/**
* Function to stop a SPI transaction on the given device.
* This is used to set the SlaveSelect to idle after a transaction occurred thus releasing the bus.
* \param pointer - SPIContext pointer
* \return none
*/
void SPIStop(SPIContext * obj)
{
vTaskSuspendAll();
#ifndef SPI2_FLASH
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] SPI stop, checking SS\n");
#endif
if(obj->ss_pin != SPI_OPT_NO_SS)
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Pulling SS up\n");
#endif
if(SPI2STATbits.SPITBF)
Delay10us(obj->delay);
IOPut(obj->ss_pin,on);
}
#else
if(SPI2STATbits.SPITBF)
Delay10us(obj->delay);
LATDbits.LATD6=1;
#endif
xTaskResumeAll();
}
/**
* Function to write a byte.
* \param data - byte data to be sent
* \return - 0 the operation is successful
* \return - 1 the operation is failed. Check internal error for more details
*/
BOOL SPIWriteByte(BYTE data)
{
int counter=0;
if(SPI2CON1bits.MSTEN==0)
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Master op in Slave mode, quitting\n");
#endif
_intSPIerr=NotMasterMode;
return 1;
}
while((SPI2STATbits.SPITBF==1) && (counter!=255))
counter++;
if(counter<255)
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Tx buf not full, writing\n");
#endif
SPI2BUF = data;
_intSPIerr=SPI_NO_ERR;
return 0;
}
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Tx buf full, NOT WRITING!\n");
#endif
_intSPIerr = TxBufFul;
return 1;
}
/**
* Function to read a byte.
* \param res - pointer in which to store the result
* \return - 0 the operation is successful
* \return - 1 the operation is failed. Check internal error for more details
*/
BOOL SPIReadByte (BYTE * res)
{
int counter=0;
if(SPI2CON1bits.MSTEN==0)
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Master op in Slave mode, quitting\n");
#endif
_intSPIerr=NotMasterMode;
return 1;
}
if(SPIWriteByte(0x00)==0)
{
while((SPI2STATbits.SPIRBF==0) && (counter!=255))
counter++;
if(counter<255)
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Rx buf ok, reading\n");
#endif
*res = SPI2BUF;
_intSPIerr=SPI_NO_ERR;
return 0;
}
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Rx buf empty, NOT READING!\n");
#endif
_intSPIerr = RxBufEmpty;
return 1;
}
return 1;
}
/**
* Function to read a word.
* \param res - pointer in which to store the result
* \return - 0 the operation is successful
* \return - 1 the operation is failed. Check internal error for more details
*/
BOOL SPIReadWord(unsigned int * res)
{
int counter=0;
if(SPI2CON1bits.MSTEN==0)
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Master op in Slave mode, quitting\n");
#endif
_intSPIerr=NotMasterMode;
return 1;
}
if(SPIWriteWord(0x00)==0)
{
while((SPI2STATbits.SPIRBF==0) && (counter!=255))
counter++;
if(counter<255)
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Rx buf ok, reading\n");
#endif
if (SPI2CON1bits.MODE16)
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Mode16 ok, reading\n");
#endif
*res = SPI2BUF;
_intSPIerr=SPI_NO_ERR;
return 0;
}
else
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Mode16 read, no Mode16 set, NOT READING!\n");
#endif
_intSPIerr = Mode16ReadNoMode16;
return 1;
}
}
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Rx buf empty, NOT READING!\n");
#endif
_intSPIerr = RxBufEmpty;
return 1;
}
return 1;
}
/**
* Function to start a SPI transaction on the given device.
* This is used to set the SlaveSelect to active before clocking out data.
* \param pointer - SPIContext pointer
* \return none
*/
void SPIStart(SPIContext * obj)
{
#ifndef SPI2_FLASH
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] SPI start, checking SS\n");
#endif
if(obj->ss_pin != SPI_OPT_NO_SS)
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Pulling SS down\n");
#endif
IOPut(obj->ss_pin,off);
}
#else
LATDbits.LATD6=0;
#endif
}
/**
* Function to write a word.
* \param data - unsigned int data to be sent
* \return - 0 the operation is successful
* \return - 1 the operation is failed. Check internal error for more details
*/
BOOL SPIWriteWord(unsigned int data)
{
int counter=0;
if(SPI2CON1bits.MSTEN==0)
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Master op in Slave mode, quitting\n");
#endif
_intSPIerr=NotMasterMode;
return 1;
}
while((SPI2STATbits.SPITBF==1) && (counter!=255))
counter++;
if(counter<255)
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Tx buf not full, checking 16 mode\n");
#endif
if (SPI2CON1bits.MODE16)
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] 16 mode ok, writing\n");
#endif
SPI2BUF = data;
_intSPIerr=SPI_NO_ERR;
return 0;
}
else
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] 16 mode not set with 16 mode write request, NOT WRITING!\n");
#endif
_intSPIerr = Mode16WriteNoMode16;
return 1;
}
}
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Tx buf full, NOT WRITING!\n");
#endif
_intSPIerr = TxBufFul;
return 1;
}
/**
* Function to perform a contemporary write and read of a word.
* This is used when the slave device supports full-duplex.
* In this case while clocking data out, data in is considered valid and saved.
* \param data - unsigned int data to be sent
* \param res - pointer to store the received data
* \return - 0 the operation is successful
* \return - 1 the operation is failed. Check internal error for more details
*/
BOOL SPIWriteReadWord(unsigned int data, unsigned int * res)
{
if(SPI2CON1bits.MSTEN==0)
{
#ifdef SPI_DBG
uartwrite(1,"[SPI_DBG] Master op in Slave mode, quitting\n");
#endif
_intSPIerr=NotMasterMode;
return 1;
}
//BOOL outcome;
if(SPIWriteWord(data)==0)
{
//outcome = SPIReadWord(res);
//return outcome;
*res = SPI2BUF;
return 0;
}
return 1;
}
/****************************************************************************
MAIN APPLICATION ENTRY POINT
****************************************************************************/
int main(void)
{
// Queue creation - will be used for communication between the stack and other tasks
xQueue = xQueueCreate(3, sizeof (int));
xSemFrontEnd = xSemaphoreCreateMutex();
// Initialize application specific hardware
HWInit(HWDEFAULT);
// Initializing the UART for the debug
#if defined (STACK_USE_UART)
uartinit(1,19200);
uarton(1);
uartwrite(1, "Flyport starting...");
#endif
// RTOS starting
if (xSemFrontEnd != NULL)
{
// Creates the task to handle all TCPIP functions
xTaskCreate(TCPIPTask, (signed char*) "TCP", STACK_SIZE_TCPIP,
NULL, tskIDLE_PRIORITY + 1, &hTCPIPTask);
// Start of the RTOS scheduler, this function should never return
vTaskStartScheduler();
}
#if defined (STACK_USE_UART)
UARTWrite(1, "Unexpected end of program...\r\n");
#endif
while(1);
return -1;
}
/**
* Function to set the SPI module.
* \param obj - SPIContext pointer
* \param options - SPI options
* \param pin - SlaveSelect pin, use SPI_OPT_NO_SS if not necessary
* \param speed - desired connection speed. System will automatically calculate the nearest possible speed
* \return - 0 the operation is successful
* \return - 1 the operation is failed. Check internal error for more details
*/
BOOL SPIConfig(SPIContext * obj, int options, int pin, long speed)
{
double tout=0;
obj->delay=100;
obj->SPICON1=0;
obj->SPICON2=0;
obj->SPISTAT=0;
obj->primary=0;
obj->secondary=0;
obj->ss_pin=0;
obj->SPIIE=0;
obj->SPFIE=0;
obj->mode16 = FALSE;
int index=0;
#ifdef SPI_DBG_CFG
uartwrite(1,"[SPI_DBG] Initiating configuration\n");
#endif
if(speed > _SPI_MAX_SPD)
{
#ifdef SPI_DBG_CFG
uartwrite(1,"[SPI_DBG] Speed too fast during config, quitting.\n");
#endif
_intSPIerr = SpdTooFast;
return 1;
}
unsigned int divider = (unsigned int)ceil(16000000.0/(double)speed);
#ifdef SPI_DBG_CFG
sprintf(spi_dbg_msg,"[SPI_DBG] Calculated divider: %d\n",divider);
UARTWrite(1,spi_dbg_msg);
#endif
index = _spi_find_divider_index(divider);
obj->primary = _spi_divider_primary[index];
obj->secondary = _spi_divider_secondary[index];
obj->ss_pin = pin;
#ifdef SPI_DBG_CFG
sprintf(spi_dbg_msg,"[SPI_DBG] primary %d\n[SPI_DBG] secondary %d\n",_spi_divider_primary_value[obj->primary],_spi_divider_secondary_value[obj->secondary]);
uartwrite(1,spi_dbg_msg);
#endif
tout = ((float)_spi_divider_primary_value[obj->primary] * (float)_spi_divider_secondary_value[obj->secondary])/16; // time (in us) per bit shifted out
if (options & SPI_OPT_MODE16)
{
obj->mode16 = TRUE;
obj->SPICON1 |= SPI_MSK_MODE16;
obj->delay = ceil(32*tout/10);
}
else
obj->delay = ceil(16*tout/10);
if (obj->delay < 1)
obj->delay = 1;
#ifdef SPI_DBG_CFG
sprintf(spi_dbg_msg,"[SPI_DBG] Requested speed %.2f KHz\n[SPI_DBG] Nearest speed %.2f KHz\n",(double)speed/1000,1000/tout);
uartwrite(1,spi_dbg_msg);
#endif
if((options & SPI_OPT_MODE_0) || (!(options & (SPI_OPT_MODE_0 | SPI_OPT_MODE_1 | SPI_OPT_MODE_2 | SPI_OPT_MODE_3))))
{
#ifdef SPI_DBG_CFG
uartwrite(1,"[SPI_DBG] Selecting MODE 0\n");
#endif
obj->SPICON1 |= SPI_MSK_CPHA; //288 // bit5=1 master mode + bit8=1 data changes on clock trailing edge
obj->SPICON1 &= ~SPI_MSK_CPOL;
}
if(options & SPI_OPT_MODE_1)
{
#ifdef SPI_DBG_CFG
uartwrite(1,"[SPI_DBG] Selecting MODE 1\n");
#endif
obj->SPICON1 &= ~SPI_MSK_CPHA;
obj->SPICON1 &= ~SPI_MSK_CPOL; //32// bit5=1 master mode
}
if(options & SPI_OPT_MODE_2)
{
#ifdef SPI_DBG_CFG
uartwrite(1,"[SPI_DBG] Selecting MODE 2\n");
#endif
obj->SPICON1 |= SPI_MSK_CPHA | SPI_MSK_CPOL; //352 // bit5=1 master mode + bit8=1 data changes on clock trailing edge + bit6=1 clock polarity reversed
}
if(options & SPI_OPT_MODE_3)
{
#ifdef SPI_DBG_CFG
uartwrite(1,"[SPI_DBG] Selecting MODE 3\n");
#endif
obj->SPICON1 |= SPI_MSK_CPOL;
obj->SPICON1 &= ~SPI_MSK_CPHA; //96 // bit5=1 master mode + bit6=1 clock polarity
}
obj->SPICON1 |= obj->primary&0b00000011;
obj->SPICON1 |= (obj->secondary&0b00011100)<<2;
if(options & SPI_OPT_MASTER)
obj->SPICON1 |= SPI_MSK_MASTER;
if(options & SPI_OPT_SLAVE)
obj->SPICON1 &= ~SPI_MSK_MASTER; //0b1111111111011111;
if(options & SPI_OPT_SLAVE_SELECT)
obj->SPICON1 |= SPI_MSK_SSEN;
if ((options & (SPI_OPT_SLAVE | SPI_OPT_MASTER)) == 0)
{
#ifdef SPI_DBG_CFG
uartwrite(1,"[SPI_DBG] No mode (Master/Slave) selected, quitting\n");
#endif
_intSPIerr=NoModeSpecified;
obj->SPICON1=0;
obj->SPICON2=0;
obj->SPISTAT=0;
obj->primary=0;
obj->secondary=0;
obj->ss_pin=0;
return 1;
}
/*#if(GroveNest == Board)
obj->SPICON1 |= 0b1000000;
#endif*/
obj->SPISTAT = 0x00;
obj->SPICON2 = 0x00;
obj->SPIIE = 0;
obj->SPFIE = 0;
obj->IP = 1;
obj->FIP = 1;
#ifndef SPI2_FLASH
if(pin != SPI_OPT_NO_SS)
{
#ifdef SPI_DBG_CFG
uartwrite(1,"[SPI_DBG] SS pin selected, configuring\n");
#endif
obj->ss_pin = pin;
IOInit(pin,out);
vTaskDelay(1);
IOPut(pin,on);
#ifdef SPI_DBG_CFG
sprintf(spi_dbg_msg,"[SPI_DBG] SS us of delay %u\n",obj->delay*10);
UARTWrite(1,spi_dbg_msg);
#endif
}
else
{
#ifdef SPI_DBG_CFG
uartwrite(1,"[SPI_DBG] SS pin cleared, not using\n");
#endif
obj->ss_pin=SPI_OPT_NO_SS;
}
#else
TRISDbits.TRISD6=0;
#endif
if(options & SPI_OPT_DI_SAMPLE_END)
{
#ifdef SPI_DBG_CFG
uartwrite(1,"[SPI_DBG] DI sample set to end of DO clock time\n");
#endif
obj->SPICON1 |= 0b1000000000;
}
_intSPIerr=SPI_NO_ERR;
return 0;
}
