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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55 lines
954 B
55 lines
954 B
/*
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* TMRh20 2015
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* SPI layer for RF24
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*/
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#ifndef _SPI_H_INCLUDED
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#define _SPI_H_INCLUDED
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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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#include <stdio.h>
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#include "mraa.hpp"
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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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mraa::Spi* mspi;
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inline uint8_t transfer(uint8_t _data);
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inline void transfernb(char* tbuf, char* rbuf, uint32_t len);
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inline void transfern(char* buf, uint32_t len);
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void begin(int busNo);
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void end();
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void setBitOrder(uint8_t bit_order);
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void setDataMode(uint8_t data_mode);
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void setClockDivider(uint32_t spi_speed);
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void chipSelect(int csn_pin);
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};
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uint8_t SPI::transfer(uint8_t _data)
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{
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return mspi->writeByte(_data);
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}
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void SPI::transfernb(char* tbuf, char* rbuf, uint32_t len){
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mspi->transfer((uint8_t*)tbuf, (uint8_t*)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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