HardwareDriver/nuvoton/m451/roboticarm_controller/spi_hal.c

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2.7 KiB
C
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#include "M451Series.h"
#include "spi_hal.h"
void Spi_init()
{
/* Set PB multi-function pins for spi */
SYS->GPB_MFPL &= ~(SYS_GPB_MFPL_PB5MFP_Msk | SYS_GPB_MFPL_PB6MFP_Msk | SYS_GPB_MFPL_PB7MFP_Msk);
SYS->GPB_MFPL |= (SYS_GPB_MFPL_PB5MFP_SPI0_MOSI0 | SYS_GPB_MFPL_PB6MFP_SPI0_MISO0|SYS_GPB_MFPL_PB7MFP_SPI0_CLK);
SYS->GPB_MFPH &= ~(SYS_GPB_MFPH_PB13MFP_Msk | SYS_GPB_MFPH_PB14MFP_Msk | SYS_GPB_MFPH_PB15MFP_Msk);
SYS->GPB_MFPL |= (SYS_GPB_MFPH_PB13MFP_GPIO | SYS_GPB_MFPH_PB14MFP_GPIO|SYS_GPB_MFPH_PB15MFP_GPIO);
//SYS->GPC_MFP|=((0x01<<0)|(0x01<<1)|(0x01<<2)|(0x01<<3));
GPIO_SetMode(PB,BIT14,GPIO_MODE_OUTPUT); // CSN
GPIO_SetMode(PB,BIT13,GPIO_MODE_OUTPUT); // CE
GPIO_SetMode(PB,BIT15,GPIO_MODE_INPUT); //IRQ
PB14 = 1;
PB13= 0;
CLK_EnableModuleClock(SPI0_MODULE);
SYS_ResetModule(SPI0_RST);
/* PWM clock frequency can be set equal or double to HCLK by choosing case 1 or case 2 */
/* case 1.PWM clock frequency is set equal to HCLK: select PWM module clock source as PCLK */
CLK_SetModuleClock(SPI0_MODULE, CLK_CLKSEL2_SPI0SEL_PCLK0, NULL);
SPI_Open(SPI0,SPI_MASTER,SPI_MODE_0,8,40000);
SPI_DisableAutoSS(SPI0);
}
void delayAny(){
for(int x = 0;x < 15;x++){
x = x;;
}
}
void spi_enable()
{
PB14= 0;
delayAny();
//SPI_SET_SS_LOW(SPI0);
}
void spi_disable()
{
delayAny();
PB14 = 1;
//SPI_SET_SS_HIGH(SPI0);
}
/*
*/
uchar spi_send(unsigned char data)
{
SPI_WRITE_TX(SPI0,data);
while(SPI_IS_BUSY(SPI0) == 1) ;
return SPI_READ_RX(SPI0);
}
/*
*/
uchar spi_read()
{
uchar ret;
SPI_WRITE_TX(SPI0, 0x0);
while(SPI_IS_BUSY(SPI0) == 1) ;
ret= SPI_READ_RX(SPI0);
//SPI0->CNTRL.IF=1;
return ret;
}
uchar nrf_read(uchar adress)
{
uchar ret;
spi_enable();
spi_send(adress);
ret= spi_read();
spi_disable();
return ret;
}
uchar nrf_wf(unsigned char dat)
{
uchar ret;
spi_enable();
spi_send(dat);
spi_disable();
return ret;
}
uchar nrf_write(uchar adress,uchar data)
{
uchar ret;
spi_enable();
spi_send(adress);
spi_send(data);
spi_disable();
return ret;
}
/*****************SPI??TXFIFO?????**********************************/
uchar NRFWriteTxDate(uchar RegAddr,uchar *TxDate,uchar DateLen)
{
uchar BackDate,i;
BackDate=spi_send(RegAddr);
for(i=0;i<DateLen;i++)
{
spi_send(*TxDate++);
}
return(BackDate);
}
//<2F><>ָ<EFBFBD><D6B8>λ<EFBFBD><CEBB>дָ<D0B4><D6B8><EFBFBD><EFBFBD><EFBFBD>ȵ<EFBFBD><C8B5><EFBFBD><EFBFBD><EFBFBD>
//reg:<3A>Ĵ<EFBFBD><C4B4><EFBFBD><><CEBB>)
//*pBuf:<3A><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
//len:<3A><><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>
//<2F><><EFBFBD><EFBFBD>ֵ,<2C>˴ζ<CBB4><CEB6><EFBFBD><EFBFBD><EFBFBD>״̬<D7B4>Ĵ<EFBFBD><C4B4><EFBFBD>ֵ
uchar nrf_writebuf(uchar reg, uchar *pBuf, uchar len)
{
uchar status,u8_ctr;
spi_enable();
status = spi_send(reg);//<2F><><EFBFBD>ͼĴ<CDBC><C4B4><EFBFBD>ֵ(λ<><CEBB>),<2C><><EFBFBD><EFBFBD>ȡ״ֵ̬
for(u8_ctr=0; u8_ctr<len; u8_ctr++)
spi_send(*pBuf++); //д<><D0B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
spi_disable();
return status; //<2F><><EFBFBD>ض<EFBFBD><D8B6><EFBFBD><EFBFBD><EFBFBD>״ֵ̬
}