Code for our FYDP -only one IMU works right now -RTOS is working
mbed/SWSPI/SWSPI.cpp@0:964eb6a2ef00, 2015-03-18 (annotated)
- Committer:
- majik
- Date:
- Wed Mar 18 22:23:48 2015 +0000
- Revision:
- 0:964eb6a2ef00
This is our FYDP code, but only one IMU works with the RTOS.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
majik | 0:964eb6a2ef00 | 1 | /* SWSPI, Software SPI library |
majik | 0:964eb6a2ef00 | 2 | * Copyright (c) 2012-2014, David R. Van Wagner, http://techwithdave.blogspot.com |
majik | 0:964eb6a2ef00 | 3 | * |
majik | 0:964eb6a2ef00 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
majik | 0:964eb6a2ef00 | 5 | * of this software and associated documentation files (the "Software"), to deal |
majik | 0:964eb6a2ef00 | 6 | * in the Software without restriction, including without limitation the rights |
majik | 0:964eb6a2ef00 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
majik | 0:964eb6a2ef00 | 8 | * copies of the Software, and to permit persons to whom the Software is |
majik | 0:964eb6a2ef00 | 9 | * furnished to do so, subject to the following conditions: |
majik | 0:964eb6a2ef00 | 10 | * |
majik | 0:964eb6a2ef00 | 11 | * The above copyright notice and this permission notice shall be included in |
majik | 0:964eb6a2ef00 | 12 | * all copies or substantial portions of the Software. |
majik | 0:964eb6a2ef00 | 13 | * |
majik | 0:964eb6a2ef00 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
majik | 0:964eb6a2ef00 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
majik | 0:964eb6a2ef00 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
majik | 0:964eb6a2ef00 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
majik | 0:964eb6a2ef00 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
majik | 0:964eb6a2ef00 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
majik | 0:964eb6a2ef00 | 20 | * THE SOFTWARE. |
majik | 0:964eb6a2ef00 | 21 | */ |
majik | 0:964eb6a2ef00 | 22 | |
majik | 0:964eb6a2ef00 | 23 | #include <mbed.h> |
majik | 0:964eb6a2ef00 | 24 | #include "SWSPI.h" |
majik | 0:964eb6a2ef00 | 25 | |
majik | 0:964eb6a2ef00 | 26 | SWSPI::SWSPI(PinName mosi_pin, PinName miso_pin, PinName sclk_pin) |
majik | 0:964eb6a2ef00 | 27 | { |
majik | 0:964eb6a2ef00 | 28 | mosi = new DigitalOut(mosi_pin); |
majik | 0:964eb6a2ef00 | 29 | miso = new DigitalIn(miso_pin); |
majik | 0:964eb6a2ef00 | 30 | sclk = new DigitalOut(sclk_pin); |
majik | 0:964eb6a2ef00 | 31 | format(8); |
majik | 0:964eb6a2ef00 | 32 | frequency(); |
majik | 0:964eb6a2ef00 | 33 | } |
majik | 0:964eb6a2ef00 | 34 | |
majik | 0:964eb6a2ef00 | 35 | SWSPI::~SWSPI() |
majik | 0:964eb6a2ef00 | 36 | { |
majik | 0:964eb6a2ef00 | 37 | delete mosi; |
majik | 0:964eb6a2ef00 | 38 | delete miso; |
majik | 0:964eb6a2ef00 | 39 | delete sclk; |
majik | 0:964eb6a2ef00 | 40 | } |
majik | 0:964eb6a2ef00 | 41 | |
majik | 0:964eb6a2ef00 | 42 | void SWSPI::format(int bits, int mode) |
majik | 0:964eb6a2ef00 | 43 | { |
majik | 0:964eb6a2ef00 | 44 | this->bits = bits; |
majik | 0:964eb6a2ef00 | 45 | this->mode = mode; |
majik | 0:964eb6a2ef00 | 46 | polarity = (mode >> 1) & 1; |
majik | 0:964eb6a2ef00 | 47 | phase = mode & 1; |
majik | 0:964eb6a2ef00 | 48 | sclk->write(polarity); |
majik | 0:964eb6a2ef00 | 49 | } |
majik | 0:964eb6a2ef00 | 50 | |
majik | 0:964eb6a2ef00 | 51 | void SWSPI::frequency(int hz) |
majik | 0:964eb6a2ef00 | 52 | { |
majik | 0:964eb6a2ef00 | 53 | this->freq = hz; |
majik | 0:964eb6a2ef00 | 54 | } |
majik | 0:964eb6a2ef00 | 55 | |
majik | 0:964eb6a2ef00 | 56 | int SWSPI::write(int value) |
majik | 0:964eb6a2ef00 | 57 | { |
majik | 0:964eb6a2ef00 | 58 | int read = 0; |
majik | 0:964eb6a2ef00 | 59 | for (int bit = bits-1; bit >= 0; --bit) |
majik | 0:964eb6a2ef00 | 60 | { |
majik | 0:964eb6a2ef00 | 61 | mosi->write(((value >> bit) & 0x01) != 0); |
majik | 0:964eb6a2ef00 | 62 | |
majik | 0:964eb6a2ef00 | 63 | if (phase == 0) |
majik | 0:964eb6a2ef00 | 64 | { |
majik | 0:964eb6a2ef00 | 65 | if (miso->read()) |
majik | 0:964eb6a2ef00 | 66 | read |= (1 << bit); |
majik | 0:964eb6a2ef00 | 67 | } |
majik | 0:964eb6a2ef00 | 68 | |
majik | 0:964eb6a2ef00 | 69 | sclk->write(!polarity); |
majik | 0:964eb6a2ef00 | 70 | |
majik | 0:964eb6a2ef00 | 71 | wait(1.0/freq/2); |
majik | 0:964eb6a2ef00 | 72 | |
majik | 0:964eb6a2ef00 | 73 | if (phase == 1) |
majik | 0:964eb6a2ef00 | 74 | { |
majik | 0:964eb6a2ef00 | 75 | if (miso->read()) |
majik | 0:964eb6a2ef00 | 76 | read |= (1 << bit); |
majik | 0:964eb6a2ef00 | 77 | } |
majik | 0:964eb6a2ef00 | 78 | |
majik | 0:964eb6a2ef00 | 79 | sclk->write(polarity); |
majik | 0:964eb6a2ef00 | 80 | |
majik | 0:964eb6a2ef00 | 81 | wait(1.0/freq/2); |
majik | 0:964eb6a2ef00 | 82 | } |
majik | 0:964eb6a2ef00 | 83 | |
majik | 0:964eb6a2ef00 | 84 | return read; |
majik | 0:964eb6a2ef00 | 85 | } |
majik | 0:964eb6a2ef00 | 86 |