Pat Hickey
12 years ago
committed by
Andrew Tridgell
4 changed files with 0 additions and 263 deletions
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@@ -1,112 +0,0 @@
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/*
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* SPI3.cpp - SPI library using UART3 for Ardupilot Mega |
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* Code by Randy Mackay, DIYDrones.com
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* but mostly based on standard Arduino SPI class by Cristian Maglie <c.maglie@bug.st> |
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* |
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* This library is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public |
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* License as published by the Free Software Foundation; either |
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* version 2.1 of the License, or (at your option) any later version. |
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* |
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*/ |
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#include "pins_arduino.h" |
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#include "SPI3.h" |
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SPI3Class SPI3; |
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bool SPI3Class::_initialised = false; |
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void SPI3Class::begin() { |
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// check if begin has been run already
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if( _initialised ) { |
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return; |
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} |
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// Set direction register for SCK and MOSI pin.
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pinMode(SPI3_SCK, OUTPUT); |
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pinMode(SPI3_MOSI, OUTPUT); |
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pinMode(SPI3_MISO, INPUT); |
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// Setup Serial Port3 in SPI mode (MSPI), Mode 0, Clock: 8Mhz
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UBRR3 = 0; |
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DDRJ |= (1<<PJ2); // SPI clock XCK3 (PJ2) as output. This enable SPI Master mode
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// put UART3 into SPI master mode, default mode and LSB bit order
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UCSR3C = SPI3_USART_SPI_MASTER | SPI3_DEFAULT_MODE; |
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// Enable receiver and transmitter.
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UCSR3B = (1<<RXEN3)|(1<<TXEN3); |
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// Set Baud rate
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UBRR3 = SPI3_DEFAULT_SPEED; // SPI running at 2Mhz by default
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// initialisation complete
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_initialised = true; |
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} |
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// end - switch UART3 back to asyncronous UART
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// Note: this is untested
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void SPI3Class::end() { |
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uint8_t temp = UCSR3C; |
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// check spi bus has been initialised
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if( !_initialised ) { |
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return; |
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} |
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// put UART3 into ASync UART mode
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temp = (temp & ~SPI3_USART_MASK) | SPI3_USART_ASYNC_UART; |
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UCSR3C = temp; |
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// reinitialisation will be required
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_initialised = false; |
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} |
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uint8_t SPI3Class::transfer(uint8_t data) { |
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// check spi bus has been initialised
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if( !_initialised ) { |
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return 0; |
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} |
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/* Wait for empty transmit buffer */ |
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while ( !( UCSR3A & (1<<UDRE3)) ) ; |
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/* Put data into buffer, sends the data */ |
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UDR3 = data; |
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/* Wait for data to be received */ |
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while ( !(UCSR3A & (1<<RXC3)) ) ; |
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/* Get and return received data from buffer */ |
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return UDR3; |
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} |
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void SPI3Class::setBitOrder(uint8_t bitOrder) |
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{ |
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// check spi bus has been initialised
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if( !_initialised ) { |
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return; |
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} |
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if(bitOrder == SPI3_LSBFIRST) { |
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UCSR3C |= _BV(2); |
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} else { |
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UCSR3C &= ~(_BV(2)); |
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} |
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} |
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void SPI3Class::setDataMode(uint8_t mode) |
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{ |
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if( _initialised ) { |
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UCSR3C = (UCSR3C & ~SPI3_MODE_MASK) | mode; |
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} |
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} |
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void SPI3Class::setSpeed(uint8_t rate) |
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{ |
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if( _initialised ) { |
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UBRR3 = rate; |
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} |
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} |
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@ -1,69 +0,0 @@
@@ -1,69 +0,0 @@
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/*
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* SPI3.cpp - SPI library using UART3 for Ardupilot Mega |
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* Code by Randy Mackay. DIYDrones.com |
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* |
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* This library is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public |
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* License as published by the Free Software Foundation; either |
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* version 2.1 of the License, or (at your option) any later version. |
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* |
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*/ |
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#ifndef _SPI3_H_INCLUDED |
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#define _SPI3_H_INCLUDED |
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#include <FastSerial.h> |
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#include <avr/pgmspace.h> |
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// SPI3's standard pins on Atmega2560
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#define SPI3_SCK PJ2 |
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#define SPI3_MOSI 14 |
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#define SPI3_MISO 15 |
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// used to change UART into SPI mode
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#define SPI3_USART_MASK 0xC0 // UMSEL31 | UMSEL30
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#define SPI3_USART_ASYNC_UART 0x00 // UMSEL31 = 0, UMSEL30 = 0
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#define SPI3_USART_SYNC_UART 0x40 // UMSEL31 = 0, UMSEL30 = 1
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#define SPI3_USART_SPI_MASTER 0xC0 // UMSEL31 = 1, UMSEL30 = 1
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// spi bus speeds. these assume a 16Mhz clock
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#define SPI3_SPEED_8MHZ 0x00 |
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#define SPI3_SPEED_2MHZ 0x04 |
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// default speed
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#define SPI3_DEFAULT_SPEED SPI3_SPEED_2MHZ // 2 megahertz
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// SPI mode definitions
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#define SPI3_MODE_MASK 0x03 |
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#define SPI3_MODE0 0x00 |
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#define SPI3_MODE1 0x01 |
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#define SPI3_MODE2 0x02 |
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#define SPI3_MODE3 0x03 |
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#define SPI3_DEFAULT_MODE SPI3_MODE0 |
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#define SPI3_CLOCK_MASK 0x03 // SPR1 = bit 1, SPR0 = bit 0 on SPCR
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#define SPI3_2XCLOCK_MASK 0x01 // SPI2X = bit 0 on SPSR
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// SPI bit order
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#define SPI3_MSBFIRST 0x00 |
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#define SPI3_LSBFIRST 0x01 |
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class SPI3Class { |
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public: |
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static void begin(); |
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static void end(); |
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static uint8_t transfer(byte data); |
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// SPI Configuration methods
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static void setBitOrder(uint8_t bitOrder); |
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static void setDataMode(uint8_t mode); |
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static void setSpeed(uint8_t rate); |
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private: |
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static bool _initialised; |
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}; |
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extern SPI3Class SPI3; |
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#endif |
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@ -1,46 +0,0 @@
@@ -1,46 +0,0 @@
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/* |
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* Example of AP_OpticalFlow library. |
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* Code by Randy Mackay. DIYDrones.com |
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*/ |
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#include <FastSerial.h> |
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#include <AP_Common.h> |
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library |
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#include <SPI3.h> // Arduino SPI library |
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//////////////////////////////////////////////////////////////////////////////// |
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// Serial ports |
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//////////////////////////////////////////////////////////////////////////////// |
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// |
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// Note that FastSerial port buffers are allocated at ::begin time, |
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// so there is not much of a penalty to defining ports that we don't |
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// use. |
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// |
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FastSerialPort0(Serial); // FTDI/console |
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void setup() |
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{ |
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Serial.begin(115200); |
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Serial.println("ArduPilot Mega SPI3 library test ver 0.1"); |
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delay(1000); |
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// initialise SPI3 bus |
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SPI3.begin(); |
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SPI3.setBitOrder(SPI3_MSBFIRST); |
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SPI3.setDataMode(SPI3_MODE0); |
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SPI3.setSpeed(SPI3_SPEED_2MHZ); |
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delay(1000); |
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} |
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void loop() |
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{ |
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int value; |
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// wait for user to enter something |
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while( !Serial.available() ) { |
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value = Serial.read(); |
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delay(20); |
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} |
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} |
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@ -1,36 +0,0 @@
@@ -1,36 +0,0 @@
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####################################### |
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# Syntax Coloring Map SPI |
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####################################### |
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####################################### |
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# Datatypes (KEYWORD1) |
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####################################### |
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SPI3 KEYWORD1 |
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####################################### |
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# Methods and Functions (KEYWORD2) |
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####################################### |
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begin KEYWORD2 |
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end KEYWORD2 |
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transfer KEYWORD2 |
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setBitOrder KEYWORD2 |
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setDataMode KEYWORD2 |
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setSpeed KEYWORD2 |
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####################################### |
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# Constants (LITERAL1) |
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####################################### |
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SPI3_CLOCK_DIV4 LITERAL1 |
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SPI3_CLOCK_DIV16 LITERAL1 |
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SPI3_CLOCK_DIV64 LITERAL1 |
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SPI3_CLOCK_DIV128 LITERAL1 |
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SPI3_CLOCK_DIV2 LITERAL1 |
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SPI3_CLOCK_DIV8 LITERAL1 |
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SPI_CLOCK_DIV32 LITERAL1 |
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SPI3_CLOCK_DIV64 LITERAL1 |
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SPI3_MODE0 LITERAL1 |
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SPI3_MODE1 LITERAL1 |
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SPI3_MODE2 LITERAL1 |
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SPI3_MODE3 LITERAL1 |
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