Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen.
https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
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64 lines
936 B
64 lines
936 B
/*
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* spi.cpp
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*
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* Created: 20/1/2016 10:10:39
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* Author: akatran
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*/
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#include <avr/io.h>
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#include "gpio_helper.h"
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#include "spi.h"
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using namespace std;
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void SPI::begin(uint8_t _port)
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{
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if (_port==XMEGA_SPI_PORT_C) // Select SPI on PORTC
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{
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device = &SPIC;
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port = &PORTC;
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}else if (_port==XMEGA_SPI_PORT_D) // Select SPI on PORTD
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{
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device = &SPID;
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port = &PORTD;
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}
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init();
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}
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uint8_t SPI::transfer(uint8_t tx_)
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{
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register8_t data;
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device->DATA = tx_;
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while(!(device->STATUS & (1<<7)));
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data = device->DATA;
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//PORTF.OUT = data;
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return data;
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}
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void SPI::init()
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{
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port->DIRCLR = SPI_MISO_bm;
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port->DIRSET = SPI_MOSI_bm | SPI_SCK_bm | SPI_SS_bm;
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//device->CTRL = 0;
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device->CTRL = SPI_ENABLE_bm | SPI_MASTER_bm | SPI_MODE_0_gc | SPI_PRESCALER_DIV4_gc;
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device->INTCTRL =0; //Disable interrupts
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}
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SPI::SPI()
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{
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}
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SPI::~SPI()
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{
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}
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void operator delete(void * p) // or delete(void *, std::size_t)
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{
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}
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