Mark Vandermeulen / FYDP_Final2

This is for our FYDP project. 2 MPU6050s are used

Dependencies:   Servo mbed

mbed/SWSPI/SWSPI.h@0:21019d94ad33, 2015-03-21 (annotated)

Committer:
majik
Date:
Sat Mar 21 21:31:29 2015 +0000
Revision:
0:21019d94ad33
Both IMUs work now

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:21019d94ad33 1 /* SWSPI, Software SPI library
majik 0:21019d94ad33 2 * Copyright (c) 2012-2014, David R. Van Wagner, http://techwithdave.blogspot.com
majik 0:21019d94ad33 3 *
majik 0:21019d94ad33 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
majik 0:21019d94ad33 5 * of this software and associated documentation files (the "Software"), to deal
majik 0:21019d94ad33 6 * in the Software without restriction, including without limitation the rights
majik 0:21019d94ad33 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
majik 0:21019d94ad33 8 * copies of the Software, and to permit persons to whom the Software is
majik 0:21019d94ad33 9 * furnished to do so, subject to the following conditions:
majik 0:21019d94ad33 10 *
majik 0:21019d94ad33 11 * The above copyright notice and this permission notice shall be included in
majik 0:21019d94ad33 12 * all copies or substantial portions of the Software.
majik 0:21019d94ad33 13 *
majik 0:21019d94ad33 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
majik 0:21019d94ad33 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
majik 0:21019d94ad33 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
majik 0:21019d94ad33 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
majik 0:21019d94ad33 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
majik 0:21019d94ad33 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
majik 0:21019d94ad33 20 * THE SOFTWARE.
majik 0:21019d94ad33 21 */
majik 0:21019d94ad33 22
majik 0:21019d94ad33 23 #ifndef SWSPI_H
majik 0:21019d94ad33 24 #define SWSPI_H
majik 0:21019d94ad33 25
majik 0:21019d94ad33 26 /** A software implemented SPI that can use any digital pins
majik 0:21019d94ad33 27 *
majik 0:21019d94ad33 28 * Useful when don't want to share a single SPI hardware among attached devices
majik 0:21019d94ad33 29 * or when pinout doesn't match exactly to the target's SPI pins
majik 0:21019d94ad33 30 *
majik 0:21019d94ad33 31 * @code
majik 0:21019d94ad33 32 * #include "mbed.h"
majik 0:21019d94ad33 33 * #include "SWSPI.h"
majik 0:21019d94ad33 34 *
majik 0:21019d94ad33 35 * SWSPI spi(p5, p6, p7); // mosi, miso, sclk
majik 0:21019d94ad33 36 *
majik 0:21019d94ad33 37 * int main()
majik 0:21019d94ad33 38 * {
majik 0:21019d94ad33 39 * DigitalOut cs(p8);
majik 0:21019d94ad33 40 * spi.format(8, 0);
majik 0:21019d94ad33 41 * spi.frequency(10000000);
majik 0:21019d94ad33 42 * cs.write(0);
majik 0:21019d94ad33 43 * spi.write(0x9f);
majik 0:21019d94ad33 44 * int jedecid = (spi.write(0) << 16) | (spi.write(0) << 8) | spi.write(0);
majik 0:21019d94ad33 45 * cs.write(1);
majik 0:21019d94ad33 46 * }
majik 0:21019d94ad33 47 * @endcode
majik 0:21019d94ad33 48 */
majik 0:21019d94ad33 49 class SWSPI
majik 0:21019d94ad33 50 {
majik 0:21019d94ad33 51 private:
majik 0:21019d94ad33 52 DigitalOut* mosi;
majik 0:21019d94ad33 53 DigitalIn* miso;
majik 0:21019d94ad33 54 DigitalOut* sclk;
majik 0:21019d94ad33 55 int port;
majik 0:21019d94ad33 56 int bits;
majik 0:21019d94ad33 57 int mode;
majik 0:21019d94ad33 58 int polarity; // idle clock value
majik 0:21019d94ad33 59 int phase; // 0=sample on leading (first) clock edge, 1=trailing (second)
majik 0:21019d94ad33 60 int freq;
majik 0:21019d94ad33 61
majik 0:21019d94ad33 62 public:
majik 0:21019d94ad33 63 /** Create SWSPI object
majik 0:21019d94ad33 64 *
majik 0:21019d94ad33 65 * @param mosi_pin
majik 0:21019d94ad33 66 * @param miso_pin
majik 0:21019d94ad33 67 * @param sclk_pin
majik 0:21019d94ad33 68 */
majik 0:21019d94ad33 69 SWSPI(PinName mosi_pin, PinName miso_pin, PinName sclk_pin);
majik 0:21019d94ad33 70
majik 0:21019d94ad33 71 /** Destructor */
majik 0:21019d94ad33 72 ~SWSPI();
majik 0:21019d94ad33 73
majik 0:21019d94ad33 74 /** Specify SPI format
majik 0:21019d94ad33 75 *
majik 0:21019d94ad33 76 * @param bits 8 or 16 are typical values
majik 0:21019d94ad33 77 * @param mode 0, 1, 2, or 3 phase (bit1) and idle clock (bit0)
majik 0:21019d94ad33 78 */
majik 0:21019d94ad33 79 void format(int bits, int mode = 0);
majik 0:21019d94ad33 80
majik 0:21019d94ad33 81 /** Specify SPI clock frequency
majik 0:21019d94ad33 82 *
majik 0:21019d94ad33 83 * @param hz frequency (optional, defaults to 10000000)
majik 0:21019d94ad33 84 */
majik 0:21019d94ad33 85 void frequency(int hz = 10000000);
majik 0:21019d94ad33 86
majik 0:21019d94ad33 87 /** Write data and read result
majik 0:21019d94ad33 88 *
majik 0:21019d94ad33 89 * @param value data to write (see format for bit size)
majik 0:21019d94ad33 90 * returns value read from device
majik 0:21019d94ad33 91 */
majik 0:21019d94ad33 92 int write(int value);
majik 0:21019d94ad33 93 };
majik 0:21019d94ad33 94
majik 0:21019d94ad33 95 #endif // SWSPI_H