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remove SPI3 library, deprecated under AP_HAL

mission-4.1.18
Pat Hickey 12 years ago committed by Andrew Tridgell
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bc4b196f6f
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97e190a641
4 changed files with 0 additions and 263 deletions
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  1. 112
      libraries/SPI3/SPI3.cpp
  2. 69
      libraries/SPI3/SPI3.h
  3. 46
      libraries/SPI3/examples/SPI3_test/SPI3_test.pde
  4. 36
      libraries/SPI3/keywords.txt

112
libraries/SPI3/SPI3.cpp
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/*
* SPI3.cpp - SPI library using UART3 for Ardupilot Mega
* Code by Randy Mackay, DIYDrones.com
* but mostly based on standard Arduino SPI class by Cristian Maglie <c.maglie@bug.st>
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
*/
#include "pins_arduino.h"
#include "SPI3.h"
SPI3Class SPI3;
bool SPI3Class::_initialised = false;
void SPI3Class::begin() {
// check if begin has been run already
if( _initialised ) {
return;
}
// Set direction register for SCK and MOSI pin.
pinMode(SPI3_SCK, OUTPUT);
pinMode(SPI3_MOSI, OUTPUT);
pinMode(SPI3_MISO, INPUT);
// Setup Serial Port3 in SPI mode (MSPI), Mode 0, Clock: 8Mhz
UBRR3 = 0;
DDRJ |= (1<<PJ2); // SPI clock XCK3 (PJ2) as output. This enable SPI Master mode
// put UART3 into SPI master mode, default mode and LSB bit order
UCSR3C = SPI3_USART_SPI_MASTER | SPI3_DEFAULT_MODE;
// Enable receiver and transmitter.
UCSR3B = (1<<RXEN3)|(1<<TXEN3);
// Set Baud rate
UBRR3 = SPI3_DEFAULT_SPEED; // SPI running at 2Mhz by default
// initialisation complete
_initialised = true;
}
// end - switch UART3 back to asyncronous UART
// Note: this is untested
void SPI3Class::end() {
uint8_t temp = UCSR3C;
// check spi bus has been initialised
if( !_initialised ) {
return;
}
// put UART3 into ASync UART mode
temp = (temp & ~SPI3_USART_MASK) | SPI3_USART_ASYNC_UART;
UCSR3C = temp;
// reinitialisation will be required
_initialised = false;
}
uint8_t SPI3Class::transfer(uint8_t data) {
// check spi bus has been initialised
if( !_initialised ) {
return 0;
}
/* Wait for empty transmit buffer */
while ( !( UCSR3A & (1<<UDRE3)) ) ;
/* Put data into buffer, sends the data */
UDR3 = data;
/* Wait for data to be received */
while ( !(UCSR3A & (1<<RXC3)) ) ;
/* Get and return received data from buffer */
return UDR3;
}
void SPI3Class::setBitOrder(uint8_t bitOrder)
{
// check spi bus has been initialised
if( !_initialised ) {
return;
}
if(bitOrder == SPI3_LSBFIRST) {
UCSR3C |= _BV(2);
} else {
UCSR3C &= ~(_BV(2));
}
}
void SPI3Class::setDataMode(uint8_t mode)
{
if( _initialised ) {
UCSR3C = (UCSR3C & ~SPI3_MODE_MASK) | mode;
}
}
void SPI3Class::setSpeed(uint8_t rate)
{
if( _initialised ) {
UBRR3 = rate;
}
}

69
libraries/SPI3/SPI3.h
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/*
* SPI3.cpp - SPI library using UART3 for Ardupilot Mega
* Code by Randy Mackay. DIYDrones.com
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
*/
#ifndef _SPI3_H_INCLUDED
#define _SPI3_H_INCLUDED
#include <FastSerial.h>
#include <avr/pgmspace.h>
// SPI3's standard pins on Atmega2560
#define SPI3_SCK PJ2
#define SPI3_MOSI 14
#define SPI3_MISO 15
// used to change UART into SPI mode
#define SPI3_USART_MASK 0xC0 // UMSEL31 | UMSEL30
#define SPI3_USART_ASYNC_UART 0x00 // UMSEL31 = 0, UMSEL30 = 0
#define SPI3_USART_SYNC_UART 0x40 // UMSEL31 = 0, UMSEL30 = 1
#define SPI3_USART_SPI_MASTER 0xC0 // UMSEL31 = 1, UMSEL30 = 1
// spi bus speeds. these assume a 16Mhz clock
#define SPI3_SPEED_8MHZ 0x00
#define SPI3_SPEED_2MHZ 0x04
// default speed
#define SPI3_DEFAULT_SPEED SPI3_SPEED_2MHZ // 2 megahertz
// SPI mode definitions
#define SPI3_MODE_MASK 0x03
#define SPI3_MODE0 0x00
#define SPI3_MODE1 0x01
#define SPI3_MODE2 0x02
#define SPI3_MODE3 0x03
#define SPI3_DEFAULT_MODE SPI3_MODE0
#define SPI3_CLOCK_MASK 0x03 // SPR1 = bit 1, SPR0 = bit 0 on SPCR
#define SPI3_2XCLOCK_MASK 0x01 // SPI2X = bit 0 on SPSR
// SPI bit order
#define SPI3_MSBFIRST 0x00
#define SPI3_LSBFIRST 0x01
class SPI3Class {
public:
static void begin();
static void end();
static uint8_t transfer(byte data);
// SPI Configuration methods
static void setBitOrder(uint8_t bitOrder);
static void setDataMode(uint8_t mode);
static void setSpeed(uint8_t rate);
private:
static bool _initialised;
};
extern SPI3Class SPI3;
#endif

46
libraries/SPI3/examples/SPI3_test/SPI3_test.pde
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/*
* Example of AP_OpticalFlow library.
* Code by Randy Mackay. DIYDrones.com
*/
#include <FastSerial.h>
#include <AP_Common.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <SPI3.h> // Arduino SPI library
////////////////////////////////////////////////////////////////////////////////
// Serial ports
////////////////////////////////////////////////////////////////////////////////
//
// Note that FastSerial port buffers are allocated at ::begin time,
// so there is not much of a penalty to defining ports that we don't
// use.
//
FastSerialPort0(Serial); // FTDI/console
void setup()
{
Serial.begin(115200);
Serial.println("ArduPilot Mega SPI3 library test ver 0.1");
delay(1000);
// initialise SPI3 bus
SPI3.begin();
SPI3.setBitOrder(SPI3_MSBFIRST);
SPI3.setDataMode(SPI3_MODE0);
SPI3.setSpeed(SPI3_SPEED_2MHZ);
delay(1000);
}
void loop()
{
int value;
// wait for user to enter something
while( !Serial.available() ) {
value = Serial.read();
delay(20);
}
}

36
libraries/SPI3/keywords.txt
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#######################################
# Syntax Coloring Map SPI
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
SPI3 KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
begin KEYWORD2
end KEYWORD2
transfer KEYWORD2
setBitOrder KEYWORD2
setDataMode KEYWORD2
setSpeed KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################
SPI3_CLOCK_DIV4 LITERAL1
SPI3_CLOCK_DIV16 LITERAL1
SPI3_CLOCK_DIV64 LITERAL1
SPI3_CLOCK_DIV128 LITERAL1
SPI3_CLOCK_DIV2 LITERAL1
SPI3_CLOCK_DIV8 LITERAL1
SPI_CLOCK_DIV32 LITERAL1
SPI3_CLOCK_DIV64 LITERAL1
SPI3_MODE0 LITERAL1
SPI3_MODE1 LITERAL1
SPI3_MODE2 LITERAL1
SPI3_MODE3 LITERAL1
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