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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84 lines
1.7 KiB
84 lines
1.7 KiB
/*
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* TMRh20 2015
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* SPI layer for RF24 <-> BCM2835
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*/
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/**
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* @file spi.h
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* \cond HIDDEN_SYMBOLS
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* Class declaration for SPI helper files
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*/
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#ifndef _SPI_H_INCLUDED
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#define _SPI_H_INCLUDED
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#include <stdio.h>
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#include "bcm2835.h"
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#include "interrupt.h"
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#define SPI_HAS_TRANSACTION
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#define MSBFIRST BCM2835_SPI_BIT_ORDER_MSBFIRST
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#define SPI_MODE0 BCM2835_SPI_MODE0
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#define RF24_SPI_SPEED BCM2835_SPI_SPEED_8MHZ
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class SPISettings {
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public:
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SPISettings(uint32_t clock, uint8_t bitOrder, uint8_t dataMode) {
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init(clock,bitOrder,dataMode);
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}
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SPISettings() { init(RF24_SPI_SPEED, MSBFIRST, SPI_MODE0); }
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uint32_t clck;
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uint8_t border;
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uint8_t dmode;
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private:
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void init(uint32_t clock, uint8_t bitOrder, uint8_t dataMode) {
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clck = clock;
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border = bitOrder;
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dmode = dataMode;
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}
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friend class SPIClass;
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};
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class SPI {
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public:
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SPI();
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virtual ~SPI();
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inline static uint8_t transfer(uint8_t _data);
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inline static void transfernb(char* tbuf, char* rbuf, uint32_t len);
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inline static void transfern(char* buf, uint32_t len);
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static void begin(int busNo);
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static void end();
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static void setBitOrder(uint8_t bit_order);
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static void setDataMode(uint8_t data_mode);
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static void setClockDivider(uint16_t spi_speed);
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static void chipSelect(int csn_pin);
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static void beginTransaction(SPISettings settings);
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static void endTransaction();
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};
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uint8_t SPI::transfer(uint8_t _data) {
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uint8_t data = bcm2835_spi_transfer(_data);
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return data;
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}
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void SPI::transfernb(char* tbuf, char* rbuf, uint32_t len){
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bcm2835_spi_transfernb( tbuf, rbuf, len);
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}
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void SPI::transfern(char* buf, uint32_t len)
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{
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transfernb(buf, buf, len);
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}
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/**
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* \endcond
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*/
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#endif
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