MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

mbed-dev/drivers/SPISlave.h@46:b156ef445742, 2017-06-03 (annotated)

Committer:
sahilmgandhi
Date:
Sat Jun 03 00:22:44 2017 +0000
Revision:
46:b156ef445742
Parent:
18:6a4db94011d3 
Final code for internal battlebot competition.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sahilmgandhi 18:6a4db94011d3 1 /* mbed Microcontroller Library
sahilmgandhi 18:6a4db94011d3 2 * Copyright (c) 2006-2013 ARM Limited
sahilmgandhi 18:6a4db94011d3 3 *
sahilmgandhi 18:6a4db94011d3 4 * Licensed under the Apache License, Version 2.0 (the "License");
sahilmgandhi 18:6a4db94011d3 5 * you may not use this file except in compliance with the License.
sahilmgandhi 18:6a4db94011d3 6 * You may obtain a copy of the License at
sahilmgandhi 18:6a4db94011d3 7 *
sahilmgandhi 18:6a4db94011d3 8 * http://www.apache.org/licenses/LICENSE-2.0
sahilmgandhi 18:6a4db94011d3 9 *
sahilmgandhi 18:6a4db94011d3 10 * Unless required by applicable law or agreed to in writing, software
sahilmgandhi 18:6a4db94011d3 11 * distributed under the License is distributed on an "AS IS" BASIS,
sahilmgandhi 18:6a4db94011d3 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
sahilmgandhi 18:6a4db94011d3 13 * See the License for the specific language governing permissions and
sahilmgandhi 18:6a4db94011d3 14 * limitations under the License.
sahilmgandhi 18:6a4db94011d3 15 */
sahilmgandhi 18:6a4db94011d3 16 #ifndef MBED_SPISLAVE_H
sahilmgandhi 18:6a4db94011d3 17 #define MBED_SPISLAVE_H
sahilmgandhi 18:6a4db94011d3 18
sahilmgandhi 18:6a4db94011d3 19 #include "platform/platform.h"
sahilmgandhi 18:6a4db94011d3 20
sahilmgandhi 18:6a4db94011d3 21 #if DEVICE_SPISLAVE
sahilmgandhi 18:6a4db94011d3 22
sahilmgandhi 18:6a4db94011d3 23 #include "hal/spi_api.h"
sahilmgandhi 18:6a4db94011d3 24
sahilmgandhi 18:6a4db94011d3 25 namespace mbed {
sahilmgandhi 18:6a4db94011d3 26 /** \addtogroup drivers */
sahilmgandhi 18:6a4db94011d3 27 /** @{*/
sahilmgandhi 18:6a4db94011d3 28
sahilmgandhi 18:6a4db94011d3 29 /** A SPI slave, used for communicating with a SPI Master device
sahilmgandhi 18:6a4db94011d3 30 *
sahilmgandhi 18:6a4db94011d3 31 * The default format is set to 8-bits, mode 0, and a clock frequency of 1MHz
sahilmgandhi 18:6a4db94011d3 32 *
sahilmgandhi 18:6a4db94011d3 33 * @Note Synchronization level: Not protected
sahilmgandhi 18:6a4db94011d3 34 *
sahilmgandhi 18:6a4db94011d3 35 * Example:
sahilmgandhi 18:6a4db94011d3 36 * @code
sahilmgandhi 18:6a4db94011d3 37 * // Reply to a SPI master as slave
sahilmgandhi 18:6a4db94011d3 38 *
sahilmgandhi 18:6a4db94011d3 39 * #include "mbed.h"
sahilmgandhi 18:6a4db94011d3 40 *
sahilmgandhi 18:6a4db94011d3 41 * SPISlave device(p5, p6, p7, p8); // mosi, miso, sclk, ssel
sahilmgandhi 18:6a4db94011d3 42 *
sahilmgandhi 18:6a4db94011d3 43 * int main() {
sahilmgandhi 18:6a4db94011d3 44 * device.reply(0x00); // Prime SPI with first reply
sahilmgandhi 18:6a4db94011d3 45 * while(1) {
sahilmgandhi 18:6a4db94011d3 46 * if(device.receive()) {
sahilmgandhi 18:6a4db94011d3 47 * int v = device.read(); // Read byte from master
sahilmgandhi 18:6a4db94011d3 48 * v = (v + 1) % 0x100; // Add one to it, modulo 256
sahilmgandhi 18:6a4db94011d3 49 * device.reply(v); // Make this the next reply
sahilmgandhi 18:6a4db94011d3 50 * }
sahilmgandhi 18:6a4db94011d3 51 * }
sahilmgandhi 18:6a4db94011d3 52 * }
sahilmgandhi 18:6a4db94011d3 53 * @endcode
sahilmgandhi 18:6a4db94011d3 54 */
sahilmgandhi 18:6a4db94011d3 55 class SPISlave {
sahilmgandhi 18:6a4db94011d3 56
sahilmgandhi 18:6a4db94011d3 57 public:
sahilmgandhi 18:6a4db94011d3 58
sahilmgandhi 18:6a4db94011d3 59 /** Create a SPI slave connected to the specified pins
sahilmgandhi 18:6a4db94011d3 60 *
sahilmgandhi 18:6a4db94011d3 61 * mosi or miso can be specfied as NC if not used
sahilmgandhi 18:6a4db94011d3 62 *
sahilmgandhi 18:6a4db94011d3 63 * @param mosi SPI Master Out, Slave In pin
sahilmgandhi 18:6a4db94011d3 64 * @param miso SPI Master In, Slave Out pin
sahilmgandhi 18:6a4db94011d3 65 * @param sclk SPI Clock pin
sahilmgandhi 18:6a4db94011d3 66 * @param ssel SPI chip select pin
sahilmgandhi 18:6a4db94011d3 67 */
sahilmgandhi 18:6a4db94011d3 68 SPISlave(PinName mosi, PinName miso, PinName sclk, PinName ssel);
sahilmgandhi 18:6a4db94011d3 69
sahilmgandhi 18:6a4db94011d3 70 /** Configure the data transmission format
sahilmgandhi 18:6a4db94011d3 71 *
sahilmgandhi 18:6a4db94011d3 72 * @param bits Number of bits per SPI frame (4 - 16)
sahilmgandhi 18:6a4db94011d3 73 * @param mode Clock polarity and phase mode (0 - 3)
sahilmgandhi 18:6a4db94011d3 74 *
sahilmgandhi 18:6a4db94011d3 75 * @code
sahilmgandhi 18:6a4db94011d3 76 * mode | POL PHA
sahilmgandhi 18:6a4db94011d3 77 * -----+--------
sahilmgandhi 18:6a4db94011d3 78 * 0 | 0 0
sahilmgandhi 18:6a4db94011d3 79 * 1 | 0 1
sahilmgandhi 18:6a4db94011d3 80 * 2 | 1 0
sahilmgandhi 18:6a4db94011d3 81 * 3 | 1 1
sahilmgandhi 18:6a4db94011d3 82 * @endcode
sahilmgandhi 18:6a4db94011d3 83 */
sahilmgandhi 18:6a4db94011d3 84 void format(int bits, int mode = 0);
sahilmgandhi 18:6a4db94011d3 85
sahilmgandhi 18:6a4db94011d3 86 /** Set the spi bus clock frequency
sahilmgandhi 18:6a4db94011d3 87 *
sahilmgandhi 18:6a4db94011d3 88 * @param hz SCLK frequency in hz (default = 1MHz)
sahilmgandhi 18:6a4db94011d3 89 */
sahilmgandhi 18:6a4db94011d3 90 void frequency(int hz = 1000000);
sahilmgandhi 18:6a4db94011d3 91
sahilmgandhi 18:6a4db94011d3 92 /** Polls the SPI to see if data has been received
sahilmgandhi 18:6a4db94011d3 93 *
sahilmgandhi 18:6a4db94011d3 94 * @returns
sahilmgandhi 18:6a4db94011d3 95 * 0 if no data,
sahilmgandhi 18:6a4db94011d3 96 * 1 otherwise
sahilmgandhi 18:6a4db94011d3 97 */
sahilmgandhi 18:6a4db94011d3 98 int receive(void);
sahilmgandhi 18:6a4db94011d3 99
sahilmgandhi 18:6a4db94011d3 100 /** Retrieve data from receive buffer as slave
sahilmgandhi 18:6a4db94011d3 101 *
sahilmgandhi 18:6a4db94011d3 102 * @returns
sahilmgandhi 18:6a4db94011d3 103 * the data in the receive buffer
sahilmgandhi 18:6a4db94011d3 104 */
sahilmgandhi 18:6a4db94011d3 105 int read(void);
sahilmgandhi 18:6a4db94011d3 106
sahilmgandhi 18:6a4db94011d3 107 /** Fill the transmission buffer with the value to be written out
sahilmgandhi 18:6a4db94011d3 108 * as slave on the next received message from the master.
sahilmgandhi 18:6a4db94011d3 109 *
sahilmgandhi 18:6a4db94011d3 110 * @param value the data to be transmitted next
sahilmgandhi 18:6a4db94011d3 111 */
sahilmgandhi 18:6a4db94011d3 112 void reply(int value);
sahilmgandhi 18:6a4db94011d3 113
sahilmgandhi 18:6a4db94011d3 114 protected:
sahilmgandhi 18:6a4db94011d3 115 spi_t _spi;
sahilmgandhi 18:6a4db94011d3 116
sahilmgandhi 18:6a4db94011d3 117 int _bits;
sahilmgandhi 18:6a4db94011d3 118 int _mode;
sahilmgandhi 18:6a4db94011d3 119 int _hz;
sahilmgandhi 18:6a4db94011d3 120 };
sahilmgandhi 18:6a4db94011d3 121
sahilmgandhi 18:6a4db94011d3 122 } // namespace mbed
sahilmgandhi 18:6a4db94011d3 123
sahilmgandhi 18:6a4db94011d3 124 #endif
sahilmgandhi 18:6a4db94011d3 125
sahilmgandhi 18:6a4db94011d3 126 #endif
sahilmgandhi 18:6a4db94011d3 127
sahilmgandhi 18:6a4db94011d3 128 /** @}*/