Mark Vandermeulen / FYDP_Final

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

Dependencies:   mbed

mbed/SWSPI/SWSPI.h@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 #ifndef SWSPI_H
majik 0:964eb6a2ef00 24 #define SWSPI_H
majik 0:964eb6a2ef00 25
majik 0:964eb6a2ef00 26 /** A software implemented SPI that can use any digital pins
majik 0:964eb6a2ef00 27 *
majik 0:964eb6a2ef00 28 * Useful when don't want to share a single SPI hardware among attached devices
majik 0:964eb6a2ef00 29 * or when pinout doesn't match exactly to the target's SPI pins
majik 0:964eb6a2ef00 30 *
majik 0:964eb6a2ef00 31 * @code
majik 0:964eb6a2ef00 32 * #include "mbed.h"
majik 0:964eb6a2ef00 33 * #include "SWSPI.h"
majik 0:964eb6a2ef00 34 *
majik 0:964eb6a2ef00 35 * SWSPI spi(p5, p6, p7); // mosi, miso, sclk
majik 0:964eb6a2ef00 36 *
majik 0:964eb6a2ef00 37 * int main()
majik 0:964eb6a2ef00 38 * {
majik 0:964eb6a2ef00 39 * DigitalOut cs(p8);
majik 0:964eb6a2ef00 40 * spi.format(8, 0);
majik 0:964eb6a2ef00 41 * spi.frequency(10000000);
majik 0:964eb6a2ef00 42 * cs.write(0);
majik 0:964eb6a2ef00 43 * spi.write(0x9f);
majik 0:964eb6a2ef00 44 * int jedecid = (spi.write(0) << 16) | (spi.write(0) << 8) | spi.write(0);
majik 0:964eb6a2ef00 45 * cs.write(1);
majik 0:964eb6a2ef00 46 * }
majik 0:964eb6a2ef00 47 * @endcode
majik 0:964eb6a2ef00 48 */
majik 0:964eb6a2ef00 49 class SWSPI
majik 0:964eb6a2ef00 50 {
majik 0:964eb6a2ef00 51 private:
majik 0:964eb6a2ef00 52 DigitalOut* mosi;
majik 0:964eb6a2ef00 53 DigitalIn* miso;
majik 0:964eb6a2ef00 54 DigitalOut* sclk;
majik 0:964eb6a2ef00 55 int port;
majik 0:964eb6a2ef00 56 int bits;
majik 0:964eb6a2ef00 57 int mode;
majik 0:964eb6a2ef00 58 int polarity; // idle clock value
majik 0:964eb6a2ef00 59 int phase; // 0=sample on leading (first) clock edge, 1=trailing (second)
majik 0:964eb6a2ef00 60 int freq;
majik 0:964eb6a2ef00 61
majik 0:964eb6a2ef00 62 public:
majik 0:964eb6a2ef00 63 /** Create SWSPI object
majik 0:964eb6a2ef00 64 *
majik 0:964eb6a2ef00 65 * @param mosi_pin
majik 0:964eb6a2ef00 66 * @param miso_pin
majik 0:964eb6a2ef00 67 * @param sclk_pin
majik 0:964eb6a2ef00 68 */
majik 0:964eb6a2ef00 69 SWSPI(PinName mosi_pin, PinName miso_pin, PinName sclk_pin);
majik 0:964eb6a2ef00 70
majik 0:964eb6a2ef00 71 /** Destructor */
majik 0:964eb6a2ef00 72 ~SWSPI();
majik 0:964eb6a2ef00 73
majik 0:964eb6a2ef00 74 /** Specify SPI format
majik 0:964eb6a2ef00 75 *
majik 0:964eb6a2ef00 76 * @param bits 8 or 16 are typical values
majik 0:964eb6a2ef00 77 * @param mode 0, 1, 2, or 3 phase (bit1) and idle clock (bit0)
majik 0:964eb6a2ef00 78 */
majik 0:964eb6a2ef00 79 void format(int bits, int mode = 0);
majik 0:964eb6a2ef00 80
majik 0:964eb6a2ef00 81 /** Specify SPI clock frequency
majik 0:964eb6a2ef00 82 *
majik 0:964eb6a2ef00 83 * @param hz frequency (optional, defaults to 10000000)
majik 0:964eb6a2ef00 84 */
majik 0:964eb6a2ef00 85 void frequency(int hz = 10000000);
majik 0:964eb6a2ef00 86
majik 0:964eb6a2ef00 87 /** Write data and read result
majik 0:964eb6a2ef00 88 *
majik 0:964eb6a2ef00 89 * @param value data to write (see format for bit size)
majik 0:964eb6a2ef00 90 * returns value read from device
majik 0:964eb6a2ef00 91 */
majik 0:964eb6a2ef00 92 int write(int value);
majik 0:964eb6a2ef00 93 };
majik 0:964eb6a2ef00 94
majik 0:964eb6a2ef00 95 #endif // SWSPI_H