int16_t motor_command(int16_t command) {
unsigned int config = SPI_CON_MODE16 | SPI_CON_MSTEN | SPI_CON_CKE;
// the last number is the clock divider
SpiChnOpen(SPI_CHANNEL2, config, 256); //256 works // 4 doesn't //8 doesn't //16 doesn't //32 doesn't //64 doesn't //128 doesn't
MDBSS = 0;
waitabit(WAIT_TIME);
SpiChnPutC(2, command);
int16_t velocity = SpiChnGetC(2);
MDBSS = 1;
SpiChnClose(SPI_CHANNEL2);
return velocity;
}
BOOL ConfigSPIComms(void)
{
SpiChnClose(RPI_SPI_CHANNEL);
/* do I need to configure this? */
INTEnable(INT_SOURCE_SPI_RX(RPI_SPI_CHANNEL),INT_DISABLED);
INTEnable(INT_SOURCE_SPI_TX(RPI_SPI_CHANNEL),INT_DISABLED);
INTEnable(INT_SOURCE_SPI_ERROR(RPI_SPI_CHANNEL),INT_DISABLED);
INTEnable(INT_SOURCE_SPI(RPI_SPI_CHANNEL),INT_DISABLED);
SPI_DATA_IN_DIRECTION = TRIS_IN;
SPI_DATA_OUT_DIRECTION = TRIS_OUT;
SPI_CLOCK_IN_DIRECTION = TRIS_IN;
SPI_SELECT_IN_DIRECTION = TRIS_IN;
SPI.RXCount=0;
SPI.TXCount=0;
SPI.address=0;
SPI.command=TRISTHIS_SPI_NO_COMMAND;
SpiChnOpen(RPI_SPI_CHANNEL,
SPI_OPEN_SLVEN|SPI_OPEN_CKE_REV|SPI_OPEN_MODE8|SPI_OPEN_SSEN,
0);
//TODO: Not acting consistently? RPI needs to send -b 8 -H parameters to spidev
/* configure interrupts */
INTSetVectorPriority(INT_VECTOR_SPI(RPI_SPI_CHANNEL), INT_PRIORITY_LEVEL_3);
INTSetVectorSubPriority(INT_VECTOR_SPI(RPI_SPI_CHANNEL),
INT_SUB_PRIORITY_LEVEL_1);
INTClearFlag(INT_SOURCE_SPI_RX(RPI_SPI_CHANNEL));
INTEnable(INT_SOURCE_SPI_RX(RPI_SPI_CHANNEL),INT_ENABLED);
INTClearFlag(INT_SOURCE_SPI_TX(RPI_SPI_CHANNEL));
INTClearFlag(INT_SOURCE_SPI_ERROR(RPI_SPI_CHANNEL));
INTClearFlag(INT_SOURCE_SPI(RPI_SPI_CHANNEL));
//INTEnable(INT_SOURCE_SPI(RPI_SPI_CHANNEL),INT_ENABLED);
/* configure change notice, as I can't figure out any other way to */
/* trigger the beginning of the slave select with just the SPI peripheral */
/* buuut the change notice pins are not on the SS pins, so a white wire is*/
/* needed */
/* tie chip enable CE0 to pin20/RE5 CE1 */
SPI_SELECT_CN_DIRECTION=TRIS_IN;
CNCONbits.w=0;
CNCONSET=_CNCON_ON_MASK;
CNENbits.w=0;
CNENSET=_CNEN_CNEN7_MASK;
CNTemp=CE_PORT; /* read for change notice */
RPI_SPI_RX_OVERFLOW_CLEAR;
SPI1CONbits.STXISEL=0b01;
SPI.status.w=0;
INTClearFlag(INT_CN);
INTSetVectorPriority(INT_CHANGE_NOTICE_VECTOR, INT_PRIORITY_LEVEL_2);
INTSetVectorSubPriority(INT_CHANGE_NOTICE_VECTOR, INT_SUB_PRIORITY_LEVEL_1);
return TRUE;
}
void MySPI_Close(void)
{
SpiChnClose(SPI_CHANNEL1A);
}
