Platform specific code for a robot using stepper motors.

platform/stepper-robot/cc2420-spi.c

@@ -0,0 +1,23 @@
+#include <AT91SAM7S64.h>
+#include <net/uip.h>
+#include <dev/cc2420.h>
+#include <sam7s-spi.h>
+
+#define SPI_SPEED 1000000  /* 1MHz clock*/
+#define SPI_DLYBCT 1
+#define SPI_DLYBS 20
+
+
+#ifndef BV
+#define BV(b) (1<<(b))
+#endif
+
+void
+__cc2420_arch_init(void)
+{
+  spi_init();
+
+  AT91C_SPI_CSR[CC2420_DEFAULT_DEV] =
+    ((SPI_DLYBCT<<24) | (SPI_DLYBS<<16) | (((MCK+SPI_SPEED/2)/SPI_SPEED)<<8)
+		      | AT91C_SPI_NCPHA | AT91C_SPI_BITS_8 | AT91C_SPI_CSAAT);
+}