Jonathan Goret / PixyLibrary

same

Dependents:   Nucleo_motors

Fork of PixyLibrary by Mathieu Malone

SPI1.h@1:4b14159ab9bb, 2015-04-13 (annotated)

Committer:
johnylafleur
Date:
Mon Apr 13 12:32:52 2015 +0000
Revision:
1:4b14159ab9bb
Parent:
0:56a3009221d3 
Same library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
MBM 0:56a3009221d3 1 //--------------------------------------------------------------------------------------------
MBM 0:56a3009221d3 2 //Original Property of: charmedlabs.com/pixystart -> arduino_pixy-x.y.z.zip
MBM 0:56a3009221d3 3 //
MBM 0:56a3009221d3 4 //Modifications made by: Mathieu Malone
MBM 0:56a3009221d3 5 //Modifications: Modified Arduino code to function with mbed development platform
MBM 0:56a3009221d3 6 //Output Method: This program uses "Serial pc(USBTX, USBRX)" in order to allow communication
MBM 0:56a3009221d3 7 // between the mbed platform and putty terminal through USB
MBM 0:56a3009221d3 8 //
MBM 0:56a3009221d3 9 //Latest update by: Mathieu Malone
MBM 0:56a3009221d3 10 //Date of last update: July 24th, 2014
MBM 0:56a3009221d3 11 //--------------------------------------------------------------------------------------------
MBM 0:56a3009221d3 12 //
MBM 0:56a3009221d3 13 // begin license header
MBM 0:56a3009221d3 14 //
MBM 0:56a3009221d3 15 // This file is part of Pixy CMUcam5 or "Pixy" for short
MBM 0:56a3009221d3 16 //
MBM 0:56a3009221d3 17 // All Pixy source code is provided under the terms of the
MBM 0:56a3009221d3 18 // GNU General Public License v2 (http://www.gnu.org/licenses/gpl-2.0.html).
MBM 0:56a3009221d3 19 // Those wishing to use Pixy source code, software and/or
MBM 0:56a3009221d3 20 // technologies under different licensing terms should contact us at
MBM 0:56a3009221d3 21 // cmucam@cs.cmu.edu. Such licensing terms are available for
MBM 0:56a3009221d3 22 // all portions of the Pixy codebase presented here.
MBM 0:56a3009221d3 23 //
MBM 0:56a3009221d3 24 // end license header
MBM 0:56a3009221d3 25 //
MBM 0:56a3009221d3 26
MBM 0:56a3009221d3 27 #ifndef _SPI_H1
MBM 0:56a3009221d3 28 #define _SPI_H1
MBM 0:56a3009221d3 29 #include "iserial1.h"
MBM 0:56a3009221d3 30
MBM 0:56a3009221d3 31 #define SPI_RECEIVEBUF_SIZE1 16
MBM 0:56a3009221d3 32 #define SPI_TRANSMITBUF_SIZE1 16
MBM 0:56a3009221d3 33
MBM 0:56a3009221d3 34 #define SS_ASSERT1() LPC_SGPIO1->GPIO_OUTREG1 = 0;
MBM 0:56a3009221d3 35 #define SS_NEGATE1() LPC_SGPIO1->GPIO_OUTREG1 = 1<<14;
MBM 0:56a3009221d3 36
MBM 0:56a3009221d3 37 #define SPI_SYNC_MASK1 0xff00
MBM 0:56a3009221d3 38 #define SPI_SYNC_WORD1 0x5a00
MBM 0:56a3009221d3 39 #define SPI_SYNC_WORD_DATA1 0x5b00
MBM 0:56a3009221d3 40 #define SPI_MIN_SYNC_COUNT1 5
MBM 0:56a3009221d3 41
MBM 0:56a3009221d3 42 class Spi1 : public Iserial1
MBM 0:56a3009221d3 43 {
MBM 0:56a3009221d3 44 public:
MBM 0:56a3009221d3 45 Spi1(SerialCallback1 callback1);
MBM 0:56a3009221d3 46
MBM 0:56a3009221d3 47 // Iserial methods
MBM 0:56a3009221d3 48 virtual int open1();
MBM 0:56a3009221d3 49 virtual int close1();
MBM 0:56a3009221d3 50 virtual int receive1(uint8_t *buf1, uint32_t len1);
MBM 0:56a3009221d3 51 virtual int receiveLen1();
MBM 0:56a3009221d3 52 virtual int update1();
MBM 0:56a3009221d3 53
MBM 0:56a3009221d3 54 void slaveHandler1();
MBM 0:56a3009221d3 55
MBM 0:56a3009221d3 56 private:
MBM 0:56a3009221d3 57 int checkIdle1();
MBM 0:56a3009221d3 58 int sync1();
MBM 0:56a3009221d3 59 ReceiveQ1<uint16_t> m_rq1;
MBM 0:56a3009221d3 60 TransmitQ1<uint16_t> m_tq1;
MBM 0:56a3009221d3 61
MBM 0:56a3009221d3 62 bool m_sync1;
MBM 0:56a3009221d3 63 uint32_t m_recvCounter1;
MBM 0:56a3009221d3 64 uint32_t m_lastRecvCounter1;
MBM 0:56a3009221d3 65 uint8_t m_syncCounter1;
MBM 0:56a3009221d3 66 };
MBM 0:56a3009221d3 67
MBM 0:56a3009221d3 68 void SPIinit1(SerialCallback1 callback1);
MBM 0:56a3009221d3 69
MBM 0:56a3009221d3 70 extern Spi1 *g_spi1;
MBM 0:56a3009221d3 71
MBM 0:56a3009221d3 72 #endif