MRD Lab / SpindleBot_1_5b

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Dependencies:   MX12 ServoRingBuffer mbed-src

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Show/hide line numbers SSPI.cpp Source File

SSPI.cpp

00001 #include "SSPI.h"
00002 
00003 
00004 SSPI::SSPI(PinName mosi, PinName miso, PinName sclk)
00005         : MOSI(mosi),
00006           MISO(miso),
00007           SCLK(sclk) {
00008    
00009 }
00010 
00011 
00012 unsigned char SSPI::write(unsigned char data)
00013 {
00014   unsigned char i;
00015   unsigned char out_data=0;
00016   wait_us(SCLK_DELAY_US);
00017   SCLK=0;
00018   for(i=0; i<8; i++)
00019   {
00020      wait_us(SCLK_DELAY_US);
00021      SCLK=1;
00022      wait_us(SCLK_DELAY_US);
00023      if(CHECK_BIT(data,7-i))
00024      {
00025          MOSI=1;
00026      }
00027      else
00028      {
00029          MOSI=0;
00030      }
00031      out_data= ( out_data << 1 ) | MISO.read();
00032      SCLK=0;
00033   }
00034   return out_data;
00035 }
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