Merge branch 'spi_2_bus' of git://github.com/owennewo/Arduino-FOC into owennewo-spi_2_bus

Author: askuric

examples/utils/sensor_test/magnetic_sensors/magnetic_sensor_spi_alt_example/magnetic_sensor_spi_alt_example.ino

@@ -0,0 +1,27 @@
+#include <SimpleFOC.h>
+
+// MagneticSensorSPI(int cs, float _cpr, int _angle_register)
+// config           - SPI config
+//  cs              - SPI chip select pin 
+MagneticSensorSPI sensor = MagneticSensorSPI(AS5147_SPI, PA15);
+
+// these are valid pins (mosi, miso, sclk) for 2nd SPI bus on storm32 board (stm32f107rc)
+SPIClass SPI_2(PB15, PB14, PB13);
+
+void setup() {
+  // monitoring port
+  Serial.begin(115200);
+
+  // initialise magnetic sensor hardware
+  sensor.init(&SPI_2);
+
+  Serial.println("Sensor ready");
+  _delay(1000);
+}
+
+void loop() {
+  // display the angle and the angular velocity to the terminal
+  Serial.print(sensor.getAngle());
+  Serial.print("\t");
+  Serial.println(sensor.getVelocity());
+}

src/sensors/MagneticSensorSPI.cpp

@@ -59,19 +59,22 @@ MagneticSensorSPI::MagneticSensorSPI(MagneticSensorSPIConfig_s config, int cs){
   data_start_bit = config.data_start_bit; // for backwards compatibilty
 }
 
-void MagneticSensorSPI::init(){
+void MagneticSensorSPI::init(SPIClass* _spi){
+
+  spi = _spi;
+
 	// 1MHz clock (AMS should be able to accept up to 10MHz)
 	settings = SPISettings(clock_speed, MSBFIRST, spi_mode);
 
 	//setup pins
 	pinMode(chip_select_pin, OUTPUT);
 
 	//SPI has an internal SPI-device counter, it is possible to call "begin()" from different devices
-	SPI.begin();
+	spi->begin();
 #ifndef ESP_H // if not ESP32 board
-	SPI.setBitOrder(MSBFIRST); // Set the SPI_1 bit order
-	SPI.setDataMode(spi_mode) ;
-	SPI.setClockDivider(SPI_CLOCK_DIV8);
+	spi->setBitOrder(MSBFIRST); // Set the SPI_1 bit order
+	spi->setDataMode(spi_mode) ;
+	spi->setClockDivider(SPI_CLOCK_DIV8);
 #endif
 
 	digitalWrite(chip_select_pin, HIGH);
@@ -203,13 +206,13 @@ word MagneticSensorSPI::read(word angle_register){
 
 #if !defined(_STM32_DEF_) // if not stm chips
   //SPI - begin transaction
-  SPI.beginTransaction(settings);
+  spi->beginTransaction(settings);
 #endif
 
   //Send the command
   digitalWrite(chip_select_pin, LOW);
   digitalWrite(chip_select_pin, LOW);
-  SPI.transfer16(command);
+  spi->transfer16(command);
   digitalWrite(chip_select_pin,HIGH);
   digitalWrite(chip_select_pin,HIGH);
 
@@ -222,13 +225,13 @@ word MagneticSensorSPI::read(word angle_register){
   //Now read the response
   digitalWrite(chip_select_pin, LOW);
   digitalWrite(chip_select_pin, LOW);
-  word register_value = SPI.transfer16(0x00);
+  word register_value = spi->transfer16(0x00);
   digitalWrite(chip_select_pin, HIGH);
   digitalWrite(chip_select_pin,HIGH);
 
 #if !defined(_STM32_DEF_) // if not stm chips
   //SPI - end transaction
-  SPI.endTransaction();
+  spi->endTransaction();
 #endif
 
   register_value = register_value >> (1 + data_start_bit - bit_resolution);  //this should shift data to the rightmost bits of the word
@@ -243,5 +246,5 @@ word MagneticSensorSPI::read(word angle_register){
  * SPI has an internal SPI-device counter, for each init()-call the close() function must be called exactly 1 time
  */
 void MagneticSensorSPI::close(){
-	SPI.end();
+	spi->end();
 }

src/sensors/MagneticSensorSPI.h

@@ -38,7 +38,7 @@ class MagneticSensorSPI: public Sensor{
     MagneticSensorSPI(MagneticSensorSPIConfig_s config, int cs);
 
     /** sensor initialise pins */
-    void init();
+    void init(SPIClass* _spi = &SPI);
 
     // implementation of abstract functions of the Sensor class
     /** get current angle (rad) */
@@ -103,6 +103,7 @@ class MagneticSensorSPI: public Sensor{
     int command_rw_bit; //!< the bit where read/write flag is stored in command
     int data_start_bit; //!< the the position of first bit
 
+    SPIClass* spi;
 };