sw/airborne/csc/csc_me4_link.c

@@ -0,0 +1,75 @@
+#include "csc_me4_link.h"
+
+#include "LPC21xx.h"
+#include "armVIC.h"
+#include "led.h"
+
+
+struct CscMe4Link csc_me4_link;
+
+void SPI1_ISR(void) __attribute__((naked));
+
+
+
+#define PINSEL1_SCK  (1<<2)
+#define PINSEL1_MISO (1<<4)
+#define PINSEL1_MOSI (1<<6)
+#define PINSEL1_SSEL (1<<8)
+
+#define S1SPCR_CPHA  (0<<3)  /* sample on first edge */
+#define S1SPCR_CPOL  (0<<4)  /* clock idles low      */
+#define S1SPCR_MSTR  (0<<5)  /* slave mode           */
+#define S1SPCR_LSBF  (0<<6)  /* lsb first            */
+#define S1SPCR_SPIE  (1<<7)  /* interrupt enable     */
+
+#define S1SPCR_VAL (S1SPCR_CPHA|S1SPCR_CPOL|S1SPCR_MSTR|S1SPCR_LSBF|S1SPCR_SPIE) 
+#define S1SPCCR_VAL 0x64
+
+
+/* S1SPSR bits */
+#define ROVR 5
+#define WCOL 6
+#define SPIF 7
+
+void csc_me4_link_init(void) {
+  /* setup pin mux for SPI1 (SCK, MISO, MOSI, SS) */
+  PINSEL1 |= PINSEL1_SCK | PINSEL1_MISO | PINSEL1_MOSI | PINSEL1_SSEL;
+  /* configure SPI1 */
+  S0SPCR  = S1SPCR_VAL;
+  S1SPCCR = S1SPCCR_VAL;
+  /* initialize interrupt vector */
+  VICIntSelect &= ~VIC_BIT(VIC_SPI1);                       // SPI1 selected as IRQ
+  VICIntEnable = VIC_BIT(VIC_SPI1);                         // SPI1 interrupt enabled
+  _VIC_CNTL(CSC_ME4_LINK_VIC_SLOT) = VIC_ENABLE | VIC_SPI0;
+  _VIC_ADDR(CSC_ME4_LINK_VIC_SLOT) = (uint32_t)SPI1_ISR;    // address of the ISR
+}
+
+
+
+
+void csc_me4_link_periodic(void) {
+
+}
+
+
+void SPI1_ISR(void) {
+  ISR_ENTRY();
+
+  static uint8_t cnt = 0;
+  LED_TOGGLE(2);
+
+  /* transfer complete  */ 
+  if ( bit_is_set(S1SPSR, SPIF)) { 
+    uint8_t foo __attribute__ ((unused)) = S1SPDR;
+    S1SPDR = cnt;
+    cnt++;
+  }
+  
+  /* clear_it */
+  S1SPINT = 1<<SPI1IF;
+
+
+ VICVectAddr = 0x00000000; /* clear this interrupt from the VIC */
+ ISR_EXIT();
+}
+

sw/airborne/csc/csc_me4_link.h

@@ -0,0 +1,18 @@
+#ifndef CSC_ME4_LINK_H
+#define CSC_ME4_LINK_H
+
+#include "std.h"
+
+struct CscMe4Link {
+  bool_t    timeout;
+  uint32_t  last_msg;
+};
+
+extern struct CscMe4Link csc_me4_link;
+
+extern void csc_me4_link_init(void);
+extern void csc_me4_link_periodic(void);
+
+
+
+#endif /* CSC_ME4_LINK_H */