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SPI library to the new format and moved Robot_Motor and Robot_Control libraries

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This commit is contained in:
Fede85
2013-07-03 22:00:02 +02:00
parent 87d3b4f56b
commit 2371e2ce0d
98 changed files with 14 additions and 216 deletions
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129
libraries/SPI/arch/sam/SPI.cpp Normal file
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/*
* Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st>
* SPI Master library for arduino.
*
* This file is free software; you can redistribute it and/or modify
* it under the terms of either the GNU General Public License version 2
* or the GNU Lesser General Public License version 2.1, both as
* published by the Free Software Foundation.
*/
#include "SPI_Class.h"
SPIClass::SPIClass(Spi *_spi, uint32_t _id, void(*_initCb)(void)) :
spi(_spi), id(_id), initCb(_initCb)
{
// Empty
}
void SPIClass::begin() {
initCb();
SPI_Configure(spi, id, SPI_MR_MSTR | SPI_MR_PS | SPI_MR_MODFDIS);
SPI_Enable(spi);
// NPCS control is left to the user
// Default speed set to 4Mhz
setClockDivider(BOARD_SPI_DEFAULT_SS, 21);
setDataMode(BOARD_SPI_DEFAULT_SS, SPI_MODE0);
setBitOrder(BOARD_SPI_DEFAULT_SS, MSBFIRST);
}
void SPIClass::begin(uint8_t _pin) {
uint32_t spiPin = BOARD_PIN_TO_SPI_PIN(_pin);
PIO_Configure(
g_APinDescription[spiPin].pPort,
g_APinDescription[spiPin].ulPinType,
g_APinDescription[spiPin].ulPin,
g_APinDescription[spiPin].ulPinConfiguration);
// Default speed set to 4Mhz
setClockDivider(_pin, 21);
setDataMode(_pin, SPI_MODE0);
setBitOrder(_pin, MSBFIRST);
}
void SPIClass::end(uint8_t _pin) {
uint32_t spiPin = BOARD_PIN_TO_SPI_PIN(_pin);
// Setting the pin as INPUT will disconnect it from SPI peripheral
pinMode(spiPin, INPUT);
}
void SPIClass::end() {
SPI_Disable(spi);
}
void SPIClass::setBitOrder(uint8_t _pin, BitOrder _bitOrder) {
uint32_t ch = BOARD_PIN_TO_SPI_CHANNEL(_pin);
bitOrder[ch] = _bitOrder;
}
void SPIClass::setDataMode(uint8_t _pin, uint8_t _mode) {
uint32_t ch = BOARD_PIN_TO_SPI_CHANNEL(_pin);
mode[ch] = _mode | SPI_CSR_CSAAT;
// SPI_CSR_DLYBCT(1) keeps CS enabled for 32 MCLK after a completed
// transfer. Some device needs that for working properly.
SPI_ConfigureNPCS(spi, ch, mode[ch] | SPI_CSR_SCBR(divider[ch]) | SPI_CSR_DLYBCT(1));
}
void SPIClass::setClockDivider(uint8_t _pin, uint8_t _divider) {
uint32_t ch = BOARD_PIN_TO_SPI_CHANNEL(_pin);
divider[ch] = _divider;
// SPI_CSR_DLYBCT(1) keeps CS enabled for 32 MCLK after a completed
// transfer. Some device needs that for working properly.
SPI_ConfigureNPCS(spi, ch, mode[ch] | SPI_CSR_SCBR(divider[ch]) | SPI_CSR_DLYBCT(1));
}
byte SPIClass::transfer(byte _pin, uint8_t _data, SPITransferMode _mode) {
uint32_t ch = BOARD_PIN_TO_SPI_CHANNEL(_pin);
// Reverse bit order
if (bitOrder[ch] == LSBFIRST)
_data = __REV(__RBIT(_data));
uint32_t d = _data | SPI_PCS(ch);
if (_mode == SPI_LAST)
d |= SPI_TDR_LASTXFER;
// SPI_Write(spi, _channel, _data);
while ((spi->SPI_SR & SPI_SR_TDRE) == 0)
;
spi->SPI_TDR = d;
// return SPI_Read(spi);
while ((spi->SPI_SR & SPI_SR_RDRF) == 0)
;
d = spi->SPI_RDR;
// Reverse bit order
if (bitOrder[ch] == LSBFIRST)
d = __REV(__RBIT(d));
return d & 0xFF;
}
void SPIClass::attachInterrupt(void) {
// Should be enableInterrupt()
}
void SPIClass::detachInterrupt(void) {
// Should be disableInterrupt()
}
#if SPI_INTERFACES_COUNT > 0
static void SPI_0_Init(void) {
PIO_Configure(
g_APinDescription[PIN_SPI_MOSI].pPort,
g_APinDescription[PIN_SPI_MOSI].ulPinType,
g_APinDescription[PIN_SPI_MOSI].ulPin,
g_APinDescription[PIN_SPI_MOSI].ulPinConfiguration);
PIO_Configure(
g_APinDescription[PIN_SPI_MISO].pPort,
g_APinDescription[PIN_SPI_MISO].ulPinType,
g_APinDescription[PIN_SPI_MISO].ulPin,
g_APinDescription[PIN_SPI_MISO].ulPinConfiguration);
PIO_Configure(
g_APinDescription[PIN_SPI_SCK].pPort,
g_APinDescription[PIN_SPI_SCK].ulPinType,
g_APinDescription[PIN_SPI_SCK].ulPin,
g_APinDescription[PIN_SPI_SCK].ulPinConfiguration);
}
SPIClass SPI(SPI_INTERFACE, SPI_INTERFACE_ID, SPI_0_Init);
#endif

69
libraries/SPI/arch/sam/SPI_Class.h Normal file
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/*
* Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st>
* SPI Master library for arduino.
*
* This file is free software; you can redistribute it and/or modify
* it under the terms of either the GNU General Public License version 2
* or the GNU Lesser General Public License version 2.1, both as
* published by the Free Software Foundation.
*/
#ifndef _SPI_H_INCLUDED
#define _SPI_H_INCLUDED
#include "variant.h"
#include <stdio.h>
#define SPI_MODE0 0x02
#define SPI_MODE1 0x00
#define SPI_MODE2 0x03
#define SPI_MODE3 0x01
enum SPITransferMode {
SPI_CONTINUE,
SPI_LAST
};
class SPIClass {
public:
SPIClass(Spi *_spi, uint32_t _id, void(*_initCb)(void));
byte transfer(uint8_t _data, SPITransferMode _mode = SPI_LAST) { return transfer(BOARD_SPI_DEFAULT_SS, _data, _mode); }
byte transfer(byte _channel, uint8_t _data, SPITransferMode _mode = SPI_LAST);
// SPI Configuration methods
void attachInterrupt(void);
void detachInterrupt(void);
void begin(void);
void end(void);
// Attach/Detach pin to/from SPI controller
void begin(uint8_t _pin);
void end(uint8_t _pin);
// These methods sets a parameter on a single pin
void setBitOrder(uint8_t _pin, BitOrder);
void setDataMode(uint8_t _pin, uint8_t);
void setClockDivider(uint8_t _pin, uint8_t);
// These methods sets the same parameters but on default pin BOARD_SPI_DEFAULT_SS
void setBitOrder(BitOrder _order) { setBitOrder(BOARD_SPI_DEFAULT_SS, _order); };
void setDataMode(uint8_t _mode) { setDataMode(BOARD_SPI_DEFAULT_SS, _mode); };
void setClockDivider(uint8_t _div) { setClockDivider(BOARD_SPI_DEFAULT_SS, _div); };
private:
Spi *spi;
uint32_t id;
BitOrder bitOrder[SPI_CHANNELS_NUM];
uint32_t divider[SPI_CHANNELS_NUM];
uint32_t mode[SPI_CHANNELS_NUM];
void (*initCb)(void);
};
#if SPI_INTERFACES_COUNT > 0
extern SPIClass SPI;
#endif
#endif

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libraries/SPI/arch/sam/keywords.txt Normal file
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#######################################
# Syntax Coloring Map SPI
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
SPI KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
begin KEYWORD2
end KEYWORD2
transfer KEYWORD2
#setBitOrder KEYWORD2
setDataMode KEYWORD2
setClockDivider KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################
SPI_MODE0 LITERAL1
SPI_MODE1 LITERAL1
SPI_MODE2 LITERAL1
SPI_MODE3 LITERAL1
SPI_CONTINUE LITERAL1
SPI_LAST LITERAL1