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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47 lines
1.0 KiB
47 lines
1.0 KiB
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#include "spi.h"
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#include "mraa.h"
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SPI::SPI() {
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mspi = NULL;
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}
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void SPI::begin(int busNo) {
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mspi = new mraa::Spi(busNo); // init mraa spi bus, it will handle chip select internally. For CS pin wiring user must check SPI details in hardware manual
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mspi->mode(mraa::SPI_MODE0);
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mspi->bitPerWord(8);
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mspi->frequency(8000000); // Prophet: this will try to set 8MHz, however MRAA will reset to max platform speed and syslog a message of it
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}
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void SPI::end() {
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// Prophet: we should check for existence of mspi before deleting it
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if (mspi != NULL)
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delete mspi;
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}
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void SPI::setBitOrder(uint8_t bit_order) {
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if (mspi != NULL)
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mspi->lsbmode((mraa_boolean_t)bit_order); // Prophet: bit_order
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}
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void SPI::setDataMode(uint8_t data_mode) {
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if (mspi != NULL)
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mspi->mode((mraa::Spi_Mode)data_mode);
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}
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void SPI::setClockDivider(uint32_t spi_speed) {
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if (mspi != NULL)
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mspi->frequency(spi_speed);
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}
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void SPI::chipSelect(int csn_pin){
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}
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SPI::~SPI() {
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// Prophet: we should call end here to free used memory and unexport SPI interface
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this->end();
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}
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