Firmware Version 1.0.4

firmware/MotionControllerRP/src/hardware/spi_interface.h

@@ -0,0 +1,37 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
+#pragma once
+
+#include "hardware/spi.h"
+#include "hardware/dma.h"
+#include "hardware/gpio.h"
+
+//*** CLASS *****************************************************************************
+
+class SpiDma {
+  public:
+      SpiDma(spi_inst_t* spi, uint sck, uint mosi, uint miso, uint cs);
+
+      void begin(uint32_t baudrate_hz);
+      bool is_busy() const;
+      void transfer(const void* tx_buf, void* rx_buf, size_t bytes);
+      void wait_for_finish();
+      void abort();
+
+  private:
+      spi_inst_t* spi;
+      uint sck, mosi, miso, cs;
+
+      int dma_tx;
+      int dma_rx;
+      dma_channel_config cfg_tx;
+      dma_channel_config cfg_rx;
+};
+
+
+