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/SPISlave.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 - SPISlave
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_SPISLAVE_H
SquirrelGod 2:99b1cb0d9f5e 6 #define MBED_SPISLAVE_H
SquirrelGod 2:99b1cb0d9f5e 7
SquirrelGod 2:99b1cb0d9f5e 8 #include "device.h"
SquirrelGod 2:99b1cb0d9f5e 9
SquirrelGod 2:99b1cb0d9f5e 10 #if DEVICE_SPISLAVE
SquirrelGod 2:99b1cb0d9f5e 11
SquirrelGod 2:99b1cb0d9f5e 12 #include "platform.h"
SquirrelGod 2:99b1cb0d9f5e 13 #include "PinNames.h"
SquirrelGod 2:99b1cb0d9f5e 14 #include "PeripheralNames.h"
SquirrelGod 2:99b1cb0d9f5e 15 #include "Base.h"
SquirrelGod 2:99b1cb0d9f5e 16
SquirrelGod 2:99b1cb0d9f5e 17 namespace mbed {
SquirrelGod 2:99b1cb0d9f5e 18
SquirrelGod 2:99b1cb0d9f5e 19 /* Class: SPISlave
SquirrelGod 2:99b1cb0d9f5e 20 * A SPI slave, used for communicating with a SPI Master device
SquirrelGod 2:99b1cb0d9f5e 21 *
SquirrelGod 2:99b1cb0d9f5e 22 * The default format is set to 8-bits, mode 0, and a clock frequency of 1MHz
SquirrelGod 2:99b1cb0d9f5e 23 *
SquirrelGod 2:99b1cb0d9f5e 24 * Example:
SquirrelGod 2:99b1cb0d9f5e 25 * > // Reply to a SPI master as slave
SquirrelGod 2:99b1cb0d9f5e 26 * >
SquirrelGod 2:99b1cb0d9f5e 27 * > #include "mbed.h"
SquirrelGod 2:99b1cb0d9f5e 28 * >
SquirrelGod 2:99b1cb0d9f5e 29 * > SPISlave device(p5, p6, p7, p8); // mosi, miso, sclk, ssel
SquirrelGod 2:99b1cb0d9f5e 30 * >
SquirrelGod 2:99b1cb0d9f5e 31 * > int main() {
SquirrelGod 2:99b1cb0d9f5e 32 * > device.reply(0x00); // Prime SPI with first reply
SquirrelGod 2:99b1cb0d9f5e 33 * > while(1) {
SquirrelGod 2:99b1cb0d9f5e 34 * > if(device.receive()) {
SquirrelGod 2:99b1cb0d9f5e 35 * > int v = device.read(); // Read byte from master
SquirrelGod 2:99b1cb0d9f5e 36 * > v = (v + 1) % 0x100; // Add one to it, modulo 256
SquirrelGod 2:99b1cb0d9f5e 37 * > device.reply(v); // Make this the next reply
SquirrelGod 2:99b1cb0d9f5e 38 * > }
SquirrelGod 2:99b1cb0d9f5e 39 * > }
SquirrelGod 2:99b1cb0d9f5e 40 * > }
SquirrelGod 2:99b1cb0d9f5e 41 */
SquirrelGod 2:99b1cb0d9f5e 42 class SPISlave : public Base {
SquirrelGod 2:99b1cb0d9f5e 43
SquirrelGod 2:99b1cb0d9f5e 44 public:
SquirrelGod 2:99b1cb0d9f5e 45
SquirrelGod 2:99b1cb0d9f5e 46 /* Constructor: SPI
SquirrelGod 2:99b1cb0d9f5e 47 * Create a SPI slave 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 * ssel - SPI chip select pin
SquirrelGod 2:99b1cb0d9f5e 54 * name - (optional) A string to identify the object
SquirrelGod 2:99b1cb0d9f5e 55 *
SquirrelGod 2:99b1cb0d9f5e 56 * Pin Options:
SquirrelGod 2:99b1cb0d9f5e 57 * (5, 6, 7i, 8) or (11, 12, 13, 14)
SquirrelGod 2:99b1cb0d9f5e 58 *
SquirrelGod 2:99b1cb0d9f5e 59 * mosi or miso can be specfied as NC if not used
SquirrelGod 2:99b1cb0d9f5e 60 */
SquirrelGod 2:99b1cb0d9f5e 61 SPISlave(PinName mosi, PinName miso, PinName sclk, PinName ssel,
SquirrelGod 2:99b1cb0d9f5e 62 const char *name = NULL);
SquirrelGod 2:99b1cb0d9f5e 63
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
SquirrelGod 2:99b1cb0d9f5e 88 /* Function: receive
SquirrelGod 2:99b1cb0d9f5e 89 * Polls the SPI to see if data has been received
SquirrelGod 2:99b1cb0d9f5e 90 *
SquirrelGod 2:99b1cb0d9f5e 91 * Variables:
SquirrelGod 2:99b1cb0d9f5e 92 * returns - zero if no data, 1 otherwise
SquirrelGod 2:99b1cb0d9f5e 93 */
SquirrelGod 2:99b1cb0d9f5e 94 int receive(void);
SquirrelGod 2:99b1cb0d9f5e 95
SquirrelGod 2:99b1cb0d9f5e 96 /* Function: read
SquirrelGod 2:99b1cb0d9f5e 97 * Retrieve data from receive buffer as slave
SquirrelGod 2:99b1cb0d9f5e 98 *
SquirrelGod 2:99b1cb0d9f5e 99 * Variables:
SquirrelGod 2:99b1cb0d9f5e 100 * returns - the data in the receive buffer
SquirrelGod 2:99b1cb0d9f5e 101 */
SquirrelGod 2:99b1cb0d9f5e 102 int read(void);
SquirrelGod 2:99b1cb0d9f5e 103
SquirrelGod 2:99b1cb0d9f5e 104 /* Function: reply
SquirrelGod 2:99b1cb0d9f5e 105 * Fill the transmission buffer with the value to be written out
SquirrelGod 2:99b1cb0d9f5e 106 * as slave on the next received message from the master.
SquirrelGod 2:99b1cb0d9f5e 107 *
SquirrelGod 2:99b1cb0d9f5e 108 * Variables:
SquirrelGod 2:99b1cb0d9f5e 109 * value - the data to be transmitted next
SquirrelGod 2:99b1cb0d9f5e 110 */
SquirrelGod 2:99b1cb0d9f5e 111 void reply(int value);
SquirrelGod 2:99b1cb0d9f5e 112
SquirrelGod 2:99b1cb0d9f5e 113 protected:
SquirrelGod 2:99b1cb0d9f5e 114
SquirrelGod 2:99b1cb0d9f5e 115 SPIName _spi;
SquirrelGod 2:99b1cb0d9f5e 116
SquirrelGod 2:99b1cb0d9f5e 117 int _bits;
SquirrelGod 2:99b1cb0d9f5e 118 int _mode;
SquirrelGod 2:99b1cb0d9f5e 119 int _hz;
SquirrelGod 2:99b1cb0d9f5e 120
SquirrelGod 2:99b1cb0d9f5e 121 };
SquirrelGod 2:99b1cb0d9f5e 122
SquirrelGod 2:99b1cb0d9f5e 123 } // namespace mbed
SquirrelGod 2:99b1cb0d9f5e 124
SquirrelGod 2:99b1cb0d9f5e 125 #endif
SquirrelGod 2:99b1cb0d9f5e 126
SquirrelGod 2:99b1cb0d9f5e 127 #endif