CRAC Team / command_AX12_petit_robot_V3

mouvement AX12 petit robot version 2

Fork of command_AX12_petit_robot_v2 by CRAC Team

mbed/SPI.h@2:99b1cb0d9f5e, 2017-04-18 (annotated)

Committer:
SquirrelGod
Date:
Tue Apr 18 16:02:40 2017 +0000
Revision:
2:99b1cb0d9f5e
AX12_control

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SquirrelGod 2:99b1cb0d9f5e 1 /* mbed Microcontroller Library - SPI
SquirrelGod 2:99b1cb0d9f5e 2 * Copyright (c) 2010-2011 ARM Limited. All rights reserved.
SquirrelGod 2:99b1cb0d9f5e 3 */
SquirrelGod 2:99b1cb0d9f5e 4
SquirrelGod 2:99b1cb0d9f5e 5 #ifndef MBED_SPI_H
SquirrelGod 2:99b1cb0d9f5e 6 #define MBED_SPI_H
SquirrelGod 2:99b1cb0d9f5e 7
SquirrelGod 2:99b1cb0d9f5e 8 #include "device.h"
SquirrelGod 2:99b1cb0d9f5e 9
SquirrelGod 2:99b1cb0d9f5e 10 #if DEVICE_SPI
SquirrelGod 2:99b1cb0d9f5e 11
SquirrelGod 2:99b1cb0d9f5e 12 #include "platform.h"
SquirrelGod 2:99b1cb0d9f5e 13 #include "PinNames.h"
SquirrelGod 2:99b1cb0d9f5e 14 #include "PeripheralNames.h"
SquirrelGod 2:99b1cb0d9f5e 15 #include "Base.h"
SquirrelGod 2:99b1cb0d9f5e 16
SquirrelGod 2:99b1cb0d9f5e 17 namespace mbed {
SquirrelGod 2:99b1cb0d9f5e 18
SquirrelGod 2:99b1cb0d9f5e 19 /* Class: SPI
SquirrelGod 2:99b1cb0d9f5e 20 * A SPI Master, used for communicating with SPI slave devices
SquirrelGod 2:99b1cb0d9f5e 21 *
SquirrelGod 2:99b1cb0d9f5e 22 * The default format is set to 8-bits, mode 0, and a clock frequency of 1MHz
SquirrelGod 2:99b1cb0d9f5e 23 *
SquirrelGod 2:99b1cb0d9f5e 24 * Most SPI devices will also require Chip Select and Reset signals. These
SquirrelGod 2:99b1cb0d9f5e 25 * can be controlled using <DigitalOut> pins
SquirrelGod 2:99b1cb0d9f5e 26 *
SquirrelGod 2:99b1cb0d9f5e 27 * Example:
SquirrelGod 2:99b1cb0d9f5e 28 * > // Send a byte to a SPI slave, and record the response
SquirrelGod 2:99b1cb0d9f5e 29 * >
SquirrelGod 2:99b1cb0d9f5e 30 * > #include "mbed.h"
SquirrelGod 2:99b1cb0d9f5e 31 * >
SquirrelGod 2:99b1cb0d9f5e 32 * > SPI device(p5, p6, p7); // mosi, miso, sclk
SquirrelGod 2:99b1cb0d9f5e 33 * >
SquirrelGod 2:99b1cb0d9f5e 34 * > int main() {
SquirrelGod 2:99b1cb0d9f5e 35 * > int response = device.write(0xFF);
SquirrelGod 2:99b1cb0d9f5e 36 * > }
SquirrelGod 2:99b1cb0d9f5e 37 */
SquirrelGod 2:99b1cb0d9f5e 38 class SPI : public Base {
SquirrelGod 2:99b1cb0d9f5e 39
SquirrelGod 2:99b1cb0d9f5e 40 public:
SquirrelGod 2:99b1cb0d9f5e 41
SquirrelGod 2:99b1cb0d9f5e 42 /* Constructor: SPI
SquirrelGod 2:99b1cb0d9f5e 43 * Create a SPI master connected to the specified pins
SquirrelGod 2:99b1cb0d9f5e 44 *
SquirrelGod 2:99b1cb0d9f5e 45 * Variables:
SquirrelGod 2:99b1cb0d9f5e 46 * mosi - SPI Master Out, Slave In pin
SquirrelGod 2:99b1cb0d9f5e 47 * miso - SPI Master In, Slave Out pin
SquirrelGod 2:99b1cb0d9f5e 48 * sclk - SPI Clock pin
SquirrelGod 2:99b1cb0d9f5e 49 * name - (optional) A string to identify the object
SquirrelGod 2:99b1cb0d9f5e 50 *
SquirrelGod 2:99b1cb0d9f5e 51 * Pin Options:
SquirrelGod 2:99b1cb0d9f5e 52 * (5, 6, 7) or (11, 12, 13)
SquirrelGod 2:99b1cb0d9f5e 53 *
SquirrelGod 2:99b1cb0d9f5e 54 * mosi or miso can be specfied as NC if not used
SquirrelGod 2:99b1cb0d9f5e 55 */
SquirrelGod 2:99b1cb0d9f5e 56 SPI(PinName mosi, PinName miso, PinName sclk, const char *name = NULL);
SquirrelGod 2:99b1cb0d9f5e 57
SquirrelGod 2:99b1cb0d9f5e 58 /* Function: format
SquirrelGod 2:99b1cb0d9f5e 59 * Configure the data transmission format
SquirrelGod 2:99b1cb0d9f5e 60 *
SquirrelGod 2:99b1cb0d9f5e 61 * Variables:
SquirrelGod 2:99b1cb0d9f5e 62 * bits - Number of bits per SPI frame (4 - 16)
SquirrelGod 2:99b1cb0d9f5e 63 * mode - Clock polarity and phase mode (0 - 3)
SquirrelGod 2:99b1cb0d9f5e 64 *
SquirrelGod 2:99b1cb0d9f5e 65 * > mode | POL PHA
SquirrelGod 2:99b1cb0d9f5e 66 * > -----+--------
SquirrelGod 2:99b1cb0d9f5e 67 * > 0 | 0 0
SquirrelGod 2:99b1cb0d9f5e 68 * > 1 | 0 1
SquirrelGod 2:99b1cb0d9f5e 69 * > 2 | 1 0
SquirrelGod 2:99b1cb0d9f5e 70 * > 3 | 1 1
SquirrelGod 2:99b1cb0d9f5e 71 */
SquirrelGod 2:99b1cb0d9f5e 72 void format(int bits, int mode = 0);
SquirrelGod 2:99b1cb0d9f5e 73
SquirrelGod 2:99b1cb0d9f5e 74 /* Function: frequency
SquirrelGod 2:99b1cb0d9f5e 75 * Set the spi bus clock frequency
SquirrelGod 2:99b1cb0d9f5e 76 *
SquirrelGod 2:99b1cb0d9f5e 77 * Variables:
SquirrelGod 2:99b1cb0d9f5e 78 * hz - SCLK frequency in hz (default = 1MHz)
SquirrelGod 2:99b1cb0d9f5e 79 */
SquirrelGod 2:99b1cb0d9f5e 80 void frequency(int hz = 1000000);
SquirrelGod 2:99b1cb0d9f5e 81
SquirrelGod 2:99b1cb0d9f5e 82 /* Function: write
SquirrelGod 2:99b1cb0d9f5e 83 * Write to the SPI Slave and return the response
SquirrelGod 2:99b1cb0d9f5e 84 *
SquirrelGod 2:99b1cb0d9f5e 85 * Variables:
SquirrelGod 2:99b1cb0d9f5e 86 * value - Data to be sent to the SPI slave
SquirrelGod 2:99b1cb0d9f5e 87 * returns - Response from the SPI slave
SquirrelGod 2:99b1cb0d9f5e 88 */
SquirrelGod 2:99b1cb0d9f5e 89 virtual int write(int value);
SquirrelGod 2:99b1cb0d9f5e 90
SquirrelGod 2:99b1cb0d9f5e 91
SquirrelGod 2:99b1cb0d9f5e 92 #ifdef MBED_RPC
SquirrelGod 2:99b1cb0d9f5e 93 virtual const struct rpc_method *get_rpc_methods();
SquirrelGod 2:99b1cb0d9f5e 94 static struct rpc_class *get_rpc_class();
SquirrelGod 2:99b1cb0d9f5e 95 #endif
SquirrelGod 2:99b1cb0d9f5e 96
SquirrelGod 2:99b1cb0d9f5e 97 protected:
SquirrelGod 2:99b1cb0d9f5e 98
SquirrelGod 2:99b1cb0d9f5e 99 SPIName _spi;
SquirrelGod 2:99b1cb0d9f5e 100
SquirrelGod 2:99b1cb0d9f5e 101 void aquire(void);
SquirrelGod 2:99b1cb0d9f5e 102 static SPI *_owner;
SquirrelGod 2:99b1cb0d9f5e 103 int _bits;
SquirrelGod 2:99b1cb0d9f5e 104 int _mode;
SquirrelGod 2:99b1cb0d9f5e 105 int _hz;
SquirrelGod 2:99b1cb0d9f5e 106
SquirrelGod 2:99b1cb0d9f5e 107 };
SquirrelGod 2:99b1cb0d9f5e 108
SquirrelGod 2:99b1cb0d9f5e 109 } // namespace mbed
SquirrelGod 2:99b1cb0d9f5e 110
SquirrelGod 2:99b1cb0d9f5e 111 #endif
SquirrelGod 2:99b1cb0d9f5e 112
SquirrelGod 2:99b1cb0d9f5e 113 #endif