RCK Ruđera Boškovića - mobilna / uslužna robotika

#include <SPI.h>

/** Custom test. The function will be called many times during the test, till You issue "x" menu command.
*/
void RobotLine::loop() {
	static SPIClass* vspi; 
	#define SPI_CLOCK 1000000 // 1 MHz

	static uint16_t msg = 1;

	if (setup()){
		vspi = new SPIClass(VSPI);
		vspi->begin();
		pinMode(vspi->pinSS(), OUTPUT); //VSPI SS
	}

	vspi->beginTransaction(SPISettings(SPI_CLOCK, MSBFIRST, SPI_MODE0));
	digitalWrite(vspi->pinSS(), LOW); //pull SS slow to prep other end for transfer
	vspi->transfer(msg++);
	digitalWrite(vspi->pinSS(), HIGH); //pull ss high to signify end of data transfer
	vspi->endTransaction();

	delayMs(100);
}

#include <ESP32SPISlave.h>

/** Custom test. The function will be called many times during the test, till You issue "x" menu-command.
*/
void RobotMaze::loop() {
  static ESP32SPISlave slave;

  static constexpr uint32_t BUFFER_SIZE {32};
  static uint8_t txBuffer[BUFFER_SIZE];
  static uint8_t rxBuffer[BUFFER_SIZE];

  if (setup()){
    slave.setDataMode(SPI_MODE0);
    slave.begin();
  }

  // block until the transaction comes from master
    slave.wait(rxBuffer, txBuffer, BUFFER_SIZE);

    // if transaction has completed from master,
    // available() returns size of results of transaction,
    // and buffer is automatically updated
    while (slave.available()) {
        // show received data
         print("Received: %i\n\r", rxBuffer[0]);
         slave.pop();
    }
}