Yang Zhang
/
EasyCAT_lib
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Diff: EasyCAT.cpp
- Revision:
- 2:e0fc1b098ce8
- Parent:
- 0:7816b38c99cc
- Child:
- 3:7d8b74ba7225
--- a/EasyCAT.cpp Tue Sep 12 17:36:25 2017 +0000
+++ b/EasyCAT.cpp Thu Mar 28 08:32:57 2019 +0000
@@ -23,30 +23,21 @@
#include "EasyCAT.h"
-DigitalOut * SpiCs;
-SPI Spi(D11, D12, D13); // declare MOSI MISO SCK
-
+static DigitalOut * SpiCs;
+static SPI Spi(D11, D12, D13); // declare MOSI MISO SCK
#define SCS_Low_macro (*SpiCs = 0); // macro for set/reset SPI chip select
#define SCS_High_macro (*SpiCs = 1); //
- // macro for the SPI transfer
-inline static void SPI_TransferTx (unsigned char Data)
-{ //
- Spi.write(Data); //
-}; //
- //
-inline static void SPI_TransferTxLast (unsigned char Data)
-{ //
- Spi.write(Data); //
-}; //
- //
-inline static unsigned char SPI_TransferRx (unsigned char Data)
-{ //
- return Spi.write(Data); //
-}; //
+inline static void SPI_TransferTxBuffer(const void* buffer, int buffer_size)
+{
+ Spi.write(static_cast<const char*>(buffer), buffer_size, NULL, 0);
+}
-
+inline static void SPI_TransferRxBuffer(void* buffer, int buffer_size)
+{
+ Spi.write(NULL, 0, static_cast<char*>(buffer), buffer_size);
+}
//---- constructors --------------------------------------------------------------------------------
@@ -68,6 +59,9 @@
// for EasyCAT board REV_B we have three additional options:
// A5, D6, D7
{
+ Sync_ = ASYNC; // if no synchronization mode is declared
+ // ASYNC is the default
+
SCS_ = SCS; // initialize chip select
SpiCs = new DigitalOut(SCS_, 1); //
} //
@@ -315,18 +309,12 @@
ULONG Result;
UWORD Addr;
Addr.Word = Address;
- unsigned char i;
SCS_Low_macro // SPI chip select enable
- SPI_TransferTx(COMM_SPI_READ); // SPI read command
- SPI_TransferTx(Addr.Byte[1]); // address of the register
- SPI_TransferTxLast(Addr.Byte[0]); // to read, MsByte first
-
- for (i=0; i<Len; i++) // read the requested number of bytes
- { // LsByte first
- Result.Byte[i] = SPI_TransferRx(DUMMY_BYTE); //
- } //
+ char buffer[3] = {COMM_SPI_READ, Addr.Byte[1], Addr.Byte[0]};
+ SPI_TransferTxBuffer(buffer, 3);
+ SPI_TransferRxBuffer(Result.Byte, Len);
SCS_High_macro // SPI chip select disable
@@ -350,14 +338,9 @@
SCS_Low_macro // SPI chip select enable
- SPI_TransferTx(COMM_SPI_WRITE); // SPI write command
- SPI_TransferTx(Addr.Byte[1]); // address of the register
- SPI_TransferTx(Addr.Byte[0]); // to write MsByte first
-
- SPI_TransferTx(Data.Byte[0]); // data to write
- SPI_TransferTx(Data.Byte[1]); // LsByte first
- SPI_TransferTx(Data.Byte[2]); //
- SPI_TransferTxLast(Data.Byte[3]); //
+ char buffer[7] = {COMM_SPI_WRITE, Addr.Byte[1], Addr.Byte[0],
+ Data.Byte[0], Data.Byte[1], Data.Byte[2], Data.Byte[3]};
+ SPI_TransferTxBuffer(buffer, 7);
SCS_High_macro // SPI chip select enable
}
@@ -437,7 +420,6 @@
// that will be use by our application to write the outputs
{
ULONG TempLong;
- unsigned char i;
#if TOT_BYTE_NUM_OUT > 0
@@ -464,14 +446,9 @@
SCS_Low_macro // enable SPI chip select
- SPI_TransferTx(COMM_SPI_READ); // SPI read command
- SPI_TransferTx(0x00); // address of the read
- SPI_TransferTxLast(0x00); // fifo MsByte first
-
- for (i=0; i< FST_BYTE_NUM_ROUND_OUT; i++) // transfer the data
- { //
- BufferOut.Byte[i] = SPI_TransferRx(DUMMY_BYTE); //
- } //
+ char buffer[3] = {COMM_SPI_READ, 0, 0x00};
+ SPI_TransferTxBuffer(buffer, 3);
+ SPI_TransferRxBuffer(BufferOut.Byte, FST_BYTE_NUM_ROUND_OUT);
SCS_High_macro // disable SPI chip select
#endif
@@ -490,15 +467,10 @@
SCS_Low_macro // enable SPI chip select
- SPI_TransferTx(COMM_SPI_READ); // SPI read command
- SPI_TransferTx(0x00); // address of the read
- SPI_TransferTxLast(0x00); // fifo MsByte first
+ char buffer[3] = {COMM_SPI_READ, 0, 0x00};
+ SPI_TransferTxBuffer(buffer, 3);
+ SPI_TransferRxBuffer(&BufferOut.Byte[64], SEC_BYTE_NUM_ROUND_OUT);
- for (i=0; i< (SEC_BYTE_NUM_ROUND_OUT); i++) // transfer loop for the remaining
- { // bytes
- BufferOut.Byte[i+64] = SPI_TransferRx(DUMMY_BYTE); // we transfer the second part of
- } // the buffer, so offset by 64
-
SCS_High_macro // SPI chip select disable
#endif
}
@@ -512,7 +484,6 @@
// application and that will be sent to the EtherCAT master
{
ULONG TempLong;
- unsigned char i;
@@ -541,16 +512,9 @@
SCS_Low_macro // enable SPI chip select
- SPI_TransferTx(COMM_SPI_WRITE); // SPI write command
- SPI_TransferTx(0x00); // address of the write fifo
- SPI_TransferTx(0x20); // MsByte first
-
- for (i=0; i< (FST_BYTE_NUM_ROUND_IN - 1 ); i++) // transfer the data
- { //
- SPI_TransferTx (BufferIn.Byte[i]); //
- } //
- //
- SPI_TransferTxLast (BufferIn.Byte[i]); // one last byte
+ char buffer[3] = {COMM_SPI_WRITE, 0x00, 0x20};
+ SPI_TransferTxBuffer(buffer, 3);
+ SPI_TransferTxBuffer(BufferIn.Byte, FST_BYTE_NUM_ROUND_IN);
SCS_High_macro // disable SPI chip select
#endif
@@ -568,16 +532,9 @@
SCS_Low_macro // enable SPI chip select
- SPI_TransferTx(COMM_SPI_WRITE); // SPI write command
- SPI_TransferTx(0x00); // address of the write fifo
- SPI_TransferTx(0x20); // MsByte first
-
- for (i=0; i< (SEC_BYTE_NUM_ROUND_IN - 1); i++) // transfer loop for the remaining
- { // bytes
- SPI_TransferTx (BufferIn.Byte[i+64]); // we transfer the second part of
- } // the buffer, so offset by 64
- //
- SPI_TransferTxLast (BufferIn.Byte[i+64]); // one last byte
+ char buffer[3] = {COMM_SPI_WRITE, 0x00, 0x20};
+ SPI_TransferTxBuffer(buffer, 3);
+ SPI_TransferTxBuffer(&BufferIn.Byte[64], SEC_BYTE_NUM_ROUND_IN);
SCS_High_macro // disable SPI chip select
#endif