Quadrotor

/*

 * Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st>

 * SPI Master library for arduino.

 *

 * This file is free software; you can redistribute it and/or modify

 * it under the terms of either the GNU General Public License version 2

 * or the GNU Lesser General Public License version 2.1, both as

 * published by the Free Software Foundation.

 */

#ifndef _SPI_H_INCLUDED

#define _SPI_H_INCLUDED

#include <stdio.h>

#include <Arduino.h>

#include <avr/pgmspace.h>

#define SPI_CLOCK_DIV4 0x00

#define SPI_CLOCK_DIV16 0x01

#define SPI_CLOCK_DIV64 0x02

#define SPI_CLOCK_DIV128 0x03

#define SPI_CLOCK_DIV2 0x04

#define SPI_CLOCK_DIV8 0x05

#define SPI_CLOCK_DIV32 0x06

//#define SPI_CLOCK_DIV64 0x07

#define SPI_MODE0 0x00

#define SPI_MODE1 0x04

#define SPI_MODE2 0x08

#define SPI_MODE3 0x0C

#define SPI_MODE_MASK 0x0C  // CPOL = bit 3, CPHA = bit 2 on SPCR

#define SPI_CLOCK_MASK 0x03  // SPR1 = bit 1, SPR0 = bit 0 on SPCR

#define SPI_2XCLOCK_MASK 0x01  // SPI2X = bit 0 on SPSR

class SPIClass {

public:

  inline static byte transfer(byte _data);

  // SPI Configuration methods

  inline static void attachInterrupt();

  inline static void detachInterrupt(); // Default

  static void begin(); // Default

  static void end();

  static void setBitOrder(uint8_t);

  static void setDataMode(uint8_t);

  static void setClockDivider(uint8_t);

};

extern SPIClass SPI;

byte SPIClass::transfer(byte _data) {

  SPDR = _data;

  while (!(SPSR & _BV(SPIF)))

    ;

  return SPDR;

}

void SPIClass::attachInterrupt() {

  SPCR |= _BV(SPIE);

}

void SPIClass::detachInterrupt() {

  SPCR &= ~_BV(SPIE);

}

#endif