SPI1.h

00001 //--------------------------------------------------------------------------------------------
00002 //Original Property of: charmedlabs.com/pixystart -> arduino_pixy-x.y.z.zip 
00003 //
00004 //Modifications made by: Mathieu Malone
00005 //Modifications: Modified Arduino code to function with mbed development platform
00006 //Output Method: This program uses "Serial pc(USBTX, USBRX)" in order to allow communication
00007 //               between the mbed platform and putty terminal through USB
00008 //
00009 //Latest update by: Mathieu Malone
00010 //Date of last update: July 24th, 2014
00011 //--------------------------------------------------------------------------------------------
00012 //
00013 // begin license header
00014 //
00015 // This file is part of Pixy CMUcam5 or "Pixy" for short
00016 //
00017 // All Pixy source code is provided under the terms of the
00018 // GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
00019 // Those wishing to use Pixy source code, software and/or
00020 // technologies under different licensing terms should contact us at
00021 // cmucam@cs.cmu.edu. Such licensing terms are available for
00022 // all portions of the Pixy codebase presented here.
00023 //
00024 // end license header
00025 //
00026 
00027 #ifndef _SPI_H1
00028 #define _SPI_H1
00029 #include "iserial1.h"
00030 
00031 #define SPI_RECEIVEBUF_SIZE1     16
00032 #define SPI_TRANSMITBUF_SIZE1    16
00033 
00034 #define SS_ASSERT1()             LPC_SGPIO1->GPIO_OUTREG1 = 0;
00035 #define SS_NEGATE1()             LPC_SGPIO1->GPIO_OUTREG1 = 1<<14;
00036 
00037 #define SPI_SYNC_MASK1           0xff00
00038 #define SPI_SYNC_WORD1           0x5a00
00039 #define SPI_SYNC_WORD_DATA1      0x5b00
00040 #define SPI_MIN_SYNC_COUNT1      5
00041 
00042 class Spi1 : public Iserial1
00043 {
00044 public:
00045     Spi1(SerialCallback1 callback1);
00046 
00047     // Iserial methods
00048     virtual int open1();
00049     virtual int close1();
00050     virtual int receive1(uint8_t *buf1, uint32_t len1);
00051     virtual int receiveLen1();
00052     virtual int update1();
00053 
00054     void slaveHandler1();
00055 
00056 private:
00057     int checkIdle1();
00058     int sync1();
00059     ReceiveQ1<uint16_t> m_rq1;
00060     TransmitQ1<uint16_t> m_tq1;
00061 
00062     bool m_sync1;
00063     uint32_t m_recvCounter1;
00064     uint32_t m_lastRecvCounter1; 
00065     uint8_t m_syncCounter1;
00066 };
00067 
00068 void SPIinit1(SerialCallback1 callback1);
00069 
00070 extern Spi1 *g_spi1;
00071 
00072 #endif