mirror of https://github.com/ArduPilot/ardupilot
71 lines
1.8 KiB
C++
71 lines
1.8 KiB
C++
/*
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* SPI3.cpp - SPI library using UART3 for Ardupilot Mega
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* Code by Randy Mackay. DIYDrones.com
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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*/
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#ifndef _SPI3_H_INCLUDED
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#define _SPI3_H_INCLUDED
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#include <stdio.h>
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#include <Arduino.h>
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#include <avr/pgmspace.h>
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// SPI3's standard pins on Atmega2560
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#define SPI3_SCK PJ2
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#define SPI3_MOSI 14
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#define SPI3_MISO 15
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// used to change UART into SPI mode
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#define SPI3_USART_MASK 0xC0 // UMSEL31 | UMSEL30
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#define SPI3_USART_ASYNC_UART 0x00 // UMSEL31 = 0, UMSEL30 = 0
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#define SPI3_USART_SYNC_UART 0x40 // UMSEL31 = 0, UMSEL30 = 1
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#define SPI3_USART_SPI_MASTER 0xC0 // UMSEL31 = 1, UMSEL30 = 1
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// spi bus speeds. these assume a 16Mhz clock
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#define SPI3_SPEED_8MHZ 0x00
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#define SPI3_SPEED_2MHZ 0x04
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// default speed
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#define SPI3_DEFAULT_SPEED SPI3_SPEED_2MHZ // 2 megahertz
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// SPI mode definitions
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#define SPI3_MODE_MASK 0x03
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#define SPI3_MODE0 0x00
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#define SPI3_MODE1 0x01
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#define SPI3_MODE2 0x02
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#define SPI3_MODE3 0x03
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#define SPI3_DEFAULT_MODE SPI3_MODE0
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#define SPI3_CLOCK_MASK 0x03 // SPR1 = bit 1, SPR0 = bit 0 on SPCR
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#define SPI3_2XCLOCK_MASK 0x01 // SPI2X = bit 0 on SPSR
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// SPI bit order
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#define SPI3_MSBFIRST 0x00
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#define SPI3_LSBFIRST 0x01
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class SPI3Class {
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public:
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static void begin();
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static void end();
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static uint8_t transfer(byte data);
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// SPI Configuration methods
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static void setBitOrder(uint8_t bitOrder);
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static void setDataMode(uint8_t mode);
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static void setSpeed(uint8_t rate);
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private:
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static bool _initialised;
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};
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extern SPI3Class SPI3;
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#endif
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