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Fixed SPI functions out of scope/Multiple definition errors #108

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Fixed SPI functions out of scope/Multiple definition errors #108

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71 changes: 71 additions & 0 deletions Software/C/BrickPi3.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,13 +24,84 @@ BrickPi3::BrickPi3(uint8_t addr){
Address = addr;
}

// Set up SPI. Open the file, and define the configuration.
int BrickPi3::spi_setup(){
spi_file_handle = open(SPIDEV_FILE_NAME, O_RDWR);

if (spi_file_handle < 0){
return ERROR_SPI_FILE;
}

spi_xfer_struct.cs_change = 0; // Keep CS activated
spi_xfer_struct.delay_usecs = 0; // delay in us
spi_xfer_struct.speed_hz = SPI_TARGET_SPEED; // speed
spi_xfer_struct.bits_per_word = 8; // bites per word 8

return ERROR_NONE;
}

// Transfer length number of bytes. Write from outArray, read to inArray.
int BrickPi3::spi_transfer_array(uint8_t length, uint8_t *outArray, uint8_t *inArray){
spi_xfer_struct.len = length;
spi_xfer_struct.tx_buf = (unsigned long)outArray;
spi_xfer_struct.rx_buf = (unsigned long)inArray;

if (ioctl(spi_file_handle, SPI_IOC_MESSAGE(1), &spi_xfer_struct) < 0) {
return ERROR_SPI_FILE;
}

return ERROR_NONE;
}

int BrickPi3::spi_write_8(uint8_t msg_type, uint8_t value){
spi_array_out[0] = Address;
spi_array_out[1] = msg_type;
spi_array_out[2] = (value & 0xFF);
return spi_transfer_array(3, spi_array_out, spi_array_in);
}

// Function to call if an error occured that can not be resolved, such as failure to set up SPI
void BrickPi3::fatal_error(char *error){
printf(error);
printf("\n");
exit(-1);
}

// Function to call if an error occured that can not be resolved, such as failure to set up SPI
void BrickPi3::fatal_error(const char *error){
printf(error);
printf("\n");
exit(-1);
}

// Set a BrickPi3's address to allow stacking
int BrickPi3::BrickPi3_set_address(int addr, const char *id){
if(addr < 1 || addr > 255){
fatal_error("BrickPi3_set_address error: invalid address. Must be in the range of 1 to 255");
return -1;
}

spi_array_out[0] = 0; // use address 0 so all BrickPi3s will listen, regardless of current address
spi_array_out[1] = BPSPI_MESSAGE_SET_ADDRESS;
spi_array_out[2] = addr;
for(uint8_t i = 0; i < 16; i++){
if(strlen(id) == 32){
char id_str[2];
id_str[0] = *(id + (i * 2));
id_str[1] = *(id + (i * 2) + 1);
spi_array_out[3 + i] = strtol(id_str, NULL, 16);
}else if(strlen(id) == 0){
spi_array_out[3 + i] = 0;
}else{
fatal_error("BrickPi3_set_address error: wrong serial number id length. Must be a 32-digit hex string.");
}
}
if(spi_transfer_array(19, spi_array_out, spi_array_in)){
return -1;
}
}


int BrickPi3::spi_read_16(uint8_t msg_type, uint16_t &value){
value = 0;
spi_array_out[0] = Address;
Expand Down
85 changes: 12 additions & 73 deletions Software/C/BrickPi3.h
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -42,53 +42,6 @@
#define ERROR_FIRMWARE_MISMATCH -5
#define ERROR_SENSOR_TYPE_MISMATCH -6

int spi_file_handle = -1; // SPI file handle
struct spi_ioc_transfer spi_xfer_struct; // SPI transfer struct
uint8_t spi_array_out[LONGEST_SPI_TRANSFER]; // SPI out array
uint8_t spi_array_in[LONGEST_SPI_TRANSFER]; // SPI in array

// Set up SPI. Open the file, and define the configuration.
int spi_setup(){
spi_file_handle = open(SPIDEV_FILE_NAME, O_RDWR);

if (spi_file_handle < 0){
return ERROR_SPI_FILE;
}

spi_xfer_struct.cs_change = 0; // Keep CS activated
spi_xfer_struct.delay_usecs = 0; // delay in us
spi_xfer_struct.speed_hz = SPI_TARGET_SPEED; // speed
spi_xfer_struct.bits_per_word = 8; // bites per word 8

return ERROR_NONE;
}

// Transfer length number of bytes. Write from outArray, read to inArray.
int spi_transfer_array(uint8_t length, uint8_t *outArray, uint8_t *inArray){
spi_xfer_struct.len = length;
spi_xfer_struct.tx_buf = (unsigned long)outArray;
spi_xfer_struct.rx_buf = (unsigned long)inArray;

if (ioctl(spi_file_handle, SPI_IOC_MESSAGE(1), &spi_xfer_struct) < 0) {
return ERROR_SPI_FILE;
}

return ERROR_NONE;
}

// Function to call if an error occured that can not be resolved, such as failure to set up SPI
void fatal_error(char *error){
printf(error);
printf("\n");
exit(-1);
}

// Function to call if an error occured that can not be resolved, such as failure to set up SPI
void fatal_error(const char *error){
printf(error);
printf("\n");
exit(-1);
}

// SPI message type
enum BPSPI_MESSAGE_TYPE{
Expand Down Expand Up @@ -291,32 +244,6 @@ struct sensor_infrared_t{
uint8_t remote[4];
};

// Set a BrickPi3's address to allow stacking
int BrickPi3_set_address(int addr, const char *id){
if(addr < 1 || addr > 255){
fatal_error("BrickPi3_set_address error: invalid address. Must be in the range of 1 to 255");
return -1;
}

spi_array_out[0] = 0; // use address 0 so all BrickPi3s will listen, regardless of current address
spi_array_out[1] = BPSPI_MESSAGE_SET_ADDRESS;
spi_array_out[2] = addr;
for(uint8_t i = 0; i < 16; i++){
if(strlen(id) == 32){
char id_str[2];
id_str[0] = *(id + (i * 2));
id_str[1] = *(id + (i * 2) + 1);
spi_array_out[3 + i] = strtol(id_str, NULL, 16);
}else if(strlen(id) == 0){
spi_array_out[3 + i] = 0;
}else{
fatal_error("BrickPi3_set_address error: wrong serial number id length. Must be a 32-digit hex string.");
}
}
if(spi_transfer_array(19, spi_array_out, spi_array_in)){
return -1;
}
}

class BrickPi3{
public:
Expand Down Expand Up @@ -400,6 +327,18 @@ class BrickPi3{
uint8_t SensorType[4];
uint8_t I2CInBytes[4];

int spi_file_handle = -1; // SPI file handle
struct spi_ioc_transfer spi_xfer_struct; // SPI transfer struct
uint8_t spi_array_out[LONGEST_SPI_TRANSFER]; // SPI out array
uint8_t spi_array_in[LONGEST_SPI_TRANSFER]; // SPI in array

int spi_setup();
int spi_transfer_array(uint8_t length, uint8_t *outArray, uint8_t *inArray);
int BrickPi3_set_address(int addr, const char *id);

void fatal_error(char *error);
void fatal_error(const char *error);

int spi_write_8(uint8_t msg_type, uint8_t value);
int spi_read_16(uint8_t msg_type, uint16_t &value);
int spi_read_32(uint8_t msg_type, uint32_t &value);
Expand Down