Yihui Xiong / Seeed_nRF51822_MPU9250

Use MPU9250 with nRF51822

Dependencies:   eMPL_MPU

Fork of Seeed_Tiny_BLE_Flash by Darren Huang

mbed-src/api/SPISlave.h@5:9b240c1d5251, 2015-12-10 (annotated)

Committer:
yihui
Date:
Thu Dec 10 08:00:18 2015 +0000
Revision:
5:9b240c1d5251
get 9dof data from mpu9250

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yihui 5:9b240c1d5251 1 /* mbed Microcontroller Library
yihui 5:9b240c1d5251 2 * Copyright (c) 2006-2013 ARM Limited
yihui 5:9b240c1d5251 3 *
yihui 5:9b240c1d5251 4 * Licensed under the Apache License, Version 2.0 (the "License");
yihui 5:9b240c1d5251 5 * you may not use this file except in compliance with the License.
yihui 5:9b240c1d5251 6 * You may obtain a copy of the License at
yihui 5:9b240c1d5251 7 *
yihui 5:9b240c1d5251 8 * http://www.apache.org/licenses/LICENSE-2.0
yihui 5:9b240c1d5251 9 *
yihui 5:9b240c1d5251 10 * Unless required by applicable law or agreed to in writing, software
yihui 5:9b240c1d5251 11 * distributed under the License is distributed on an "AS IS" BASIS,
yihui 5:9b240c1d5251 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
yihui 5:9b240c1d5251 13 * See the License for the specific language governing permissions and
yihui 5:9b240c1d5251 14 * limitations under the License.
yihui 5:9b240c1d5251 15 */
yihui 5:9b240c1d5251 16 #ifndef MBED_SPISLAVE_H
yihui 5:9b240c1d5251 17 #define MBED_SPISLAVE_H
yihui 5:9b240c1d5251 18
yihui 5:9b240c1d5251 19 #include "platform.h"
yihui 5:9b240c1d5251 20
yihui 5:9b240c1d5251 21 #if DEVICE_SPISLAVE
yihui 5:9b240c1d5251 22
yihui 5:9b240c1d5251 23 #include "spi_api.h"
yihui 5:9b240c1d5251 24
yihui 5:9b240c1d5251 25 namespace mbed {
yihui 5:9b240c1d5251 26
yihui 5:9b240c1d5251 27 /** A SPI slave, used for communicating with a SPI Master device
yihui 5:9b240c1d5251 28 *
yihui 5:9b240c1d5251 29 * The default format is set to 8-bits, mode 0, and a clock frequency of 1MHz
yihui 5:9b240c1d5251 30 *
yihui 5:9b240c1d5251 31 * Example:
yihui 5:9b240c1d5251 32 * @code
yihui 5:9b240c1d5251 33 * // Reply to a SPI master as slave
yihui 5:9b240c1d5251 34 *
yihui 5:9b240c1d5251 35 * #include "mbed.h"
yihui 5:9b240c1d5251 36 *
yihui 5:9b240c1d5251 37 * SPISlave device(p5, p6, p7, p8); // mosi, miso, sclk, ssel
yihui 5:9b240c1d5251 38 *
yihui 5:9b240c1d5251 39 * int main() {
yihui 5:9b240c1d5251 40 * device.reply(0x00); // Prime SPI with first reply
yihui 5:9b240c1d5251 41 * while(1) {
yihui 5:9b240c1d5251 42 * if(device.receive()) {
yihui 5:9b240c1d5251 43 * int v = device.read(); // Read byte from master
yihui 5:9b240c1d5251 44 * v = (v + 1) % 0x100; // Add one to it, modulo 256
yihui 5:9b240c1d5251 45 * device.reply(v); // Make this the next reply
yihui 5:9b240c1d5251 46 * }
yihui 5:9b240c1d5251 47 * }
yihui 5:9b240c1d5251 48 * }
yihui 5:9b240c1d5251 49 * @endcode
yihui 5:9b240c1d5251 50 */
yihui 5:9b240c1d5251 51 class SPISlave {
yihui 5:9b240c1d5251 52
yihui 5:9b240c1d5251 53 public:
yihui 5:9b240c1d5251 54
yihui 5:9b240c1d5251 55 /** Create a SPI slave connected to the specified pins
yihui 5:9b240c1d5251 56 *
yihui 5:9b240c1d5251 57 * mosi or miso can be specfied as NC if not used
yihui 5:9b240c1d5251 58 *
yihui 5:9b240c1d5251 59 * @param mosi SPI Master Out, Slave In pin
yihui 5:9b240c1d5251 60 * @param miso SPI Master In, Slave Out pin
yihui 5:9b240c1d5251 61 * @param sclk SPI Clock pin
yihui 5:9b240c1d5251 62 * @param ssel SPI chip select pin
yihui 5:9b240c1d5251 63 */
yihui 5:9b240c1d5251 64 SPISlave(PinName mosi, PinName miso, PinName sclk, PinName ssel);
yihui 5:9b240c1d5251 65
yihui 5:9b240c1d5251 66 /** Configure the data transmission format
yihui 5:9b240c1d5251 67 *
yihui 5:9b240c1d5251 68 * @param bits Number of bits per SPI frame (4 - 16)
yihui 5:9b240c1d5251 69 * @param mode Clock polarity and phase mode (0 - 3)
yihui 5:9b240c1d5251 70 *
yihui 5:9b240c1d5251 71 * @code
yihui 5:9b240c1d5251 72 * mode | POL PHA
yihui 5:9b240c1d5251 73 * -----+--------
yihui 5:9b240c1d5251 74 * 0 | 0 0
yihui 5:9b240c1d5251 75 * 1 | 0 1
yihui 5:9b240c1d5251 76 * 2 | 1 0
yihui 5:9b240c1d5251 77 * 3 | 1 1
yihui 5:9b240c1d5251 78 * @endcode
yihui 5:9b240c1d5251 79 */
yihui 5:9b240c1d5251 80 void format(int bits, int mode = 0);
yihui 5:9b240c1d5251 81
yihui 5:9b240c1d5251 82 /** Set the spi bus clock frequency
yihui 5:9b240c1d5251 83 *
yihui 5:9b240c1d5251 84 * @param hz SCLK frequency in hz (default = 1MHz)
yihui 5:9b240c1d5251 85 */
yihui 5:9b240c1d5251 86 void frequency(int hz = 1000000);
yihui 5:9b240c1d5251 87
yihui 5:9b240c1d5251 88 /** Polls the SPI to see if data has been received
yihui 5:9b240c1d5251 89 *
yihui 5:9b240c1d5251 90 * @returns
yihui 5:9b240c1d5251 91 * 0 if no data,
yihui 5:9b240c1d5251 92 * 1 otherwise
yihui 5:9b240c1d5251 93 */
yihui 5:9b240c1d5251 94 int receive(void);
yihui 5:9b240c1d5251 95
yihui 5:9b240c1d5251 96 /** Retrieve data from receive buffer as slave
yihui 5:9b240c1d5251 97 *
yihui 5:9b240c1d5251 98 * @returns
yihui 5:9b240c1d5251 99 * the data in the receive buffer
yihui 5:9b240c1d5251 100 */
yihui 5:9b240c1d5251 101 int read(void);
yihui 5:9b240c1d5251 102
yihui 5:9b240c1d5251 103 /** Fill the transmission buffer with the value to be written out
yihui 5:9b240c1d5251 104 * as slave on the next received message from the master.
yihui 5:9b240c1d5251 105 *
yihui 5:9b240c1d5251 106 * @param value the data to be transmitted next
yihui 5:9b240c1d5251 107 */
yihui 5:9b240c1d5251 108 void reply(int value);
yihui 5:9b240c1d5251 109
yihui 5:9b240c1d5251 110 protected:
yihui 5:9b240c1d5251 111 spi_t _spi;
yihui 5:9b240c1d5251 112
yihui 5:9b240c1d5251 113 int _bits;
yihui 5:9b240c1d5251 114 int _mode;
yihui 5:9b240c1d5251 115 int _hz;
yihui 5:9b240c1d5251 116 };
yihui 5:9b240c1d5251 117
yihui 5:9b240c1d5251 118 } // namespace mbed
yihui 5:9b240c1d5251 119
yihui 5:9b240c1d5251 120 #endif
yihui 5:9b240c1d5251 121
yihui 5:9b240c1d5251 122 #endif