Mark Vandermeulen / FYDP_Final

Code for our FYDP -only one IMU works right now -RTOS is working

Dependencies:   mbed

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?

UserRevisionLine numberNew 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