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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81 lines
1.2 KiB
81 lines
1.2 KiB
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/**
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* @file spi.h
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* Class declaration for SPI helper files
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*/
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/**
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* Example of spi.h class declaration for SPI portability
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*
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* @defgroup Porting_SPI Porting: SPI
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*
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*
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* @{
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*/
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#include <string>
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#include <stdint.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <getopt.h>
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#include <fcntl.h>
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#include <sys/ioctl.h>
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#include <inttypes.h>
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#include <linux/types.h>
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#include <linux/spi/spidev.h>
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using namespace std;
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//class SPI {
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public:
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/**
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* SPI constructor
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*/
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SPI();
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/**
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* Start SPI
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*/
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void begin(int busNo);
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/**
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* Transfer a single byte
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* @param tx_ Byte to send
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* @return Data returned via spi
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*/
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uint8_t transfer(uint8_t tx_);
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/**
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* Transfer a buffer of data
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* @param tbuf Transmit buffer
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* @param rbuf Receive buffer
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* @param len Length of the data
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*/
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void transfernb(char* tbuf, char* rbuf, uint32_t len);
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/**
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* Transfer a buffer of data without an rx buffer
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* @param buf Pointer to a buffer of data
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* @param len Length of the data
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*/
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void transfern(char* buf, uint32_t len);
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virtual ~SPI();
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private:
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/** Default SPI device */
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string device;
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/** SPI Mode set */
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uint8_t mode;
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/** word size*/
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uint8_t bits;
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/** Set SPI speed*/
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uint32_t speed;
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int fd;
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void init();
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};
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/*@}*/
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