void softReset(){
char buf[] = { 0xFF, 0xFF, 0xFF, 0xFF}; //reset by send 32 times 1:
bcm2835_spi_transfern(buf, sizeof(buf));
//printf("reset: %02X %02X %02X %02X \n", buf[0], buf[1], buf[2], buf[3]);
//reconfigure
char bufConfig[] = { 0x10, 0x00 + gainSetting, 0x10 + currentInput}; //select comunication reg for write, write config to comunication reg
bcm2835_spi_transfern(bufConfig, sizeof(bufConfig));
}
long readSingleValue(){
char bufDataRead[] = { 0x58 }; //select Data reg for read
bcm2835_spi_transfern(bufDataRead, sizeof(bufDataRead));
char bufDataValue[] = { 0x00, 0x00, 0x00}; //read Data
bcm2835_spi_transfern(bufDataValue, sizeof(bufDataValue));
long fullData = bufDataValue[0];
fullData = (fullData << 8) | bufDataValue[1];
fullData = (fullData << 8) | bufDataValue[2];
return fullData;
}
//this one is slow and unsave....
long readMultiValueContinuousAVG(int amount, int delayMilis){
long value = 0;
char bufDataRead[] = { 0x5C }; //select Data reg for continous read
bcm2835_spi_transfern(bufDataRead, sizeof(bufDataRead));
int valuesRead=0;
int emptyCount=0;
long fullData=0;
int rdy=1;
while (emptyCount<20 && valuesRead<amount) {
char buf[] = { 0x00 };
bcm2835_spi_transfern(buf, 1);
if (buf[0] == 0xFF){
delay(100); //Data not yet available, wait 100ms
++emptyCount;
} else {
fullData = buf[0];
char buf[] = { 0x00, 0x00 };
bcm2835_spi_transfern(buf, 2);
fullData = (fullData << 8) | buf[0];
fullData = (fullData << 8) | buf[1];
if (fullData != 0){ //it's not possible to be value 0
value += fullData;
valuesRead++;
} else {
++emptyCount;
}
}
/*if (valuesRead>0){
printf("Value at input %d: %d / %06X sum %d avg %d\n", currentInput, fullData, fullData, value, value / valuesRead);
} else {
printf("Value at input %d: %d / %06X sum %d\n", currentInput, fullData, fullData, value);
}*/
if (delayMilis>0){
delay(delayMilis);
}
}
char bufDataEndRead[] = { 0x58, 0x00, 0x00, 0x00 }; //stop continous read -> select Data reg for read and read 3 bytes(to be sure it's back in command promt mode.)
bcm2835_spi_transfern(bufDataEndRead, sizeof(bufDataEndRead));
if (valuesRead == 0){
return -1;
} else {
return value / valuesRead;
}
}
uint8_t ReadRawRC(uint8_t Address)
{
char buff[2];
buff[0] = ((Address<<1)&0x7E)|0x80;
bcm2835_spi_transfern(buff,2);
return (uint8_t)buff[1];
}
/*!
* Start sending frames
*/
void EcgCapture::start()
{
enableRegisterWrite();
char FRAMES1[] = {0x40,0x00,0x00,0x00};
bcm2835_spi_transfern(FRAMES1,sizeof(FRAMES1));
}
void LEDMatrix::Display() const {
//The APA102 LEDs require 1 additional end frame per 64 LEDs
int endFrameCount = 1 + colors.size() / 64;
int byteSize = 4*(1 + colors.size() + endFrameCount);
char *outBuffer = new char[byteSize];
//Initialize start frame
outBuffer[0] = 0;
outBuffer[1] = 0;
outBuffer[2] = 0;
outBuffer[3] = 0;
//Pack the pixel frames
for(int i = 0; i < height; i++) {
int offset = i*width, start, end, inc;
//If odd-numbered row
if(i % 2) {
start = width - 1;
end = -1;
inc = -1;
}
//If even-numbered row
else {
start = 0;
end = width;
inc = 1;
}
for(int j = start, buffPtr = 4 + 4*offset; j != end; j += inc, buffPtr += 4) {
outBuffer[buffPtr] = 0xFF;
outBuffer[buffPtr+1] = colors[offset + j].GetBlue();
outBuffer[buffPtr+2] = colors[offset + j].GetGreen();
outBuffer[buffPtr+3] = colors[offset + j].GetRed();
}
}
//Pack the end frames
for(int i = 0, offset = 4 + 4*width*height; i < endFrameCount; i++, offset += 4) {
outBuffer[offset] = 0xFF;
outBuffer[offset+1] = 0x00;
outBuffer[offset+2] = 0x00;
outBuffer[offset+3] = 0x00;
}
/*
for(int i = 0; i < byteSize; i+= 4) {
if(!(i % (4*width)))
std::cout << std::endl;
std::cout << std::hex << std::setw(2) << (int)((unsigned char)outBuffer[i+4]) << std::hex << std::setw(2) << (int)((unsigned char)outBuffer[i+5]);
std::cout << std::hex << std::setw(2) << (int)((unsigned char)outBuffer[i+6]) << std::hex << std::setw(2) << (int)((unsigned char)outBuffer[i+7]) << " ";
}
*/
bcm2835_spi_transfern(outBuffer, byteSize);
delete[] outBuffer;
}
/*
Name: spi_transmit
Description: Send data over SPI, and receive at the same time. Received data is put into transmitted data buffer.
Parameters:
1. devsel : int - selects which device to communicate - 0=touch panel , 1=lcd
2. data : pointer(array) uint8_t - data to be sent, and buffer for data to be received
3. len : int - bytes count to be sent from buffeer
Returns:
0 - on success, negative - fail, see function content for error return values. Also check errno for more information.
positive - number of bytes received
*/
int spi_transmit(int devsel, uint8_t *data, int len) {
if (devsel == 0) {
bcm2835_spi_chipSelect(BCM2835_SPI_CS0);
#ifdef _DEBUG_
fprintf(stdout, "spi_transmit.CS=CS0 , ");
#endif
} else {
bcm2835_spi_chipSelect(BCM2835_SPI_CS1);
#ifdef _DEBUG_
fprintf(stdout, "spi_transmit.CS=CS1 , ");
#endif
}
#ifdef _DEBUG_
fprintf(stdout, "data[%i]=",len);
for(int i=0;i<len;i++) {
uint8_t t = *(data+i);
fprintf(stdout,"%02X ",t);
}
fprintf(stdout, "\n");
#endif
bcm2835_spi_transfern((char*)data, len);
return len;
}
unsigned char ee_read(unsigned int BufferOffset)
{
unsigned char temp;
unsigned char temp2[1]={0xff};
bcm2835_gpio_write(PIN_CS, LOW); /*must be called*/
delay_ms(500);
bcm2835_spi_transfer(0xD4);
delay_ms(50);
bcm2835_spi_transfer(0xff);
delay_ms(50);
bcm2835_spi_transfer((unsigned char)(BufferOffset>>8));
delay_ms(50);
bcm2835_spi_transfer((unsigned char)BufferOffset);
delay_ms(50);
bcm2835_spi_transfer(0xff);
delay_ms(50);
bcm2835_spi_transfern(temp2,1);
delay_ms(50);
bcm2835_gpio_write(PIN_CS, HIGH); /*must be called*/
delay_ms(300);
return temp2[0];
}
void WriteRawRC(uint8_t Address, uint8_t value)
{
char buff[2];
buff[0] = (char)((Address<<1)&0x7E);
buff[1] = (char)value;
bcm2835_spi_transfern(buff,2);
}
int readStatus(){
int currentStatus = 0;
char buf[] = { 0x40, 0x00}; //select status reg for read, read status
bcm2835_spi_transfern(buf, sizeof(buf));
currentStatus = buf[1];
return currentStatus;
}
void changeGain(int gain){
if (gainSetting != gain){
currentInput = gain;
//reconfigure
char bufConfig[] = { 0x10, 0x00 + gainSetting, 0x10 + currentInput}; //select comunication reg for write, write config to comunication reg
bcm2835_spi_transfern(bufConfig, sizeof(bufConfig));
}
}
int readMode(){
int fullMode = 0;
char buf[] = { 0x48, 0x00, 0x00}; //select Mode reg for read, read Mode
bcm2835_spi_transfern(buf, sizeof(buf));
fullMode = buf[1];
fullMode = (fullMode << 8) | buf[2];
return fullMode;
}
void changeInput(int input){
if (currentInput != input){
currentInput = input;
//reconfigure
char bufConfig[] = { 0x10, 0x00 + gainSetting, 0x10 + currentInput}; //select comunication reg for write, write config to comunication reg
bcm2835_spi_transfern(bufConfig, sizeof(bufConfig));
//printf("now on input %d\n", currentInput);
}
}
int main(int argc, char **argv)
{
if (!bcm2835_init())
return 1;
char buffer[4];
buffer[0] = 50;
int i,temp;
bcm2835_spi_begin();
bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_MSBFIRST);
bcm2835_spi_setDataMode(BCM2835_SPI_MODE3); //SCLK rising edge - clock idle state 1
bcm2835_spi_setClockDivider(BCM2835_SPI_CLOCK_DIVIDER_65536); //set clock frequency
bcm2835_spi_chipSelect(BCM2835_SPI_CS1); //use chip select 1
bcm2835_spi_setChipSelectPolarity(BCM2835_SPI_CS1, LOW); //chip select 0 to activate
buffer[0]=buffer[1]=buffer[2]=buffer[3]=0;
//bcm2835_spi_transfern(buffer,4);
buffer[0] = 0x58; //read the id
bcm2835_spi_transfern(buffer,2);
printf("id:%02X\n",buffer[1]);
while(1)
{
buffer[0] = 0x50; //read the temp
bcm2835_spi_transfern(buffer,3);
printf("status %02X %02X\n",buffer[1],buffer[2]);
temp = buffer[1];
temp = temp<<8;
temp = temp + ( buffer[2] & 0xF8);
printf("status %08x\n",temp);
temp = temp>>3;
temp = temp/16;
printf("temp:%d\n",temp);
sleep(1);
}
bcm2835_spi_end();
bcm2835_close();
return 0;
}
int readConfig(){
int fullConfig = 0;
char buf[] = { 0x50, 0x00, 0x00}; //select configuration reg for read, read configuration
bcm2835_spi_transfern(buf, sizeof(buf));
fullConfig = buf[1];
fullConfig = (fullConfig << 8) | buf[2];
return fullConfig;
}
/*!
* Method to set a control register, returns true on success or false on failure.
*/
bool EcgCapture::setReg(QByteArray writeCommand)
{
//Validate the input
if (writeCommand.size() != 4)
return 0;
enableRegisterWrite();
bcm2835_spi_transfern(writeCommand.data(), writeCommand.size());
return 1;
}
char MPU9250::WriteReg( uint8_t WriteAddr,char WriteData )
{
unsigned int recieved;
char buff[2];
buff[0] = WriteAddr;
buff[1] = WriteData;
bcm2835_spi_chipSelect(MPU9250_PIN); // The default
bcm2835_spi_transfern(buff,2);
bcm2835_spi_chipSelect(BCM2835_SPI_CS_NONE);
return buff[1];
}
void set_V(char *msb)
{
char mosi[3] = {0};
mosi[0] = 0b00010000 | (msb[0] & 0b00001111);
mosi[1] = msb[1];
mosi[2] = msb[2];
bcm2835_gpio_write(GPIO12, HIGH);
bcm2835_gpio_write(GPIO12, LOW);
bcm2835_spi_transfern(mosi, 3);
bcm2835_gpio_write(GPIO12, HIGH);
}
long readMultiValueAVG(int amount, int delayMilis){
long value = 0;
int valuesRead=0;
int emptyCount=0;
long fullData=0;
while (emptyCount<20 && valuesRead<amount) {
char bufDataRead[] = { 0x58 }; //select Data reg for read
bcm2835_spi_transfern(bufDataRead, sizeof(bufDataRead));
char bufDataValue[] = { 0x00, 0x00, 0x00}; //read Data
bcm2835_spi_transfern(bufDataValue, sizeof(bufDataValue));
fullData = bufDataValue[0];
fullData = (fullData << 8) | bufDataValue[1];
fullData = (fullData << 8) | bufDataValue[2];
if (fullData>0){
value +=fullData;
++valuesRead;
} else {
++emptyCount;
}
/*if (valuesRead>0){
printf("Value at input %d: %d sum %d avg %d\n", currentInput, fullData, value, value / valuesRead);
} else {
printf("Value at input %d: %d sum %d\n", currentInput, fullData, value);
}*/
if (delayMilis>0){
delay(delayMilis);
}
}
if (valuesRead == 0){
return -1;
} else {
return value / valuesRead;
}
}
static PyObject *
PyBCM2835_spi_transfern(PyObject *self, PyObject *args)
{
char *buf;
int buf_len;
uint32_t len;
if (!PyArg_ParseTuple(args,"s#i",&buf, &buf_len,&len)) {
return NULL;
}
bcm2835_spi_transfern(buf,len);
Py_RETURN_NONE;
}
void bw_spi_dio_read_id(device_info_t *device_info) {
char buf[BW_DIO_ID_STRING_LENGTH + 1];
int i = 0;
for (i = 0; i <= BW_DIO_ID_STRING_LENGTH; i++) {
buf[i] = '\0';
}
buf[0] = device_info->slave_address | 1;
buf[1] = BW_PORT_READ_ID_STRING;
dio_spi_setup(device_info);
bcm2835_spi_transfern(buf, BW_DIO_ID_STRING_LENGTH);
uwait(BW_DIO_SPI_BYTE_WAIT_US);
printf("[%s]\n", &buf[1]);
}
void init_DAC()
{
char mosi[3] = {0};
//RESET
mosi[0] = 0b01000000;
mosi[1] = 0b00000000;
mosi[2] = 0b00000100;
bcm2835_gpio_write(GPIO12, HIGH);
bcm2835_gpio_write(GPIO12, LOW);
bcm2835_spi_transfern(mosi, 3);
bcm2835_gpio_write(GPIO12, HIGH);
usleep(1000);
//write to control register
mosi[0] = 0b00100000;
mosi[1] = 0b00000000;
mosi[2] = 0b00010010;
bcm2835_gpio_write(GPIO12, HIGH);
bcm2835_gpio_write(GPIO12, LOW);
bcm2835_spi_transfern(mosi, 3);
bcm2835_gpio_write(GPIO12, HIGH);
}
uint8_t SlushMotor::SPIXfer(uint8_t data) {
char dataPacket[1];
dataPacket[0] = (char) data;
bcm2835_spi_chipSelect(BCM2835_SPI_CS_NONE);
bcm2835_spi_setClockDivider(BCM2835_SPI_CLOCK_DIVIDER_64);
bcm2835_spi_setDataMode(BCM2835_SPI_MODE3);
bcm2835_gpio_clr(m_nSpiChipSelect);
bcm2835_spi_transfern(dataPacket, 1);
bcm2835_gpio_set(m_nSpiChipSelect);
return (uint8_t) dataPacket[0];
}
void MPU9250::ReadRegs( uint8_t ReadAddr, char *ReadBuf, unsigned int Bytes )
{
char buff[1+Bytes];
buff[0] = ReadAddr | READ_FLAG;
for(int i = 1; i < 1+Bytes; i++)
buff[i] = 0x00;
bcm2835_spi_chipSelect(MPU9250_PIN); // The default
bcm2835_spi_transfern(buff,1+Bytes);
bcm2835_spi_chipSelect(BCM2835_SPI_CS_NONE);
memcpy(ReadBuf,buff+1,Bytes);
bcm2835_delayMicroseconds(50);
}
void spi_transfern(char *buf, uint32_t len) {
int ret;
//dump("TR tx", (uint8_t *)buf, len);
#ifdef BCM
bcm2835_spi_transfern(buf, len);
#else
uint8_t *rx = malloc(len);
struct spi_ioc_transfer tr = {
.tx_buf = (unsigned long)buf,
.rx_buf = (unsigned long)rx,
.len = len,
.delay_usecs = delay,
.speed_hz = speed,
.bits_per_word = bits,
};
ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
if (ret < 1) {
free(rx);
pabort("can't send spi message");
}
memcpy(buf, rx, len);
free(rx);
#endif
}
void spi_writenb(char * buf, uint32_t len) {
int ret;
dump("WR tx", (uint8_t *)buf, len);
#ifdef BCM
bcm2835_spi_writenb(buf, len);
#else
struct spi_ioc_transfer tr = {
.tx_buf = (unsigned long)buf,
.rx_buf = (unsigned long)0,
.len = len,
.delay_usecs = delay,
.speed_hz = speed,
.bits_per_word = bits,
};
ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
if (ret < 1)
pabort("can't send spi message");
#endif
}
void main(int argc, char* argv)
{
/* Pour le debugging
1 == Print sur la console les operations des fonctions
0 == Comportement normal du programme */
bcm2835_set_debug(0);
/* Initialisation de la librairie */
if(bcm2835_close())
{
/* code d'initialisation bcm */
printf("Version de la librairie : %d", bcm2835_version());
if(bcm2835_spi_begin())
{
/* Initialisation de la SPI
Voir header pour valeurs */
bcm2835_spi_setClockDivider(CLK_SPEED);
bcm2835_spi_setDataMode(PI_MODE);
bcm2835_spi_setBitOrder(BIT_ORDER);
/* Selecte un CS pour le transfert de donnees */
bcm2835_spi_chipSelect(CS_SLAVE);
/* Test de transfert avec retour */
uint8_t ret;
ret = bcm2835_spi_transfer(5);
printf("Retour de l'Arduino : %d", ret);
/* Test de transfert sans retour */
bcm2835_spi_transfern("A", 1);
bcm2835_spi_end();
}
else
{
printf("Erreur de l'init de SPI\n");
}
bcm2835_close(void); /* Libere la memoire et ferme la librairie */
}
else
{
printf("Echec de l'ouverture de la librairie\n");
}
}
//void bcm2835_spi_transfern(char* buf, uint32_t len);
/// Call bcm2835_spi_transfern with 2 parameters
/// \par Refer
/// \par Modify
void ope_spi_transfern(void)
{
uint32_t len;
char *buf;
get_int_code();
get_int_code();
buf = *(char **)(buff+1);
len = *(uint32_t *)(buff+5);
// printf("B n buf=%p len=%d \n",buf,len);
bcm2835_spi_transfern( bi_send_buff, len );
set_ope_code( OPE_SPI_TRANSFERN );
set_int_code( (int)buf );
set_int_code( len );
strncpy( bi_rec_buff, bi_send_buff, len );
//dump_buff();
//printf("w_buff=%p w_buff->wp=%d w_buff->rp=%d \n",w_buff,w_buff->wp,w_buff->rp);
put_reply();
//printf("w_buff=%p w_buff->wp=%d w_buff->rp=%d \n",w_buff,w_buff->wp,w_buff->rp);
mark_sync();
}
uint8_t
wiring_write_then_read(uint8_t* out, uint16_t out_len,
uint8_t* in, uint16_t in_len)
{
uint8_t transfer_buf[out_len + in_len];
unsigned int ret = 0;
memset(transfer_buf, 0, out_len + in_len);
if (NULL != out) {
memcpy(transfer_buf, out, out_len);
ret += out_len;
}
if (NULL != in) {
ret += in_len;
}
bcm2835_spi_transfern((char*)transfer_buf, ret);
memcpy(in, &transfer_buf[out_len], in_len);
return ret;
}
void VM205::transfer(char* buf, uint32_t len) {
bcm2835_spi_transfern(buf, len);
}
void SPI_Send(unsigned char *buffer, int size) {
bcm2835_spi_transfern((char*)&buffer[0], size);
}
