RobotHardware-UESTC/Hardware/银星机器人底盘/PiRobot-YH_Firmware v1.1/STM32/BSPLIB/spi.c

#ifdef __cplusplus
extern "C"
{
#endif

#include "spi.h"
#include "nvic.h"

#define GPIO_SPI1 GPIOA
#define RCC_SPI1 RCC_APB2Periph_GPIOA
#define SPI1_NSS GPIO_Pin_4
#define SPI1_SCK GPIO_Pin_5
#define SPI1_MISO GPIO_Pin_6
#define SPI1_MOSI GPIO_Pin_7

#define GPIO_SPI2 GPIOB
#define RCC_SPI2 RCC_APB2Periph_GPIOB
#define SPI2_NSS GPIO_Pin_12
#define SPI2_SCK GPIO_Pin_13
#define SPI2_MISO GPIO_Pin_14
#define SPI2_MOSI GPIO_Pin_15

void PB_SPI_Init(uint8_t SPI_Channel, unsigned char GPIO_AF) // SPI interface initialization, input parameter SPI1 SPI2
{
    SPI_TypeDef *SPIx;
    SPI_InitTypeDef SPI_InitStructure;
    GPIO_InitTypeDef GPIO_InitStructure; // initialize SPI structure

    SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex; // SPI设置为两线全双工
    SPI_InitStructure.SPI_Mode = SPI_Mode_Master;                      // config SPI working on master mode
    SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;                  // SPI发送接收为8位数据帧结构
    SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;                         // 串行时钟在不操作时，时钟为低电平
    SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;                       // 第一个时钟沿开始采集数据
    SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;                          // NSS有软件(使用SSI为)管理
    SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8; // SPI波特率预分频值为8
    SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;                 // data start transmiss at MSB
    SPI_InitStructure.SPI_CRCPolynomial = 7;                           // CRC值计算的多项式

    if (SPI_Channel == 1)
    {
        SPIx = SPI1;
    }
    else if (SPI_Channel == 2)
    {
        SPIx = SPI2;
    }
    else if (SPI_Channel == 3)
    {
        SPIx = SPI3;
    }
    else
    {
        return;
    }

    if (SPIx == SPI1)
    {
        RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);
        if (GPIO_AF == 0)
        {
            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
            GPIO_InitStructure.GPIO_Pin = SPI1_MISO | SPI1_MOSI | SPI1_SCK;
            GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // Multiplexing push-pull output
            GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
            GPIO_Init(GPIO_SPI1, &GPIO_InitStructure);
            GPIO_SetBits(GPIO_SPI1, SPI1_MISO | SPI1_MOSI | SPI1_SCK);
        }
        else if (GPIO_AF == 1)
        {
            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB, ENABLE);
            GPIO_PinRemapConfig(GPIO_Remap_SPI1, ENABLE); // Pin Multiplexing to spi1
            GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5;
            GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // Multiplexing push-pull output
            GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
            GPIO_Init(GPIO_SPI1, &GPIO_InitStructure);
            GPIO_SetBits(GPIO_SPI1, GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5);
        }
    }
    else if (SPIx == SPI2)
    {
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
        if (GPIO_AF == 0)
        {
            RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);
            GPIO_InitStructure.GPIO_Pin = SPI2_MISO | SPI2_MOSI | SPI2_SCK;
            GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // Multiplexing push-pull output
            GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
            GPIO_Init(GPIO_SPI2, &GPIO_InitStructure);
            GPIO_SetBits(GPIO_SPI2, SPI2_MISO | SPI2_MOSI | SPI2_SCK);
        }
        else if (GPIO_AF == 1)
        {
        }
    }
    SPI_Init(SPIx, &SPI_InitStructure);
    SPI_Cmd(SPIx, ENABLE);
    PB_SPI_ReadWriteByte(SPI_Channel, 0xff); // start transmission
}

uint8_t PB_SPI_ReadWriteByte(uint8_t SPI_Channel, uint8_t TxData)
{
    SPI_TypeDef *SPIx;

    if (SPI_Channel == 1)
    {
        SPIx = SPI1;
    }
    else if (SPI_Channel == 2)
    {
        SPIx = SPI2;
    }
    else if (SPI_Channel == 3)
    {
        SPIx = SPI3;
    }
    else
    {
        return 0;
    }

    while (SPI_I2S_GetFlagStatus(SPIx, SPI_I2S_FLAG_TXE) == RESET)
        ;                           // flag of send cache is not reset
    SPI_I2S_SendData(SPIx, TxData); // send data
    while (SPI_I2S_GetFlagStatus(SPIx, SPI_I2S_FLAG_RXNE) == RESET)
        ;                             // flag of receivecache is not reset
    return SPI_I2S_ReceiveData(SPIx); // receive data
}

#ifdef __cplusplus
}
#endif