CRAC Team / command_AX12_petit_robot_V4tempo

code ax12 petit robot 12/05/2017

Fork of command_AX12_petit_robot_V3 by CRAC Team

mbed/SPIHalfDuplex.h@7:ad4a19e26b84, 2017-05-12 (annotated)

Committer:
ClementBreteau
Date:
Fri May 12 14:35:09 2017 +0000
Revision:
7:ad4a19e26b84
Parent:
2:99b1cb0d9f5e 
position ax12

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SquirrelGod 2:99b1cb0d9f5e 1 /* mbed Microcontroller Library - SPIHalfDuplex
SquirrelGod 2:99b1cb0d9f5e 2 * Copyright (c) 2010-2011 ARM Limited. All rights reserved.
SquirrelGod 2:99b1cb0d9f5e 3 */
SquirrelGod 2:99b1cb0d9f5e 4
SquirrelGod 2:99b1cb0d9f5e 5 #ifndef MBED_SPIHALFDUPLEX_H
SquirrelGod 2:99b1cb0d9f5e 6 #define MBED_SPIHALFDUPLEX_H
SquirrelGod 2:99b1cb0d9f5e 7
SquirrelGod 2:99b1cb0d9f5e 8 #include "device.h"
SquirrelGod 2:99b1cb0d9f5e 9
SquirrelGod 2:99b1cb0d9f5e 10 #if DEVICE_SPI
SquirrelGod 2:99b1cb0d9f5e 11
SquirrelGod 2:99b1cb0d9f5e 12 #include "SPI.h"
SquirrelGod 2:99b1cb0d9f5e 13
SquirrelGod 2:99b1cb0d9f5e 14 namespace mbed {
SquirrelGod 2:99b1cb0d9f5e 15
SquirrelGod 2:99b1cb0d9f5e 16 /* Class: SPIHalfDuplex
SquirrelGod 2:99b1cb0d9f5e 17 * A SPI half-duplex master, used for communicating with SPI slave devices
SquirrelGod 2:99b1cb0d9f5e 18 * over a shared data line.
SquirrelGod 2:99b1cb0d9f5e 19 *
SquirrelGod 2:99b1cb0d9f5e 20 * The default format is set to 8-bits for both master and slave, and a
SquirrelGod 2:99b1cb0d9f5e 21 * clock frequency of 1MHz
SquirrelGod 2:99b1cb0d9f5e 22 *
SquirrelGod 2:99b1cb0d9f5e 23 * Most SPI devies will also require Chip Select and Reset signals. These
SquirrelGod 2:99b1cb0d9f5e 24 * can be controlled using <DigitalOut> pins.
SquirrelGod 2:99b1cb0d9f5e 25 *
SquirrelGod 2:99b1cb0d9f5e 26 * Although this is for a shared data line, both MISO and MOSI are defined,
SquirrelGod 2:99b1cb0d9f5e 27 * and should be tied together externally to the mbed. This class handles
SquirrelGod 2:99b1cb0d9f5e 28 * the tri-stating of the MOSI pin.
SquirrelGod 2:99b1cb0d9f5e 29 *
SquirrelGod 2:99b1cb0d9f5e 30 * Example:
SquirrelGod 2:99b1cb0d9f5e 31 * > // Send a byte to a SPI half-duplex slave, and record the response
SquirrelGod 2:99b1cb0d9f5e 32 * >
SquirrelGod 2:99b1cb0d9f5e 33 * > #include "mbed.h"
SquirrelGod 2:99b1cb0d9f5e 34 * >
SquirrelGod 2:99b1cb0d9f5e 35 * > SPIHalfDuplex device(p5, p6, p7) // mosi, miso, sclk
SquirrelGod 2:99b1cb0d9f5e 36 * >
SquirrelGod 2:99b1cb0d9f5e 37 * > int main() {
SquirrelGod 2:99b1cb0d9f5e 38 * > int respone = device.write(0xAA);
SquirrelGod 2:99b1cb0d9f5e 39 * > }
SquirrelGod 2:99b1cb0d9f5e 40 */
SquirrelGod 2:99b1cb0d9f5e 41
SquirrelGod 2:99b1cb0d9f5e 42 class SPIHalfDuplex : public SPI {
SquirrelGod 2:99b1cb0d9f5e 43
SquirrelGod 2:99b1cb0d9f5e 44 public:
SquirrelGod 2:99b1cb0d9f5e 45
SquirrelGod 2:99b1cb0d9f5e 46 /* Constructor: SPIHalfDuplex
SquirrelGod 2:99b1cb0d9f5e 47 * Create a SPI half-duplex master connected to the specified pins
SquirrelGod 2:99b1cb0d9f5e 48 *
SquirrelGod 2:99b1cb0d9f5e 49 * Variables:
SquirrelGod 2:99b1cb0d9f5e 50 * mosi - SPI Master Out, Slave In pin
SquirrelGod 2:99b1cb0d9f5e 51 * miso - SPI Master In, Slave Out pin
SquirrelGod 2:99b1cb0d9f5e 52 * sclk - SPI Clock pin
SquirrelGod 2:99b1cb0d9f5e 53 * name - (optional) A string to identify the object
SquirrelGod 2:99b1cb0d9f5e 54 *
SquirrelGod 2:99b1cb0d9f5e 55 * Pin Options:
SquirrelGod 2:99b1cb0d9f5e 56 * (5, 6, 7) or (11, 12, 13)
SquirrelGod 2:99b1cb0d9f5e 57 *
SquirrelGod 2:99b1cb0d9f5e 58 * mosi or miso can be specfied as NC if not used
SquirrelGod 2:99b1cb0d9f5e 59 */
SquirrelGod 2:99b1cb0d9f5e 60 SPIHalfDuplex(PinName mosi, PinName miso, PinName sclk,
SquirrelGod 2:99b1cb0d9f5e 61 const char *name = NULL);
SquirrelGod 2:99b1cb0d9f5e 62
SquirrelGod 2:99b1cb0d9f5e 63 #if 0 // Inherited from SPI - documentation only
SquirrelGod 2:99b1cb0d9f5e 64 /* Function: format
SquirrelGod 2:99b1cb0d9f5e 65 * Configure the data transmission format
SquirrelGod 2:99b1cb0d9f5e 66 *
SquirrelGod 2:99b1cb0d9f5e 67 * Variables:
SquirrelGod 2:99b1cb0d9f5e 68 * bits - Number of bits per SPI frame (4 - 16)
SquirrelGod 2:99b1cb0d9f5e 69 * mode - Clock polarity and phase mode (0 - 3)
SquirrelGod 2:99b1cb0d9f5e 70 *
SquirrelGod 2:99b1cb0d9f5e 71 * > mode | POL PHA
SquirrelGod 2:99b1cb0d9f5e 72 * > -----+--------
SquirrelGod 2:99b1cb0d9f5e 73 * > 0 | 0 0
SquirrelGod 2:99b1cb0d9f5e 74 * > 1 | 0 1
SquirrelGod 2:99b1cb0d9f5e 75 * > 2 | 1 0
SquirrelGod 2:99b1cb0d9f5e 76 * > 3 | 1 1
SquirrelGod 2:99b1cb0d9f5e 77 */
SquirrelGod 2:99b1cb0d9f5e 78 void format(int bits, int mode = 0);
SquirrelGod 2:99b1cb0d9f5e 79
SquirrelGod 2:99b1cb0d9f5e 80 /* Function: frequency
SquirrelGod 2:99b1cb0d9f5e 81 * Set the spi bus clock frequency
SquirrelGod 2:99b1cb0d9f5e 82 *
SquirrelGod 2:99b1cb0d9f5e 83 * Variables:
SquirrelGod 2:99b1cb0d9f5e 84 * hz - SCLK frequency in hz (default = 1MHz)
SquirrelGod 2:99b1cb0d9f5e 85 */
SquirrelGod 2:99b1cb0d9f5e 86 void frequency(int hz = 1000000);
SquirrelGod 2:99b1cb0d9f5e 87 #endif
SquirrelGod 2:99b1cb0d9f5e 88
SquirrelGod 2:99b1cb0d9f5e 89 /* Function: write
SquirrelGod 2:99b1cb0d9f5e 90 * Write to the SPI Slave and return the response
SquirrelGod 2:99b1cb0d9f5e 91 *
SquirrelGod 2:99b1cb0d9f5e 92 * Variables:
SquirrelGod 2:99b1cb0d9f5e 93 * value - Data to be sent to the SPI slave
SquirrelGod 2:99b1cb0d9f5e 94 * returns - Response from the SPI slave
SquirrelGod 2:99b1cb0d9f5e 95 */
SquirrelGod 2:99b1cb0d9f5e 96 virtual int write(int value);
SquirrelGod 2:99b1cb0d9f5e 97
SquirrelGod 2:99b1cb0d9f5e 98 /* Function: slave_format
SquirrelGod 2:99b1cb0d9f5e 99 * Set the number of databits expected from the slave, from 4-16
SquirrelGod 2:99b1cb0d9f5e 100 *
SquirrelGod 2:99b1cb0d9f5e 101 * Variables:
SquirrelGod 2:99b1cb0d9f5e 102 * sbits - Number of expected bits in the slave response
SquirrelGod 2:99b1cb0d9f5e 103 */
SquirrelGod 2:99b1cb0d9f5e 104 void slave_format(int sbits);
SquirrelGod 2:99b1cb0d9f5e 105
SquirrelGod 2:99b1cb0d9f5e 106 protected:
SquirrelGod 2:99b1cb0d9f5e 107 PinName _mosi;
SquirrelGod 2:99b1cb0d9f5e 108 PinName _miso;
SquirrelGod 2:99b1cb0d9f5e 109 int _sbits;
SquirrelGod 2:99b1cb0d9f5e 110
SquirrelGod 2:99b1cb0d9f5e 111 }; // End of class
SquirrelGod 2:99b1cb0d9f5e 112
SquirrelGod 2:99b1cb0d9f5e 113 } // End of namespace mbed
SquirrelGod 2:99b1cb0d9f5e 114
SquirrelGod 2:99b1cb0d9f5e 115 #endif
SquirrelGod 2:99b1cb0d9f5e 116
SquirrelGod 2:99b1cb0d9f5e 117 #endif