14 changed files with 106 additions and 5401 deletions
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30.mxproject
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52Core/Inc/spi.h
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2Core/Inc/stm32f4xx_hal_conf.h
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24Core/Src/gpio.c
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2Core/Src/main.c
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119Core/Src/spi.c
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2Core/Src/usart.c
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729Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h
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3915Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c
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2sdk
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171usrc/main.cpp
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282usrc/one_dimensional_code_laser_scanner.cpp
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101usrc/one_dimensional_code_laser_scanner.hpp
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76zapp.ioc
30
.mxproject
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@ -1,52 +0,0 @@ |
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/* USER CODE BEGIN Header */ |
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/** |
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****************************************************************************** |
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* @file spi.h |
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* @brief This file contains all the function prototypes for |
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* the spi.c file |
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****************************************************************************** |
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* @attention |
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* |
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* Copyright (c) 2023 STMicroelectronics. |
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* All rights reserved. |
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* |
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* This software is licensed under terms that can be found in the LICENSE file |
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* in the root directory of this software component. |
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* If no LICENSE file comes with this software, it is provided AS-IS. |
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* |
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****************************************************************************** |
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*/ |
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/* USER CODE END Header */ |
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/* Define to prevent recursive inclusion -------------------------------------*/ |
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#ifndef __SPI_H__ |
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#define __SPI_H__ |
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|
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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|
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/* Includes ------------------------------------------------------------------*/ |
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#include "main.h" |
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/* USER CODE BEGIN Includes */ |
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/* USER CODE END Includes */ |
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extern SPI_HandleTypeDef hspi1; |
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/* USER CODE BEGIN Private defines */ |
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/* USER CODE END Private defines */ |
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void MX_SPI1_Init(void); |
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/* USER CODE BEGIN Prototypes */ |
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/* USER CODE END Prototypes */ |
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#ifdef __cplusplus |
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} |
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#endif |
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#endif /* __SPI_H__ */ |
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@ -1,119 +0,0 @@ |
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/* USER CODE BEGIN Header */ |
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/** |
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****************************************************************************** |
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* @file spi.c |
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* @brief This file provides code for the configuration |
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* of the SPI instances. |
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****************************************************************************** |
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* @attention |
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* |
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* Copyright (c) 2023 STMicroelectronics. |
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* All rights reserved. |
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* |
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* This software is licensed under terms that can be found in the LICENSE file |
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* in the root directory of this software component. |
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* If no LICENSE file comes with this software, it is provided AS-IS. |
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* |
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****************************************************************************** |
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*/ |
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/* USER CODE END Header */ |
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/* Includes ------------------------------------------------------------------*/ |
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#include "spi.h" |
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/* USER CODE BEGIN 0 */ |
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/* USER CODE END 0 */ |
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SPI_HandleTypeDef hspi1; |
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/* SPI1 init function */ |
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void MX_SPI1_Init(void) |
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{ |
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/* USER CODE BEGIN SPI1_Init 0 */ |
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/* USER CODE END SPI1_Init 0 */ |
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/* USER CODE BEGIN SPI1_Init 1 */ |
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/* USER CODE END SPI1_Init 1 */ |
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hspi1.Instance = SPI1; |
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hspi1.Init.Mode = SPI_MODE_MASTER; |
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hspi1.Init.Direction = SPI_DIRECTION_2LINES; |
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hspi1.Init.DataSize = SPI_DATASIZE_8BIT; |
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hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; |
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hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; |
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hspi1.Init.NSS = SPI_NSS_SOFT; |
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hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128; |
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hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; |
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hspi1.Init.TIMode = SPI_TIMODE_DISABLE; |
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hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; |
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hspi1.Init.CRCPolynomial = 10; |
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if (HAL_SPI_Init(&hspi1) != HAL_OK) |
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{ |
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Error_Handler(); |
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} |
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/* USER CODE BEGIN SPI1_Init 2 */ |
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/* USER CODE END SPI1_Init 2 */ |
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} |
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void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle) |
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{ |
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GPIO_InitTypeDef GPIO_InitStruct = {0}; |
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if(spiHandle->Instance==SPI1) |
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{ |
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/* USER CODE BEGIN SPI1_MspInit 0 */ |
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/* USER CODE END SPI1_MspInit 0 */ |
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/* SPI1 clock enable */ |
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__HAL_RCC_SPI1_CLK_ENABLE(); |
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__HAL_RCC_GPIOA_CLK_ENABLE(); |
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/**SPI1 GPIO Configuration |
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PA5 ------> SPI1_SCK |
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PA6 ------> SPI1_MISO |
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PA7 ------> SPI1_MOSI |
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*/ |
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GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7; |
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; |
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GPIO_InitStruct.Pull = GPIO_NOPULL; |
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; |
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GPIO_InitStruct.Alternate = GPIO_AF5_SPI1; |
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); |
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/* USER CODE BEGIN SPI1_MspInit 1 */ |
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/* USER CODE END SPI1_MspInit 1 */ |
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} |
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} |
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void HAL_SPI_MspDeInit(SPI_HandleTypeDef* spiHandle) |
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{ |
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if(spiHandle->Instance==SPI1) |
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{ |
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/* USER CODE BEGIN SPI1_MspDeInit 0 */ |
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/* USER CODE END SPI1_MspDeInit 0 */ |
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/* Peripheral clock disable */ |
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__HAL_RCC_SPI1_CLK_DISABLE(); |
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/**SPI1 GPIO Configuration |
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PA5 ------> SPI1_SCK |
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PA6 ------> SPI1_MISO |
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PA7 ------> SPI1_MOSI |
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*/ |
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HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7); |
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/* USER CODE BEGIN SPI1_MspDeInit 1 */ |
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/* USER CODE END SPI1_MspDeInit 1 */ |
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} |
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} |
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/* USER CODE BEGIN 1 */ |
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/* USER CODE END 1 */ |
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@ -1,729 +0,0 @@ |
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/** |
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****************************************************************************** |
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* @file stm32f4xx_hal_spi.h |
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* @author MCD Application Team |
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* @brief Header file of SPI HAL module. |
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****************************************************************************** |
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* @attention |
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* |
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* Copyright (c) 2016 STMicroelectronics. |
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* All rights reserved. |
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* |
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* This software is licensed under terms that can be found in the LICENSE file |
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* in the root directory of this software component. |
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* If no LICENSE file comes with this software, it is provided AS-IS. |
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* |
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****************************************************************************** |
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*/ |
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/* Define to prevent recursive inclusion -------------------------------------*/ |
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#ifndef STM32F4xx_HAL_SPI_H |
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#define STM32F4xx_HAL_SPI_H |
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#ifdef __cplusplus |
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extern "C" { |
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#endif |
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/* Includes ------------------------------------------------------------------*/ |
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#include "stm32f4xx_hal_def.h" |
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/** @addtogroup STM32F4xx_HAL_Driver |
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* @{ |
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*/ |
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/** @addtogroup SPI |
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* @{ |
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*/ |
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/* Exported types ------------------------------------------------------------*/ |
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/** @defgroup SPI_Exported_Types SPI Exported Types |
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* @{ |
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*/ |
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/** |
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* @brief SPI Configuration Structure definition |
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*/ |
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typedef struct |
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{ |
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uint32_t Mode; /*!< Specifies the SPI operating mode. |
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This parameter can be a value of @ref SPI_Mode */ |
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uint32_t Direction; /*!< Specifies the SPI bidirectional mode state. |
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This parameter can be a value of @ref SPI_Direction */ |
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uint32_t DataSize; /*!< Specifies the SPI data size. |
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This parameter can be a value of @ref SPI_Data_Size */ |
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uint32_t CLKPolarity; /*!< Specifies the serial clock steady state. |
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This parameter can be a value of @ref SPI_Clock_Polarity */ |
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uint32_t CLKPhase; /*!< Specifies the clock active edge for the bit capture. |
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This parameter can be a value of @ref SPI_Clock_Phase */ |
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uint32_t NSS; /*!< Specifies whether the NSS signal is managed by |
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hardware (NSS pin) or by software using the SSI bit. |
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This parameter can be a value of @ref SPI_Slave_Select_management */ |
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uint32_t BaudRatePrescaler; /*!< Specifies the Baud Rate prescaler value which will be |
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used to configure the transmit and receive SCK clock. |
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This parameter can be a value of @ref SPI_BaudRate_Prescaler |
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@note The communication clock is derived from the master |
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clock. The slave clock does not need to be set. */ |
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uint32_t FirstBit; /*!< Specifies whether data transfers start from MSB or LSB bit. |
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This parameter can be a value of @ref SPI_MSB_LSB_transmission */ |
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uint32_t TIMode; /*!< Specifies if the TI mode is enabled or not. |
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This parameter can be a value of @ref SPI_TI_mode */ |
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uint32_t CRCCalculation; /*!< Specifies if the CRC calculation is enabled or not. |
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This parameter can be a value of @ref SPI_CRC_Calculation */ |
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uint32_t CRCPolynomial; /*!< Specifies the polynomial used for the CRC calculation. |
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This parameter must be an odd number between Min_Data = 1 and Max_Data = 65535 */ |
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} SPI_InitTypeDef; |
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/** |
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* @brief HAL SPI State structure definition |
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*/ |
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typedef enum |
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{ |
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HAL_SPI_STATE_RESET = 0x00U, /*!< Peripheral not Initialized */ |
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HAL_SPI_STATE_READY = 0x01U, /*!< Peripheral Initialized and ready for use */ |
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HAL_SPI_STATE_BUSY = 0x02U, /*!< an internal process is ongoing */ |
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HAL_SPI_STATE_BUSY_TX = 0x03U, /*!< Data Transmission process is ongoing */ |
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HAL_SPI_STATE_BUSY_RX = 0x04U, /*!< Data Reception process is ongoing */ |
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HAL_SPI_STATE_BUSY_TX_RX = 0x05U, /*!< Data Transmission and Reception process is ongoing */ |
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HAL_SPI_STATE_ERROR = 0x06U, /*!< SPI error state */ |
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HAL_SPI_STATE_ABORT = 0x07U /*!< SPI abort is ongoing */ |
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} HAL_SPI_StateTypeDef; |
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/** |
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* @brief SPI handle Structure definition |
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*/ |
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typedef struct __SPI_HandleTypeDef |
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{ |
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SPI_TypeDef *Instance; /*!< SPI registers base address */ |
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SPI_InitTypeDef Init; /*!< SPI communication parameters */ |
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uint8_t *pTxBuffPtr; /*!< Pointer to SPI Tx transfer Buffer */ |
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uint16_t TxXferSize; /*!< SPI Tx Transfer size */ |
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__IO uint16_t TxXferCount; /*!< SPI Tx Transfer Counter */ |
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uint8_t *pRxBuffPtr; /*!< Pointer to SPI Rx transfer Buffer */ |
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uint16_t RxXferSize; /*!< SPI Rx Transfer size */ |
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__IO uint16_t RxXferCount; /*!< SPI Rx Transfer Counter */ |
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void (*RxISR)(struct __SPI_HandleTypeDef *hspi); /*!< function pointer on Rx ISR */ |
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void (*TxISR)(struct __SPI_HandleTypeDef *hspi); /*!< function pointer on Tx ISR */ |
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DMA_HandleTypeDef *hdmatx; /*!< SPI Tx DMA Handle parameters */ |
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DMA_HandleTypeDef *hdmarx; /*!< SPI Rx DMA Handle parameters */ |
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HAL_LockTypeDef Lock; /*!< Locking object */ |
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__IO HAL_SPI_StateTypeDef State; /*!< SPI communication state */ |
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__IO uint32_t ErrorCode; /*!< SPI Error code */ |
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#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) |
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void (* TxCpltCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Tx Completed callback */ |
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void (* RxCpltCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Rx Completed callback */ |
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void (* TxRxCpltCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI TxRx Completed callback */ |
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void (* TxHalfCpltCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Tx Half Completed callback */ |
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void (* RxHalfCpltCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Rx Half Completed callback */ |
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void (* TxRxHalfCpltCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI TxRx Half Completed callback */ |
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void (* ErrorCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Error callback */ |
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void (* AbortCpltCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Abort callback */ |
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void (* MspInitCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Msp Init callback */ |
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void (* MspDeInitCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Msp DeInit callback */ |
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#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ |
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} SPI_HandleTypeDef; |
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#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) |
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/** |
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* @brief HAL SPI Callback ID enumeration definition |
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*/ |
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typedef enum |
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{ |
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HAL_SPI_TX_COMPLETE_CB_ID = 0x00U, /*!< SPI Tx Completed callback ID */ |
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HAL_SPI_RX_COMPLETE_CB_ID = 0x01U, /*!< SPI Rx Completed callback ID */ |
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HAL_SPI_TX_RX_COMPLETE_CB_ID = 0x02U, /*!< SPI TxRx Completed callback ID */ |
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HAL_SPI_TX_HALF_COMPLETE_CB_ID = 0x03U, /*!< SPI Tx Half Completed callback ID */ |
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HAL_SPI_RX_HALF_COMPLETE_CB_ID = 0x04U, /*!< SPI Rx Half Completed callback ID */ |
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HAL_SPI_TX_RX_HALF_COMPLETE_CB_ID = 0x05U, /*!< SPI TxRx Half Completed callback ID */ |
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HAL_SPI_ERROR_CB_ID = 0x06U, /*!< SPI Error callback ID */ |
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HAL_SPI_ABORT_CB_ID = 0x07U, /*!< SPI Abort callback ID */ |
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HAL_SPI_MSPINIT_CB_ID = 0x08U, /*!< SPI Msp Init callback ID */ |
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HAL_SPI_MSPDEINIT_CB_ID = 0x09U /*!< SPI Msp DeInit callback ID */ |
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} HAL_SPI_CallbackIDTypeDef; |
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/** |
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* @brief HAL SPI Callback pointer definition |
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*/ |
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typedef void (*pSPI_CallbackTypeDef)(SPI_HandleTypeDef *hspi); /*!< pointer to an SPI callback function */ |
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#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ |
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/** |
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* @} |
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*/ |
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/* Exported constants --------------------------------------------------------*/ |
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/** @defgroup SPI_Exported_Constants SPI Exported Constants |
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* @{ |
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*/ |
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/** @defgroup SPI_Error_Code SPI Error Code |
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* @{ |
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*/ |
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#define HAL_SPI_ERROR_NONE (0x00000000U) /*!< No error */ |
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#define HAL_SPI_ERROR_MODF (0x00000001U) /*!< MODF error */ |
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#define HAL_SPI_ERROR_CRC (0x00000002U) /*!< CRC error */ |
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#define HAL_SPI_ERROR_OVR (0x00000004U) /*!< OVR error */ |
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#define HAL_SPI_ERROR_FRE (0x00000008U) /*!< FRE error */ |
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#define HAL_SPI_ERROR_DMA (0x00000010U) /*!< DMA transfer error */ |
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#define HAL_SPI_ERROR_FLAG (0x00000020U) /*!< Error on RXNE/TXE/BSY Flag */ |
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#define HAL_SPI_ERROR_ABORT (0x00000040U) /*!< Error during SPI Abort procedure */ |
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#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) |
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#define HAL_SPI_ERROR_INVALID_CALLBACK (0x00000080U) /*!< Invalid Callback error */ |
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#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ |
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/** |
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* @} |
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*/ |
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|
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/** @defgroup SPI_Mode SPI Mode |
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* @{ |
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*/ |
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#define SPI_MODE_SLAVE (0x00000000U) |
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#define SPI_MODE_MASTER (SPI_CR1_MSTR | SPI_CR1_SSI) |
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/** |
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* @} |
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*/ |
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|
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/** @defgroup SPI_Direction SPI Direction Mode |
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* @{ |
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*/ |
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#define SPI_DIRECTION_2LINES (0x00000000U) |
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#define SPI_DIRECTION_2LINES_RXONLY SPI_CR1_RXONLY |
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#define SPI_DIRECTION_1LINE SPI_CR1_BIDIMODE |
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/** |
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* @} |
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*/ |
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|
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/** @defgroup SPI_Data_Size SPI Data Size |
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* @{ |
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*/ |
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#define SPI_DATASIZE_8BIT (0x00000000U) |
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#define SPI_DATASIZE_16BIT SPI_CR1_DFF |
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/** |
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* @} |
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*/ |
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|
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/** @defgroup SPI_Clock_Polarity SPI Clock Polarity |
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* @{ |
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*/ |
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#define SPI_POLARITY_LOW (0x00000000U) |
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#define SPI_POLARITY_HIGH SPI_CR1_CPOL |
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/** |
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* @} |
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*/ |
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|
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/** @defgroup SPI_Clock_Phase SPI Clock Phase |
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* @{ |
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*/ |
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#define SPI_PHASE_1EDGE (0x00000000U) |
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#define SPI_PHASE_2EDGE SPI_CR1_CPHA |
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/** |
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* @} |
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*/ |
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|
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/** @defgroup SPI_Slave_Select_management SPI Slave Select Management |
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* @{ |
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*/ |
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#define SPI_NSS_SOFT SPI_CR1_SSM |
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#define SPI_NSS_HARD_INPUT (0x00000000U) |
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#define SPI_NSS_HARD_OUTPUT (SPI_CR2_SSOE << 16U) |
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/** |
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* @} |
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*/ |
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|
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/** @defgroup SPI_BaudRate_Prescaler SPI BaudRate Prescaler |
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* @{ |
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*/ |
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#define SPI_BAUDRATEPRESCALER_2 (0x00000000U) |
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#define SPI_BAUDRATEPRESCALER_4 (SPI_CR1_BR_0) |
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#define SPI_BAUDRATEPRESCALER_8 (SPI_CR1_BR_1) |
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#define SPI_BAUDRATEPRESCALER_16 (SPI_CR1_BR_1 | SPI_CR1_BR_0) |
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#define SPI_BAUDRATEPRESCALER_32 (SPI_CR1_BR_2) |
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#define SPI_BAUDRATEPRESCALER_64 (SPI_CR1_BR_2 | SPI_CR1_BR_0) |
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#define SPI_BAUDRATEPRESCALER_128 (SPI_CR1_BR_2 | SPI_CR1_BR_1) |
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#define SPI_BAUDRATEPRESCALER_256 (SPI_CR1_BR_2 | SPI_CR1_BR_1 | SPI_CR1_BR_0) |
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/** |
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* @} |
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*/ |
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|
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/** @defgroup SPI_MSB_LSB_transmission SPI MSB LSB Transmission |
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* @{ |
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*/ |
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#define SPI_FIRSTBIT_MSB (0x00000000U) |
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#define SPI_FIRSTBIT_LSB SPI_CR1_LSBFIRST |
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/** |
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* @} |
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*/ |
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|
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/** @defgroup SPI_TI_mode SPI TI Mode |
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* @{ |
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*/ |
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#define SPI_TIMODE_DISABLE (0x00000000U) |
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#define SPI_TIMODE_ENABLE SPI_CR2_FRF |
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/** |
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* @} |
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*/ |
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|
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/** @defgroup SPI_CRC_Calculation SPI CRC Calculation |
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* @{ |
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*/ |
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#define SPI_CRCCALCULATION_DISABLE (0x00000000U) |
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#define SPI_CRCCALCULATION_ENABLE SPI_CR1_CRCEN |
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/** |
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* @} |
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*/ |
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|
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/** @defgroup SPI_Interrupt_definition SPI Interrupt Definition |
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* @{ |
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*/ |
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#define SPI_IT_TXE SPI_CR2_TXEIE |
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#define SPI_IT_RXNE SPI_CR2_RXNEIE |
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#define SPI_IT_ERR SPI_CR2_ERRIE |
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/** |
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* @} |
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*/ |
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|
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/** @defgroup SPI_Flags_definition SPI Flags Definition |
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* @{ |
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*/ |
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#define SPI_FLAG_RXNE SPI_SR_RXNE /* SPI status flag: Rx buffer not empty flag */ |
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#define SPI_FLAG_TXE SPI_SR_TXE /* SPI status flag: Tx buffer empty flag */ |
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#define SPI_FLAG_BSY SPI_SR_BSY /* SPI status flag: Busy flag */ |
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#define SPI_FLAG_CRCERR SPI_SR_CRCERR /* SPI Error flag: CRC error flag */ |
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#define SPI_FLAG_MODF SPI_SR_MODF /* SPI Error flag: Mode fault flag */ |
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#define SPI_FLAG_OVR SPI_SR_OVR /* SPI Error flag: Overrun flag */ |
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#define SPI_FLAG_FRE SPI_SR_FRE /* SPI Error flag: TI mode frame format error flag */ |
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#define SPI_FLAG_MASK (SPI_SR_RXNE | SPI_SR_TXE | SPI_SR_BSY | SPI_SR_CRCERR\ |
|||
| SPI_SR_MODF | SPI_SR_OVR | SPI_SR_FRE) |
|||
/** |
|||
* @} |
|||
*/ |
|||
|
|||
/** |
|||
* @} |
|||
*/ |
|||
|
|||
/* Exported macros -----------------------------------------------------------*/ |
|||
/** @defgroup SPI_Exported_Macros SPI Exported Macros |
|||
* @{ |
|||
*/ |
|||
|
|||
/** @brief Reset SPI handle state. |
|||
* @param __HANDLE__ specifies the SPI Handle. |
|||
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. |
|||
* @retval None |
|||
*/ |
|||
#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) |
|||
#define __HAL_SPI_RESET_HANDLE_STATE(__HANDLE__) do{ \ |
|||
(__HANDLE__)->State = HAL_SPI_STATE_RESET; \ |
|||
(__HANDLE__)->MspInitCallback = NULL; \ |
|||
(__HANDLE__)->MspDeInitCallback = NULL; \ |
|||
} while(0) |
|||
#else |
|||
#define __HAL_SPI_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_SPI_STATE_RESET) |
|||
#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ |
|||
|
|||
/** @brief Enable the specified SPI interrupts. |
|||
* @param __HANDLE__ specifies the SPI Handle. |
|||
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. |
|||
* @param __INTERRUPT__ specifies the interrupt source to enable. |
|||
* This parameter can be one of the following values: |
|||
* @arg SPI_IT_TXE: Tx buffer empty interrupt enable |
|||
* @arg SPI_IT_RXNE: RX buffer not empty interrupt enable |
|||
* @arg SPI_IT_ERR: Error interrupt enable |
|||
* @retval None |
|||
*/ |
|||
#define __HAL_SPI_ENABLE_IT(__HANDLE__, __INTERRUPT__) SET_BIT((__HANDLE__)->Instance->CR2, (__INTERRUPT__)) |
|||
|
|||
/** @brief Disable the specified SPI interrupts. |
|||
* @param __HANDLE__ specifies the SPI handle. |
|||
* This parameter can be SPIx where x: 1, 2, or 3 to select the SPI peripheral. |
|||
* @param __INTERRUPT__ specifies the interrupt source to disable. |
|||
* This parameter can be one of the following values: |
|||
* @arg SPI_IT_TXE: Tx buffer empty interrupt enable |
|||
* @arg SPI_IT_RXNE: RX buffer not empty interrupt enable |
|||
* @arg SPI_IT_ERR: Error interrupt enable |
|||
* @retval None |
|||
*/ |
|||
#define __HAL_SPI_DISABLE_IT(__HANDLE__, __INTERRUPT__) CLEAR_BIT((__HANDLE__)->Instance->CR2, (__INTERRUPT__)) |
|||
|
|||
/** @brief Check whether the specified SPI interrupt source is enabled or not. |
|||
* @param __HANDLE__ specifies the SPI Handle. |
|||
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. |
|||
* @param __INTERRUPT__ specifies the SPI interrupt source to check. |
|||
* This parameter can be one of the following values: |
|||
* @arg SPI_IT_TXE: Tx buffer empty interrupt enable |
|||
* @arg SPI_IT_RXNE: RX buffer not empty interrupt enable |
|||
* @arg SPI_IT_ERR: Error interrupt enable |
|||
* @retval The new state of __IT__ (TRUE or FALSE). |
|||
*/ |
|||
#define __HAL_SPI_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->CR2\ |
|||
& (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET) |
|||
|
|||
/** @brief Check whether the specified SPI flag is set or not. |
|||
* @param __HANDLE__ specifies the SPI Handle. |
|||
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. |
|||
* @param __FLAG__ specifies the flag to check. |
|||
* This parameter can be one of the following values: |
|||
* @arg SPI_FLAG_RXNE: Receive buffer not empty flag |
|||
* @arg SPI_FLAG_TXE: Transmit buffer empty flag |
|||
* @arg SPI_FLAG_CRCERR: CRC error flag |
|||
* @arg SPI_FLAG_MODF: Mode fault flag |
|||
* @arg SPI_FLAG_OVR: Overrun flag |
|||
* @arg SPI_FLAG_BSY: Busy flag |
|||
* @arg SPI_FLAG_FRE: Frame format error flag |
|||
* @retval The new state of __FLAG__ (TRUE or FALSE). |
|||
*/ |
|||
#define __HAL_SPI_GET_FLAG(__HANDLE__, __FLAG__) ((((__HANDLE__)->Instance->SR) & (__FLAG__)) == (__FLAG__)) |
|||
|
|||
/** @brief Clear the SPI CRCERR pending flag. |
|||
* @param __HANDLE__ specifies the SPI Handle. |
|||
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. |
|||
* @retval None |
|||
*/ |
|||
#define __HAL_SPI_CLEAR_CRCERRFLAG(__HANDLE__) ((__HANDLE__)->Instance->SR = (uint16_t)(~SPI_FLAG_CRCERR)) |
|||
|
|||
/** @brief Clear the SPI MODF pending flag. |
|||
* @param __HANDLE__ specifies the SPI Handle. |
|||
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. |
|||
* @retval None |
|||
*/ |
|||
#define __HAL_SPI_CLEAR_MODFFLAG(__HANDLE__) \ |
|||
do{ \ |
|||
__IO uint32_t tmpreg_modf = 0x00U; \ |
|||
tmpreg_modf = (__HANDLE__)->Instance->SR; \ |
|||
CLEAR_BIT((__HANDLE__)->Instance->CR1, SPI_CR1_SPE); \ |
|||
UNUSED(tmpreg_modf); \ |
|||
} while(0U) |
|||
|
|||
/** @brief Clear the SPI OVR pending flag. |
|||
* @param __HANDLE__ specifies the SPI Handle. |
|||
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. |
|||
* @retval None |
|||
*/ |
|||
#define __HAL_SPI_CLEAR_OVRFLAG(__HANDLE__) \ |
|||
do{ \ |
|||
__IO uint32_t tmpreg_ovr = 0x00U; \ |
|||
tmpreg_ovr = (__HANDLE__)->Instance->DR; \ |
|||
tmpreg_ovr = (__HANDLE__)->Instance->SR; \ |
|||
UNUSED(tmpreg_ovr); \ |
|||
} while(0U) |
|||
|
|||
/** @brief Clear the SPI FRE pending flag. |
|||
* @param __HANDLE__ specifies the SPI Handle. |
|||
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. |
|||
* @retval None |
|||
*/ |
|||
#define __HAL_SPI_CLEAR_FREFLAG(__HANDLE__) \ |
|||
do{ \ |
|||
__IO uint32_t tmpreg_fre = 0x00U; \ |
|||
tmpreg_fre = (__HANDLE__)->Instance->SR; \ |
|||
UNUSED(tmpreg_fre); \ |
|||
}while(0U) |
|||
|
|||
/** @brief Enable the SPI peripheral. |
|||
* @param __HANDLE__ specifies the SPI Handle. |
|||
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. |
|||
* @retval None |
|||
*/ |
|||
#define __HAL_SPI_ENABLE(__HANDLE__) SET_BIT((__HANDLE__)->Instance->CR1, SPI_CR1_SPE) |
|||
|
|||
/** @brief Disable the SPI peripheral. |
|||
* @param __HANDLE__ specifies the SPI Handle. |
|||
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. |
|||
* @retval None |
|||
*/ |
|||
#define __HAL_SPI_DISABLE(__HANDLE__) CLEAR_BIT((__HANDLE__)->Instance->CR1, SPI_CR1_SPE) |
|||
|
|||
/** |
|||
* @} |
|||
*/ |
|||
|
|||
/* Private macros ------------------------------------------------------------*/ |
|||
/** @defgroup SPI_Private_Macros SPI Private Macros |
|||
* @{ |
|||
*/ |
|||
|
|||
/** @brief Set the SPI transmit-only mode. |
|||
* @param __HANDLE__ specifies the SPI Handle. |
|||
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. |
|||
* @retval None |
|||
*/ |
|||
#define SPI_1LINE_TX(__HANDLE__) SET_BIT((__HANDLE__)->Instance->CR1, SPI_CR1_BIDIOE) |
|||
|
|||
/** @brief Set the SPI receive-only mode. |
|||
* @param __HANDLE__ specifies the SPI Handle. |
|||
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. |
|||
* @retval None |
|||
*/ |
|||
#define SPI_1LINE_RX(__HANDLE__) CLEAR_BIT((__HANDLE__)->Instance->CR1, SPI_CR1_BIDIOE) |
|||
|
|||
/** @brief Reset the CRC calculation of the SPI. |
|||
* @param __HANDLE__ specifies the SPI Handle. |
|||
* This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. |
|||
* @retval None |
|||
*/ |
|||
#define SPI_RESET_CRC(__HANDLE__) do{CLEAR_BIT((__HANDLE__)->Instance->CR1, SPI_CR1_CRCEN);\ |
|||
SET_BIT((__HANDLE__)->Instance->CR1, SPI_CR1_CRCEN);}while(0U) |
|||
|
|||
/** @brief Check whether the specified SPI flag is set or not. |
|||
* @param __SR__ copy of SPI SR register. |
|||
* @param __FLAG__ specifies the flag to check. |
|||
* This parameter can be one of the following values: |
|||
* @arg SPI_FLAG_RXNE: Receive buffer not empty flag |
|||
* @arg SPI_FLAG_TXE: Transmit buffer empty flag |
|||
* @arg SPI_FLAG_CRCERR: CRC error flag |
|||
* @arg SPI_FLAG_MODF: Mode fault flag |
|||
* @arg SPI_FLAG_OVR: Overrun flag |
|||
* @arg SPI_FLAG_BSY: Busy flag |
|||
* @arg SPI_FLAG_FRE: Frame format error flag |
|||
* @retval SET or RESET. |
|||
*/ |
|||
#define SPI_CHECK_FLAG(__SR__, __FLAG__) ((((__SR__) & ((__FLAG__) & SPI_FLAG_MASK)) == \ |
|||
((__FLAG__) & SPI_FLAG_MASK)) ? SET : RESET) |
|||
|
|||
/** @brief Check whether the specified SPI Interrupt is set or not. |
|||
* @param __CR2__ copy of SPI CR2 register. |
|||
* @param __INTERRUPT__ specifies the SPI interrupt source to check. |
|||
* This parameter can be one of the following values: |
|||
* @arg SPI_IT_TXE: Tx buffer empty interrupt enable |
|||
* @arg SPI_IT_RXNE: RX buffer not empty interrupt enable |
|||
* @arg SPI_IT_ERR: Error interrupt enable |
|||
* @retval SET or RESET. |
|||
*/ |
|||
#define SPI_CHECK_IT_SOURCE(__CR2__, __INTERRUPT__) ((((__CR2__) & (__INTERRUPT__)) == \ |
|||
(__INTERRUPT__)) ? SET : RESET) |
|||
|
|||
/** @brief Checks if SPI Mode parameter is in allowed range. |
|||
* @param __MODE__ specifies the SPI Mode. |
|||
* This parameter can be a value of @ref SPI_Mode |
|||
* @retval None |
|||
*/ |
|||
#define IS_SPI_MODE(__MODE__) (((__MODE__) == SPI_MODE_SLAVE) || \ |
|||
((__MODE__) == SPI_MODE_MASTER)) |
|||
|
|||
/** @brief Checks if SPI Direction Mode parameter is in allowed range. |
|||
* @param __MODE__ specifies the SPI Direction Mode. |
|||
* This parameter can be a value of @ref SPI_Direction |
|||
* @retval None |
|||
*/ |
|||
#define IS_SPI_DIRECTION(__MODE__) (((__MODE__) == SPI_DIRECTION_2LINES) || \ |
|||
((__MODE__) == SPI_DIRECTION_2LINES_RXONLY) || \ |
|||
((__MODE__) == SPI_DIRECTION_1LINE)) |
|||
|
|||
/** @brief Checks if SPI Direction Mode parameter is 2 lines. |
|||
* @param __MODE__ specifies the SPI Direction Mode. |
|||
* @retval None |
|||
*/ |
|||
#define IS_SPI_DIRECTION_2LINES(__MODE__) ((__MODE__) == SPI_DIRECTION_2LINES) |
|||
|
|||
/** @brief Checks if SPI Direction Mode parameter is 1 or 2 lines. |
|||
* @param __MODE__ specifies the SPI Direction Mode. |
|||
* @retval None |
|||
*/ |
|||
#define IS_SPI_DIRECTION_2LINES_OR_1LINE(__MODE__) (((__MODE__) == SPI_DIRECTION_2LINES) || \ |
|||
((__MODE__) == SPI_DIRECTION_1LINE)) |
|||
|
|||
/** @brief Checks if SPI Data Size parameter is in allowed range. |
|||
* @param __DATASIZE__ specifies the SPI Data Size. |
|||
* This parameter can be a value of @ref SPI_Data_Size |
|||
* @retval None |
|||
*/ |
|||
#define IS_SPI_DATASIZE(__DATASIZE__) (((__DATASIZE__) == SPI_DATASIZE_16BIT) || \ |
|||
((__DATASIZE__) == SPI_DATASIZE_8BIT)) |
|||
|
|||
/** @brief Checks if SPI Serial clock steady state parameter is in allowed range. |
|||
* @param __CPOL__ specifies the SPI serial clock steady state. |
|||
* This parameter can be a value of @ref SPI_Clock_Polarity |
|||
* @retval None |
|||
*/ |
|||
#define IS_SPI_CPOL(__CPOL__) (((__CPOL__) == SPI_POLARITY_LOW) || \ |
|||
((__CPOL__) == SPI_POLARITY_HIGH)) |
|||
|
|||
/** @brief Checks if SPI Clock Phase parameter is in allowed range. |
|||
* @param __CPHA__ specifies the SPI Clock Phase. |
|||
* This parameter can be a value of @ref SPI_Clock_Phase |
|||
* @retval None |
|||
*/ |
|||
#define IS_SPI_CPHA(__CPHA__) (((__CPHA__) == SPI_PHASE_1EDGE) || \ |
|||
((__CPHA__) == SPI_PHASE_2EDGE)) |
|||
|
|||
/** @brief Checks if SPI Slave Select parameter is in allowed range. |
|||
* @param __NSS__ specifies the SPI Slave Select management parameter. |
|||
* This parameter can be a value of @ref SPI_Slave_Select_management |
|||
* @retval None |
|||
*/ |
|||
#define IS_SPI_NSS(__NSS__) (((__NSS__) == SPI_NSS_SOFT) || \ |
|||
((__NSS__) == SPI_NSS_HARD_INPUT) || \ |
|||
((__NSS__) == SPI_NSS_HARD_OUTPUT)) |
|||
|
|||
/** @brief Checks if SPI Baudrate prescaler parameter is in allowed range. |
|||
* @param __PRESCALER__ specifies the SPI Baudrate prescaler. |
|||
* This parameter can be a value of @ref SPI_BaudRate_Prescaler |
|||
* @retval None |
|||
*/ |
|||
#define IS_SPI_BAUDRATE_PRESCALER(__PRESCALER__) (((__PRESCALER__) == SPI_BAUDRATEPRESCALER_2) || \ |
|||
((__PRESCALER__) == SPI_BAUDRATEPRESCALER_4) || \ |
|||
((__PRESCALER__) == SPI_BAUDRATEPRESCALER_8) || \ |
|||
((__PRESCALER__) == SPI_BAUDRATEPRESCALER_16) || \ |
|||
((__PRESCALER__) == SPI_BAUDRATEPRESCALER_32) || \ |
|||
((__PRESCALER__) == SPI_BAUDRATEPRESCALER_64) || \ |
|||
((__PRESCALER__) == SPI_BAUDRATEPRESCALER_128) || \ |
|||
((__PRESCALER__) == SPI_BAUDRATEPRESCALER_256)) |
|||
|
|||
/** @brief Checks if SPI MSB LSB transmission parameter is in allowed range. |
|||
* @param __BIT__ specifies the SPI MSB LSB transmission (whether data transfer starts from MSB or LSB bit). |
|||
* This parameter can be a value of @ref SPI_MSB_LSB_transmission |
|||
* @retval None |
|||
*/ |
|||
#define IS_SPI_FIRST_BIT(__BIT__) (((__BIT__) == SPI_FIRSTBIT_MSB) || \ |
|||
((__BIT__) == SPI_FIRSTBIT_LSB)) |
|||
|
|||
/** @brief Checks if SPI TI mode parameter is in allowed range. |
|||
* @param __MODE__ specifies the SPI TI mode. |
|||
* This parameter can be a value of @ref SPI_TI_mode |
|||
* @retval None |
|||
*/ |
|||
#define IS_SPI_TIMODE(__MODE__) (((__MODE__) == SPI_TIMODE_DISABLE) || \ |
|||
((__MODE__) == SPI_TIMODE_ENABLE)) |
|||
|
|||
/** @brief Checks if SPI CRC calculation enabled state is in allowed range. |
|||
* @param __CALCULATION__ specifies the SPI CRC calculation enable state. |
|||
* This parameter can be a value of @ref SPI_CRC_Calculation |
|||
* @retval None |
|||
*/ |
|||
#define IS_SPI_CRC_CALCULATION(__CALCULATION__) (((__CALCULATION__) == SPI_CRCCALCULATION_DISABLE) || \ |
|||
((__CALCULATION__) == SPI_CRCCALCULATION_ENABLE)) |
|||
|
|||
/** @brief Checks if SPI polynomial value to be used for the CRC calculation, is in allowed range. |
|||
* @param __POLYNOMIAL__ specifies the SPI polynomial value to be used for the CRC calculation. |
|||
* This parameter must be a number between Min_Data = 0 and Max_Data = 65535 |
|||
* @retval None |
|||
*/ |
|||
#define IS_SPI_CRC_POLYNOMIAL(__POLYNOMIAL__) (((__POLYNOMIAL__) >= 0x1U) && \ |
|||
((__POLYNOMIAL__) <= 0xFFFFU) && \ |
|||
(((__POLYNOMIAL__)&0x1U) != 0U)) |
|||
|
|||
/** @brief Checks if DMA handle is valid. |
|||
* @param __HANDLE__ specifies a DMA Handle. |
|||
* @retval None |
|||
*/ |
|||
#define IS_SPI_DMA_HANDLE(__HANDLE__) ((__HANDLE__) != NULL) |
|||
|
|||
/** |
|||
* @} |
|||
*/ |
|||
|
|||
/* Exported functions --------------------------------------------------------*/ |
|||
/** @addtogroup SPI_Exported_Functions |
|||
* @{ |
|||
*/ |
|||
|
|||
/** @addtogroup SPI_Exported_Functions_Group1 |
|||
* @{ |
|||
*/ |
|||
/* Initialization/de-initialization functions ********************************/ |
|||
HAL_StatusTypeDef HAL_SPI_Init(SPI_HandleTypeDef *hspi); |
|||
HAL_StatusTypeDef HAL_SPI_DeInit(SPI_HandleTypeDef *hspi); |
|||
void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi); |
|||
void HAL_SPI_MspDeInit(SPI_HandleTypeDef *hspi); |
|||
|
|||
/* Callbacks Register/UnRegister functions ***********************************/ |
|||
#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) |
|||
HAL_StatusTypeDef HAL_SPI_RegisterCallback(SPI_HandleTypeDef *hspi, HAL_SPI_CallbackIDTypeDef CallbackID, |
|||
pSPI_CallbackTypeDef pCallback); |
|||
HAL_StatusTypeDef HAL_SPI_UnRegisterCallback(SPI_HandleTypeDef *hspi, HAL_SPI_CallbackIDTypeDef CallbackID); |
|||
#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ |
|||
/** |
|||
* @} |
|||
*/ |
|||
|
|||
/** @addtogroup SPI_Exported_Functions_Group2 |
|||
* @{ |
|||
*/ |
|||
/* I/O operation functions ***************************************************/ |
|||
HAL_StatusTypeDef HAL_SPI_Transmit(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size, uint32_t Timeout); |
|||
HAL_StatusTypeDef HAL_SPI_Receive(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size, uint32_t Timeout); |
|||
HAL_StatusTypeDef HAL_SPI_TransmitReceive(SPI_HandleTypeDef *hspi, uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, |
|||
uint32_t Timeout); |
|||
HAL_StatusTypeDef HAL_SPI_Transmit_IT(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size); |
|||
HAL_StatusTypeDef HAL_SPI_Receive_IT(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size); |
|||
HAL_StatusTypeDef HAL_SPI_TransmitReceive_IT(SPI_HandleTypeDef *hspi, uint8_t *pTxData, uint8_t *pRxData, |
|||
uint16_t Size); |
|||
HAL_StatusTypeDef HAL_SPI_Transmit_DMA(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size); |
|||
HAL_StatusTypeDef HAL_SPI_Receive_DMA(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size); |
|||
HAL_StatusTypeDef HAL_SPI_TransmitReceive_DMA(SPI_HandleTypeDef *hspi, uint8_t *pTxData, uint8_t *pRxData, |
|||
uint16_t Size); |
|||
HAL_StatusTypeDef HAL_SPI_DMAPause(SPI_HandleTypeDef *hspi); |
|||
HAL_StatusTypeDef HAL_SPI_DMAResume(SPI_HandleTypeDef *hspi); |
|||
HAL_StatusTypeDef HAL_SPI_DMAStop(SPI_HandleTypeDef *hspi); |
|||
/* Transfer Abort functions */ |
|||
HAL_StatusTypeDef HAL_SPI_Abort(SPI_HandleTypeDef *hspi); |
|||
HAL_StatusTypeDef HAL_SPI_Abort_IT(SPI_HandleTypeDef *hspi); |
|||
|
|||
void HAL_SPI_IRQHandler(SPI_HandleTypeDef *hspi); |
|||
void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi); |
|||
void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi); |
|||
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi); |
|||
void HAL_SPI_TxHalfCpltCallback(SPI_HandleTypeDef *hspi); |
|||
void HAL_SPI_RxHalfCpltCallback(SPI_HandleTypeDef *hspi); |
|||
void HAL_SPI_TxRxHalfCpltCallback(SPI_HandleTypeDef *hspi); |
|||
void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi); |
|||
void HAL_SPI_AbortCpltCallback(SPI_HandleTypeDef *hspi); |
|||
/** |
|||
* @} |
|||
*/ |
|||
|
|||
/** @addtogroup SPI_Exported_Functions_Group3 |
|||
* @{ |
|||
*/ |
|||
/* Peripheral State and Error functions ***************************************/ |
|||
HAL_SPI_StateTypeDef HAL_SPI_GetState(SPI_HandleTypeDef *hspi); |
|||
uint32_t HAL_SPI_GetError(SPI_HandleTypeDef *hspi); |
|||
/** |
|||
* @} |
|||
*/ |
|||
|
|||
/** |
|||
* @} |
|||
*/ |
|||
|
|||
/** |
|||
* @} |
|||
*/ |
|||
|
|||
/** |
|||
* @} |
|||
*/ |
|||
|
|||
#ifdef __cplusplus |
|||
} |
|||
#endif |
|||
|
|||
#endif /* STM32F4xx_HAL_SPI_H */ |
|||
|
|||
3915
Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c
File diff suppressed because it is too large
View File
File diff suppressed because it is too large
View File
@ -1 +1 @@ |
|||
Subproject commit 49fdc5fc4c5176eb911e4e1eb1b1d70713f4767d |
|||
Subproject commit e94648010b6703383da7ce6ff3b9e4463f4ec6d6 |
|||
@ -1,282 +0,0 @@ |
|||
#include "one_dimensional_code_laser_scanner.hpp"
|
|||
|
|||
#include <string.h>
|
|||
using namespace iflytop; |
|||
|
|||
#define ONE_BIT_WIDTH ((int32_t)(51200 * 1.20003 / 8.0))
|
|||
#define MIN_POS ((int32_t)(102733))
|
|||
|
|||
#define TAG "OneDimensionalCodeLaserScanner"
|
|||
|
|||
void OneDimensionalCodeLaserScanner::initialize(IflytopCanProtocolStackProcesser* protocolProcesser, int32_t regStartOff, cfg_t* cfg) { |
|||
m_protocolProcesser = protocolProcesser; |
|||
m_regStartOff = regStartOff; |
|||
m_cfg = *cfg; |
|||
|
|||
m_slave = m_protocolProcesser->createICPSSlaveModule("OneDimensionalCodeLaserScanner", this, m_regStartOff); |
|||
m_protocolProcesser->activeReg(m_slave, REG_CODE_SCANER_ACT_CTRL, icps::kw, 0); |
|||
m_protocolProcesser->activeReg(m_slave, REG_CODE_SCANER_ACT_CLEAR_EXCEPTION, icps::kw, 0); |
|||
m_statusReg = m_protocolProcesser->activeReg(m_slave, REG_CODE_SCANER_STAT_STATUS, icps::kr, 0); |
|||
m_errReg = m_protocolProcesser->activeReg(m_slave, REG_CODE_SCANER_STAT_ERROR, icps::kr, 0); |
|||
m_codeReg = m_protocolProcesser->activeReg(m_slave, REG_CODE_SCANER_CODE, icps::kr, 0); |
|||
m_item = m_protocolProcesser->activeReg(m_slave, REG_CODE_SCANER_ITEM, icps::kr, 0); |
|||
m_lot = m_protocolProcesser->activeReg(m_slave, REG_CODE_SCANER_LOT, icps::kr, 0); |
|||
|
|||
m_triggerGpio.initAsInput(m_cfg.triggerPin, ZGPIO::kMode_nopull, ZGPIO::kIRQ_risingAndFallingIrq, true /*mirror*/); |
|||
m_triggerGpio.regListener([this](ZGPIO* GPIO_Pin, ZGPIO::IrqTypeEvent_t irqevent) { onGpioIrq(GPIO_Pin, irqevent); }); |
|||
m_readder = m_cfg.readder; |
|||
} |
|||
|
|||
icps::error_t OneDimensionalCodeLaserScanner::onHostRegisterWriteEvent(icps::WriteEvent* writeEvent) { |
|||
int32_t regoff = writeEvent->reg->add - m_regStartOff; |
|||
switch (regoff) { |
|||
case REG_CODE_SCANER_ACT_CTRL: |
|||
if (writeEvent->newvalue == 1) { |
|||
startScan(); |
|||
} else if (writeEvent->newvalue == 0) { |
|||
stopScan(); |
|||
parseResult(); |
|||
} else { |
|||
return icps::kIllegalValue; |
|||
} |
|||
return icps::kSuccess; |
|||
case REG_CODE_SCANER_ACT_CLEAR_EXCEPTION: |
|||
return icps::kSuccess; |
|||
default: |
|||
break; |
|||
} |
|||
return icps::kRegNotFound; |
|||
} |
|||
|
|||
void OneDimensionalCodeLaserScanner::startScan() { |
|||
CriticalContext cc; |
|||
m_off = 0; |
|||
m_workflag = true; |
|||
m_idleLevel = m_triggerGpio.getState(); |
|||
m_startpos = m_readder(); |
|||
ZLOGI(TAG, "start scan startpos:%d", m_startpos); |
|||
} |
|||
void OneDimensionalCodeLaserScanner::stopScan() { |
|||
CriticalContext cc; |
|||
m_workflag = false; |
|||
m_endpos = m_readder(); |
|||
ZLOGI(TAG, "stop scan endpos:%d", m_endpos); |
|||
} |
|||
|
|||
bool OneDimensionalCodeLaserScanner::getPosLevel(int pos) { |
|||
bool level = m_idleLevel; |
|||
bool nowlevel = m_idleLevel; |
|||
|
|||
if (pos < m_posChache[0]) { |
|||
return m_idleLevel; |
|||
} |
|||
|
|||
for (int i = 0; i < m_off; i++) { |
|||
nowlevel = !nowlevel; |
|||
if (i + 1 < m_off) { |
|||
if (pos >= m_posChache[i] && pos < m_posChache[i + 1]) { |
|||
level = nowlevel; |
|||
break; |
|||
} |
|||
} else { |
|||
level = nowlevel; |
|||
} |
|||
} |
|||
|
|||
return level; |
|||
} |
|||
|
|||
int32_t OneDimensionalCodeLaserScanner::compute_point_num(int32_t startpos, int32_t endpos) { |
|||
int32_t len = endpos - startpos; |
|||
float len_mm = len / 51200.0 * 8.0; // 导程8mm
|
|||
int32_t pointnum = len_mm * 10; // 1mm 分成10份
|
|||
return pointnum; |
|||
} |
|||
|
|||
void OneDimensionalCodeLaserScanner::dumpcodecache(code_cache_t* cache) { |
|||
#if 0
|
|||
ZLOGI(TAG, "startpos:%d,endpos:%d,pointnum:%d", cache->startpos, cache->endpos, cache->pointnum); |
|||
for (int i = 0; i < cache->pointnum; i++) { |
|||
printf("%d", cache->codecache[i]); |
|||
} |
|||
printf("\n"); |
|||
#endif
|
|||
} |
|||
|
|||
#define BITVAL(code, off) ((code & (1 << off)) >> off)
|
|||
|
|||
void OneDimensionalCodeLaserScanner::decode(uint32_t rawcode) { //
|
|||
// Lot:3:6
|
|||
// bit3->bit3, bit4->bit2, bit5->bit1, bit6->bit0
|
|||
uint32_t lot = 0; |
|||
lot = BITVAL(rawcode, 3) << 3 | BITVAL(rawcode, 4) << 2 | BITVAL(rawcode, 5) << 1 | BITVAL(rawcode, 6) << 0; |
|||
|
|||
// =(bit1)*2^6+(bit2)*2^5+(bit11)*2^4+(bit10)*2^0+(bit9)*2^1+(bit8)*2^2+(bit7)*2^3
|
|||
uint32_t item = 0; |
|||
item = (BITVAL(rawcode, 1) << 6) //
|
|||
| (BITVAL(rawcode, 2) << 5) //
|
|||
| (BITVAL(rawcode, 11) << 4) //
|
|||
| (BITVAL(rawcode, 10) << 0) //
|
|||
| (BITVAL(rawcode, 9) << 1) //
|
|||
| (BITVAL(rawcode, 8) << 2) //
|
|||
| (BITVAL(rawcode, 7) << 3); |
|||
|
|||
ZLOGI(TAG, "item-lot: %d-%d\n", item, lot); |
|||
m_item->setValue(item); |
|||
m_lot->setValue(lot); |
|||
} |
|||
|
|||
void OneDimensionalCodeLaserScanner::parsecode(code_cache_t* cache) { //
|
|||
//
|
|||
|
|||
/**
|
|||
* @brief |
|||
* 14:0 |
|||
* 100 XXXX XXXX XXX1 |
|||
* |
|||
* 解码思路 |
|||
* 1. 通过100标定起始位置 |
|||
* 2. 然后依据每一位长度为1.2mm计算出其他各个相对bit的坐标 |
|||
* |
|||
*/ |
|||
|
|||
// 1. 找到100,1对应的坐标
|
|||
int bit14startpos = -1; |
|||
int bit14endpos = -1; |
|||
|
|||
for (int32_t i = cache->pointnum; i > 0; i--) { |
|||
if (bit14endpos == -1) { |
|||
if (cache->codecache[i]) { |
|||
bit14endpos = i; |
|||
} |
|||
|
|||
} else if (bit14startpos == -1) { |
|||
if (!cache->codecache[i]) { |
|||
bit14startpos = i; |
|||
} |
|||
} else { |
|||
break; |
|||
} |
|||
} |
|||
|
|||
if (bit14startpos == -1 || bit14endpos == -1) { |
|||
ZLOGE(TAG, "find bit14 failed"); |
|||
m_errReg->setValue(kerr_findbit14fail); |
|||
return; |
|||
} |
|||
|
|||
int bit14len = bit14endpos - bit14startpos; |
|||
int bit14off = bit14len / 2 + bit14startpos; |
|||
int bit0off = bit14off - 14 * 1.2 * 10.0; |
|||
|
|||
if (bit0off < 0) { |
|||
ZLOGE(TAG, "find bit0 failed"); |
|||
m_errReg->setValue(kerr_findbit0fail); |
|||
} |
|||
//
|
|||
bool bits[15] = {0}; |
|||
for (int i = 0; i < 15; i++) { |
|||
bits[i] = cache->codecache[int32_t(bit0off + i * 1.2 * 10.0)]; |
|||
} |
|||
|
|||
int32_t code = 0; |
|||
for (int i = 0; i < 15; i++) { |
|||
code |= (bits[i] << i); |
|||
} |
|||
m_errReg->setValue(kerr_success); |
|||
m_codeReg->setValue(code); |
|||
printf("code:"); |
|||
for (int i = 0; i < 15; i++) { |
|||
printf("%d", bits[i]); |
|||
} |
|||
printf("\n"); |
|||
ZLOGI(TAG, "parse success,code:0x%0x", (uint32_t)code); |
|||
decode(code); |
|||
// return;
|
|||
} |
|||
|
|||
void OneDimensionalCodeLaserScanner::parseResult() { //
|
|||
m_codeReg->setValue(-1); |
|||
m_item->setValue(-1); |
|||
m_lot->setValue(-1); |
|||
|
|||
static code_cache_t rawcodecache = {0}; |
|||
memset(&rawcodecache, 0, sizeof(rawcodecache)); |
|||
|
|||
/**
|
|||
* @brief 初步分析数据 |
|||
*/ |
|||
int32_t len = m_endpos - m_startpos; |
|||
int32_t pointnum = compute_point_num(m_startpos, m_endpos); |
|||
|
|||
ZLOGI(TAG, "pointnum:%d", pointnum); |
|||
|
|||
if ((size_t)pointnum > sizeof(rawcodecache.codecache)) { |
|||
ZLOGE(TAG, "len too long"); |
|||
m_errReg->setVal(kerr_scanRangeTooLarge); |
|||
return; |
|||
} |
|||
|
|||
if (m_endpos <= m_cfg.codeendpos) { |
|||
ZLOGE(TAG, "stop too early"); |
|||
m_errReg->setVal(kerr_scanEndTooEarly); |
|||
return; |
|||
} |
|||
|
|||
if (m_startpos >= m_cfg.codestartpos) { |
|||
ZLOGE(TAG, "start too late"); |
|||
m_errReg->setVal(kerr_scanStartTooLate); |
|||
return; |
|||
} |
|||
|
|||
/**
|
|||
* @brief 将位置信息转变成,1,0的形式,方便解析数据 |
|||
* |
|||
* 1111110000111111111100001111000 |
|||
* |
|||
*/ |
|||
|
|||
int32_t sp = m_startpos; |
|||
int32_t ep = m_endpos; |
|||
|
|||
for (int i = 0; i < pointnum; i++) { |
|||
rawcodecache.codecache[i] = getPosLevel((int32_t)(sp + len / (pointnum * 1.0) * i)); |
|||
} |
|||
rawcodecache.startpos = sp; |
|||
rawcodecache.pointnum = pointnum; |
|||
rawcodecache.endpos = ep; |
|||
|
|||
dumpcodecache(&rawcodecache); |
|||
/**
|
|||
* @brief 由于扫描的范围要比编码的范围大,所以需要将多余的数据去掉 |
|||
* |
|||
*/ |
|||
{ |
|||
int32_t after_cut_code_nums = compute_point_num(m_cfg.codestartpos, m_cfg.codeendpos); |
|||
|
|||
float distance = (m_cfg.codestartpos - rawcodecache.startpos) / 51200.0 * 8.0; |
|||
int startpointoff = distance * 10; |
|||
|
|||
rawcodecache.startpos = m_cfg.codestartpos; |
|||
rawcodecache.pointnum = after_cut_code_nums; |
|||
rawcodecache.endpos = m_cfg.codeendpos; |
|||
memmove(rawcodecache.codecache, rawcodecache.codecache + startpointoff, after_cut_code_nums); |
|||
ZLOGI(TAG, "after_cut: code_nums:%d,cutoff:%d", after_cut_code_nums, startpointoff); |
|||
} |
|||
|
|||
dumpcodecache(&rawcodecache); |
|||
|
|||
/**
|
|||
* @brief 分析数据 |
|||
*/ |
|||
|
|||
parsecode(&rawcodecache); |
|||
} |
|||
void OneDimensionalCodeLaserScanner::onGpioIrq(ZGPIO* GPIO_Pin, ZGPIO::IrqTypeEvent_t irqevent) { //
|
|||
if (!m_workflag) { |
|||
return; |
|||
} |
|||
if (m_off >= 50) return; |
|||
m_posChache[m_off] = m_readder(); |
|||
m_off++; |
|||
} |
|||
@ -1,101 +0,0 @@ |
|||
#pragma once
|
|||
#include <stdint.h>
|
|||
#include <stdio.h>
|
|||
|
|||
#include "sdk/hal/zhal.hpp"
|
|||
#include "sdk\components\iflytop_can_slave_v1\iflytop_can_slave.hpp"
|
|||
|
|||
#define REG_CODE_SCANER_ACT_CTRL (0) // 扫码器控制
|
|||
#define REG_CODE_SCANER_ACT_CLEAR_EXCEPTION (1) // 清除异常
|
|||
|
|||
#define REG_CODE_SCANER_STAT_STATUS (5) // 设备状态
|
|||
#define REG_CODE_SCANER_STAT_ERROR (6) // 上次采集结果是否有误
|
|||
#define REG_CODE_SCANER_CODE (7) // 码存放的地方
|
|||
#define REG_CODE_SCANER_ITEM (8) // 码存放的地方
|
|||
#define REG_CODE_SCANER_LOT (9) // 码存放的地方
|
|||
|
|||
namespace iflytop { |
|||
using namespace std; |
|||
|
|||
#define POS_CACHE_SIZE 50
|
|||
|
|||
class OneDimensionalCodeLaserScanner : public ICPSListener { |
|||
public: |
|||
typedef struct { |
|||
bool codecache[500]; |
|||
int32_t pointnum; |
|||
int32_t startpos; |
|||
int32_t endpos; |
|||
} code_cache_t; |
|||
|
|||
typedef enum { |
|||
kidle, |
|||
kworking, |
|||
} code_scan_state_t; |
|||
|
|||
typedef enum { |
|||
kerr_success = 0, //
|
|||
kerr_scanRangeTooLarge = 1, //
|
|||
kerr_scanRangeTooSmall = 2, //
|
|||
kerr_scanStartTooLate = 3, //
|
|||
kerr_scanEndTooEarly = 4, //
|
|||
kerr_findbit14fail = 5, //
|
|||
kerr_findbit0fail = 6, //
|
|||
} error_type_t; |
|||
|
|||
typedef function<int32_t()> PosReadder_t; |
|||
|
|||
typedef struct { |
|||
Pin_t triggerPin; |
|||
PosReadder_t readder; |
|||
int32_t codestartpos; |
|||
int32_t codeendpos; |
|||
} cfg_t; |
|||
|
|||
private: |
|||
IflytopCanProtocolStackProcesser* m_protocolProcesser = NULL; |
|||
ICPSSlaveModule* m_slave = NULL; |
|||
int m_regStartOff = 0; |
|||
PosReadder_t m_readder; |
|||
|
|||
icps::Reg_t* m_statusReg = NULL; |
|||
icps::Reg_t* m_errReg = NULL; |
|||
icps::Reg_t* m_codeReg = NULL; |
|||
icps::Reg_t* m_item = NULL; |
|||
icps::Reg_t* m_lot = NULL; |
|||
|
|||
ZGPIO m_triggerGpio; |
|||
bool m_workflag = false; |
|||
|
|||
int32_t m_off = 0; |
|||
int32_t m_posChache[POS_CACHE_SIZE]; |
|||
int32_t m_endpos = 0; |
|||
int32_t m_startpos = 0; |
|||
bool m_idleLevel = true; |
|||
|
|||
cfg_t m_cfg; |
|||
|
|||
public: |
|||
OneDimensionalCodeLaserScanner(){}; |
|||
~OneDimensionalCodeLaserScanner(){}; |
|||
|
|||
void initialize(IflytopCanProtocolStackProcesser* protocolProcesser, int32_t regStartOff, cfg_t* cfg); |
|||
|
|||
virtual icps::error_t onHostRegisterWriteEvent(icps::WriteEvent* event); |
|||
|
|||
void startScan(); |
|||
void stopScan(); |
|||
void parseResult(); |
|||
|
|||
private: |
|||
void parsecode(code_cache_t* cache); |
|||
void decode(uint32_t rawcode); |
|||
|
|||
int32_t compute_point_num(int32_t startpos, int32_t endpos); |
|||
|
|||
void dumpcodecache(code_cache_t* cache); |
|||
|
|||
void onGpioIrq(ZGPIO* GPIO_Pin, ZGPIO::IrqTypeEvent_t irqevent); |
|||
bool getPosLevel(int pos); |
|||
}; |
|||
} // namespace iflytop
|
|||
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