Программа считывает показания датчиков и управляет сервомашинками.

Dependencies:   mbed-src

Fork of NUCLEO_BLUENRG by Ostap Ostapsky

bluenrg/bluenrg_shield_bsp.h

Committer:
Sergeev
Date:
2014-08-25
Revision:
1:fb307cfca15c
Parent:
0:aa1e012ec210

File content as of revision 1:fb307cfca15c:

#ifndef __BLUENRG_SHIELD_BRP_H_
#define __BLUENRG_SHIELD_BRP_H_

#ifdef __cplusplus
 extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/
#include "cube_hal.h"
#include "gp_timer.h"

/* SPI communication details between Nucleo F4 and BlueNRG shield */

// SPI Instance
#define BNRG_SPI_INSTANCE		        SPI1
#define BNRG_SPI_CLK_ENABLE()		        __SPI1_CLK_ENABLE()

// SPI Configuration
#define BNRG_SPI_MODE			        SPI_MODE_MASTER
#define BNRG_SPI_DIRECTION		        SPI_DIRECTION_2LINES
#define BNRG_SPI_DATASIZE		        SPI_DATASIZE_8BIT
#define BNRG_SPI_CLKPOLARITY		        SPI_POLARITY_LOW
#define BNRG_SPI_CLKPHASE	        	SPI_PHASE_1EDGE
#define BNRG_SPI_NSS			        SPI_NSS_SOFT
#define BNRG_SPI_FIRSTBIT	        	SPI_FIRSTBIT_MSB
#define BNRG_SPI_TIMODE		        	SPI_TIMODE_DISABLED
#define BNRG_SPI_CRCPOLYNOMIAL	        	7
#define BNRG_SPI_BAUDRATEPRESCALER      	SPI_BAUDRATEPRESCALER_4
#define BNRG_SPI_CRCCALCULATION		        SPI_CRCCALCULATION_DISABLED

// SPI Reset Pin: PA.8
#define BNRG_SPI_RESET_PIN	        	GPIO_PIN_8
#define BNRG_SPI_RESET_MODE	        	GPIO_MODE_OUTPUT_PP
#define BNRG_SPI_RESET_PULL	        	GPIO_NOPULL
#define BNRG_SPI_RESET_SPEED		        GPIO_SPEED_LOW
#define BNRG_SPI_RESET_ALTERNATE	        0
#define BNRG_SPI_RESET_PORT		        GPIOA
#define BNRG_SPI_RESET_CLK_ENABLE()     	__GPIOA_CLK_ENABLE()


#ifdef USE_PA5
// SPI Clock (SCLK): PA.5
#define BNRG_SPI_SCLK_PIN		        GPIO_PIN_5
#define BNRG_SPI_SCLK_MODE		        GPIO_MODE_AF_PP
#define BNRG_SPI_SCLK_PULL		        GPIO_PULLDOWN
#define BNRG_SPI_SCLK_SPEED		        GPIO_SPEED_HIGH
#define BNRG_SPI_SCLK_ALTERNATE		        GPIO_AF5_SPI1
#define BNRG_SPI_SCLK_PORT		        GPIOA
#define BNRG_SPI_SCLK_CLK_ENABLE()	        __GPIOA_CLK_ENABLE()

#else //USE_PA5

// Alternative setting for SCLK: PB.3
#define BNRG_SPI_SCLK_PIN		        GPIO_PIN_3
#define BNRG_SPI_SCLK_MODE		        GPIO_MODE_AF_PP
#define BNRG_SPI_SCLK_PULL		        GPIO_PULLUP // or GPIO_PULLDOWN?
#define BNRG_SPI_SCLK_SPEED		        GPIO_SPEED_HIGH
#define BNRG_SPI_SCLK_ALTERNATE		        GPIO_AF5_SPI1
#define BNRG_SPI_SCLK_PORT		        GPIOB
#define BNRG_SPI_SCLK_CLK_ENABLE()	        __GPIOB_CLK_ENABLE()

#endif //USE_PA5

// MISO (Master Input Slave Output): PA.6
#define BNRG_SPI_MISO_PIN		        GPIO_PIN_6
#define BNRG_SPI_MISO_MODE		        GPIO_MODE_AF_PP
#define BNRG_SPI_MISO_PULL		        GPIO_PULLDOWN
#define BNRG_SPI_MISO_SPEED		        GPIO_SPEED_HIGH
#define BNRG_SPI_MISO_ALTERNATE		        GPIO_AF5_SPI1
#define BNRG_SPI_MISO_PORT		        GPIOA
#define BNRG_SPI_MISO_CLK_ENABLE()	        __GPIOA_CLK_ENABLE()


// MOSI (Master Output Slave Input): PA.7
#define BNRG_SPI_MOSI_PIN			GPIO_PIN_7
#define BNRG_SPI_MOSI_MODE			GPIO_MODE_AF_PP
#define BNRG_SPI_MOSI_PULL			GPIO_PULLUP
#define BNRG_SPI_MOSI_SPEED			GPIO_SPEED_HIGH
#define BNRG_SPI_MOSI_ALTERNATE		        GPIO_AF5_SPI1
#define BNRG_SPI_MOSI_PORT			GPIOA
#define BNRG_SPI_MOSI_CLK_ENABLE()	        __GPIOA_CLK_ENABLE()

// NSS/CSN/CS: PA.1
#define BNRG_SPI_CS_PIN				GPIO_PIN_1
#define BNRG_SPI_CS_MODE			GPIO_MODE_OUTPUT_PP
#define BNRG_SPI_CS_PULL			GPIO_NOPULL
#define BNRG_SPI_CS_SPEED			GPIO_SPEED_HIGH
#define BNRG_SPI_CS_ALTERNATE		        0
#define BNRG_SPI_CS_PORT			GPIOA
#define BNRG_SPI_CS_CLK_ENABLE()	        __GPIOA_CLK_ENABLE()

// IRQ: PA.0
#define BNRG_SPI_IRQ_PIN			GPIO_PIN_0
#define BNRG_SPI_IRQ_MODE			GPIO_MODE_IT_RISING
#define BNRG_SPI_IRQ_PULL			GPIO_NOPULL
#define BNRG_SPI_IRQ_SPEED			GPIO_SPEED_HIGH
#define BNRG_SPI_IRQ_ALTERNATE		        0
#define BNRG_SPI_IRQ_PORT			GPIOA
#define BNRG_SPI_IRQ_CLK_ENABLE()	        __GPIOA_CLK_ENABLE()

// EXTI External Interrupt for SPI
// NOTE: if you change the IRQ pin remember to implement a corresponding handler
// function like EXTI0_IRQHandler() in the user project
#define BNRG_SPI_EXTI_IRQn			EXTI0_IRQn
#define BNRG_SPI_EXTI_PIN			BNRG_SPI_IRQ_PIN
#define BNRG_SPI_EXTI_PORT			BNRG_SPI_IRQ_PORT

/* Exported functions --------------------------------------------------------*/
void BNRG_SPI_Init(void);
void BlueNRG_RST(void);
int32_t BlueNRG_SPI_Read_All(SPI_HandleTypeDef *hspi,
                             uint8_t *buffer,
                             uint8_t buff_size);
int32_t BlueNRG_SPI_Write(SPI_HandleTypeDef *hspi,
                          uint8_t* data1,
                          uint8_t* data2,
                          uint8_t Nb_bytes1,
                          uint8_t Nb_bytes2);
void Hal_Write_Serial(const void* data1, const void* data2, tHalInt32 n_bytes1, tHalInt32 n_bytes2);
void Enable_SPI_IRQ(void);
void Disable_SPI_IRQ(void);
void Clear_SPI_IRQ(void);
void Clear_SPI_EXTI_Flag(void);

#ifdef __cplusplus
}
#endif

#endif //_BLUENRG_SHIELD_BRP_H_