SPI_CLOCK_DIV16 LITERAL1
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SPI_CLOCK_DIV64 LITERAL1
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SPI_CLOCK_DIV128 LITERAL1
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SPI_CLOCK_DIV2 LITERAL1
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SPI_CLOCK_DIV8 LITERAL1
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SPI_CLOCK_DIV32 LITERAL1
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SPI_CLOCK_DIV64 LITERAL1
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SPI_MODE0 LITERAL1
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SPI_MODE1 LITERAL1
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SPI_MODE2 LITERAL1
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SPI_MODE3 LITERAL1
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129
libraries/SPI/arch/sam/SPI.cpp
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129
libraries/SPI/arch/sam/SPI.cpp
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@ -0,0 +1,129 @@
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/*
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* Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st>
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* SPI Master library for arduino.
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*
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* This file is free software; you can redistribute it and/or modify
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* it under the terms of either the GNU General Public License version 2
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* or the GNU Lesser General Public License version 2.1, both as
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* published by the Free Software Foundation.
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*/
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#include "SPI_Class.h"
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SPIClass::SPIClass(Spi *_spi, uint32_t _id, void(*_initCb)(void)) :
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spi(_spi), id(_id), initCb(_initCb)
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{
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// Empty
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}
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void SPIClass::begin() {
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initCb();
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SPI_Configure(spi, id, SPI_MR_MSTR | SPI_MR_PS | SPI_MR_MODFDIS);
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SPI_Enable(spi);
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// NPCS control is left to the user
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// Default speed set to 4Mhz
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setClockDivider(BOARD_SPI_DEFAULT_SS, 21);
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setDataMode(BOARD_SPI_DEFAULT_SS, SPI_MODE0);
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setBitOrder(BOARD_SPI_DEFAULT_SS, MSBFIRST);
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}
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void SPIClass::begin(uint8_t _pin) {
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uint32_t spiPin = BOARD_PIN_TO_SPI_PIN(_pin);
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PIO_Configure(
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g_APinDescription[spiPin].pPort,
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g_APinDescription[spiPin].ulPinType,
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g_APinDescription[spiPin].ulPin,
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g_APinDescription[spiPin].ulPinConfiguration);
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// Default speed set to 4Mhz
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setClockDivider(_pin, 21);
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setDataMode(_pin, SPI_MODE0);
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setBitOrder(_pin, MSBFIRST);
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}
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void SPIClass::end(uint8_t _pin) {
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uint32_t spiPin = BOARD_PIN_TO_SPI_PIN(_pin);
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// Setting the pin as INPUT will disconnect it from SPI peripheral
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pinMode(spiPin, INPUT);
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}
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void SPIClass::end() {
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SPI_Disable(spi);
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}
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void SPIClass::setBitOrder(uint8_t _pin, BitOrder _bitOrder) {
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uint32_t ch = BOARD_PIN_TO_SPI_CHANNEL(_pin);
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bitOrder[ch] = _bitOrder;
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}
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void SPIClass::setDataMode(uint8_t _pin, uint8_t _mode) {
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uint32_t ch = BOARD_PIN_TO_SPI_CHANNEL(_pin);
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mode[ch] = _mode | SPI_CSR_CSAAT;
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// SPI_CSR_DLYBCT(1) keeps CS enabled for 32 MCLK after a completed
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// transfer. Some device needs that for working properly.
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SPI_ConfigureNPCS(spi, ch, mode[ch] | SPI_CSR_SCBR(divider[ch]) | SPI_CSR_DLYBCT(1));
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}
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void SPIClass::setClockDivider(uint8_t _pin, uint8_t _divider) {
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uint32_t ch = BOARD_PIN_TO_SPI_CHANNEL(_pin);
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divider[ch] = _divider;
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// SPI_CSR_DLYBCT(1) keeps CS enabled for 32 MCLK after a completed
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// transfer. Some device needs that for working properly.
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SPI_ConfigureNPCS(spi, ch, mode[ch] | SPI_CSR_SCBR(divider[ch]) | SPI_CSR_DLYBCT(1));
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}
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byte SPIClass::transfer(byte _pin, uint8_t _data, SPITransferMode _mode) {
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uint32_t ch = BOARD_PIN_TO_SPI_CHANNEL(_pin);
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// Reverse bit order
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if (bitOrder[ch] == LSBFIRST)
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_data = __REV(__RBIT(_data));
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uint32_t d = _data | SPI_PCS(ch);
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if (_mode == SPI_LAST)
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d |= SPI_TDR_LASTXFER;
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// SPI_Write(spi, _channel, _data);
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while ((spi->SPI_SR & SPI_SR_TDRE) == 0)
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;
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spi->SPI_TDR = d;
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// return SPI_Read(spi);
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while ((spi->SPI_SR & SPI_SR_RDRF) == 0)
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;
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d = spi->SPI_RDR;
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// Reverse bit order
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if (bitOrder[ch] == LSBFIRST)
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d = __REV(__RBIT(d));
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return d & 0xFF;
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}
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void SPIClass::attachInterrupt(void) {
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// Should be enableInterrupt()
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}
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void SPIClass::detachInterrupt(void) {
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// Should be disableInterrupt()
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}
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#if SPI_INTERFACES_COUNT > 0
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static void SPI_0_Init(void) {
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PIO_Configure(
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g_APinDescription[PIN_SPI_MOSI].pPort,
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g_APinDescription[PIN_SPI_MOSI].ulPinType,
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g_APinDescription[PIN_SPI_MOSI].ulPin,
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g_APinDescription[PIN_SPI_MOSI].ulPinConfiguration);
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PIO_Configure(
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g_APinDescription[PIN_SPI_MISO].pPort,
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g_APinDescription[PIN_SPI_MISO].ulPinType,
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g_APinDescription[PIN_SPI_MISO].ulPin,
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g_APinDescription[PIN_SPI_MISO].ulPinConfiguration);
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PIO_Configure(
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g_APinDescription[PIN_SPI_SCK].pPort,
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g_APinDescription[PIN_SPI_SCK].ulPinType,
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g_APinDescription[PIN_SPI_SCK].ulPin,
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g_APinDescription[PIN_SPI_SCK].ulPinConfiguration);
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}
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SPIClass SPI(SPI_INTERFACE, SPI_INTERFACE_ID, SPI_0_Init);
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#endif
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69
libraries/SPI/arch/sam/SPI_Class.h
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69
libraries/SPI/arch/sam/SPI_Class.h
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@ -0,0 +1,69 @@
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/*
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* Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st>
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* SPI Master library for arduino.
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*
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* This file is free software; you can redistribute it and/or modify
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* it under the terms of either the GNU General Public License version 2
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* or the GNU Lesser General Public License version 2.1, both as
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* published by the Free Software Foundation.
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*/
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#ifndef _SPI_H_INCLUDED
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#define _SPI_H_INCLUDED
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#include "variant.h"
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#include <stdio.h>
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#define SPI_MODE0 0x02
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#define SPI_MODE1 0x00
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#define SPI_MODE2 0x03
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#define SPI_MODE3 0x01
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enum SPITransferMode {
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SPI_CONTINUE,
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SPI_LAST
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};
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class SPIClass {
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public:
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SPIClass(Spi *_spi, uint32_t _id, void(*_initCb)(void));
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byte transfer(uint8_t _data, SPITransferMode _mode = SPI_LAST) { return transfer(BOARD_SPI_DEFAULT_SS, _data, _mode); }
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byte transfer(byte _channel, uint8_t _data, SPITransferMode _mode = SPI_LAST);
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// SPI Configuration methods
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void attachInterrupt(void);
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void detachInterrupt(void);
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void begin(void);
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void end(void);
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// Attach/Detach pin to/from SPI controller
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void begin(uint8_t _pin);
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void end(uint8_t _pin);
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// These methods sets a parameter on a single pin
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void setBitOrder(uint8_t _pin, BitOrder);
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void setDataMode(uint8_t _pin, uint8_t);
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void setClockDivider(uint8_t _pin, uint8_t);
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// These methods sets the same parameters but on default pin BOARD_SPI_DEFAULT_SS
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void setBitOrder(BitOrder _order) { setBitOrder(BOARD_SPI_DEFAULT_SS, _order); };
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void setDataMode(uint8_t _mode) { setDataMode(BOARD_SPI_DEFAULT_SS, _mode); };
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void setClockDivider(uint8_t _div) { setClockDivider(BOARD_SPI_DEFAULT_SS, _div); };
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private:
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Spi *spi;
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uint32_t id;
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BitOrder bitOrder[SPI_CHANNELS_NUM];
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uint32_t divider[SPI_CHANNELS_NUM];
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uint32_t mode[SPI_CHANNELS_NUM];
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void (*initCb)(void);
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};
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#if SPI_INTERFACES_COUNT > 0
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extern SPIClass SPI;
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#endif
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#endif
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31
libraries/SPI/arch/sam/keywords.txt
Normal file
31
libraries/SPI/arch/sam/keywords.txt
Normal file
@ -0,0 +1,31 @@
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#######################################
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# Syntax Coloring Map SPI
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#######################################
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#######################################
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# Datatypes (KEYWORD1)
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#######################################
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SPI KEYWORD1
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#######################################
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# Methods and Functions (KEYWORD2)
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#######################################
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begin KEYWORD2
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end KEYWORD2
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transfer KEYWORD2
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#setBitOrder KEYWORD2
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setDataMode KEYWORD2
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setClockDivider KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
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SPI_MODE0 LITERAL1
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SPI_MODE1 LITERAL1
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SPI_MODE2 LITERAL1
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SPI_MODE3 LITERAL1
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SPI_CONTINUE LITERAL1
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SPI_LAST LITERAL1
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