ardupilot/libraries/AP_HAL_Linux/SPIDevice.cpp

/*
 * Copyright (C) 2015  Intel Corporation. All rights reserved.
 *
 * This file is free software: you can redistribute it and/or modify it
 * under the terms of the GNU General Public License as published by the
 * Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This file is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
#include "SPIDevice.h"

#include <assert.h>
#include <errno.h>
#include <fcntl.h>
#include <linux/spi/spidev.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <unistd.h>
#include <vector>

#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/OwnPtr.h>

#include "GPIO.h"
#include "PollerThread.h"
#include "Scheduler.h"
#include "Semaphores.h"
#include "Thread.h"
#include "Util.h"

#define DEBUG 0

extern const AP_HAL::HAL& hal;

namespace Linux {

#define MHZ (1000U*1000U)
#define KHZ (1000U)
#define SPI_CS_KERNEL -1

struct SPIDesc {
    SPIDesc(const char *name_, uint16_t bus_, uint16_t subdev_, uint8_t mode_,
            uint8_t bits_per_word_, int16_t cs_pin_, uint32_t lowspeed_,
            uint32_t highspeed_)
        : name(name_), bus(bus_), subdev(subdev_), mode(mode_)
        , bits_per_word(bits_per_word_), cs_pin(cs_pin_), lowspeed(lowspeed_)
        , highspeed(highspeed_)
    {
    }

    const char *name;
    uint16_t bus;
    uint16_t subdev;
    uint8_t mode;
    uint8_t bits_per_word;
    int16_t cs_pin;
    uint32_t lowspeed;
    uint32_t highspeed;
};


#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
SPIDesc SPIDeviceManager::_device[] = {
    // different SPI tables per board subtype
    SPIDesc("lsm9ds0_am", 1, 0, SPI_MODE_3, 8, BBB_P9_17,  10*MHZ,10*MHZ),
    SPIDesc("lsm9ds0_g",  1, 0, SPI_MODE_3, 8, BBB_P8_9,   10*MHZ,10*MHZ),
    SPIDesc("ms5611",     2, 0, SPI_MODE_3, 8, BBB_P9_42,  10*MHZ,10*MHZ),
    SPIDesc("mpu6000",    2, 0, SPI_MODE_3, 8, BBB_P9_28,  500*1000, 20*MHZ),
    SPIDesc("mpu9250",    2, 0, SPI_MODE_3, 8, BBB_P9_23,  1*MHZ, 11*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
SPIDesc SPIDeviceManager::_device[] = {
    SPIDesc("led",        0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL,  6*MHZ, 6*MHZ),
    SPIDesc("icm20602",   1, 2, SPI_MODE_0, 8, SPI_CS_KERNEL,  4*MHZ, 10*MHZ),
    SPIDesc("mmc5983",    1, 1, SPI_MODE_0, 8, SPI_CS_KERNEL,  4*MHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
SPIDesc SPIDeviceManager::_device[] = {
    SPIDesc("mpu9250",    0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL,  1*MHZ, 11*MHZ),
    SPIDesc("ublox",      0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL,  5*MHZ, 5*MHZ),
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
    SPIDesc("lsm9ds1_m",  0, 2, SPI_MODE_0, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
#endif
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
      CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
SPIDesc SPIDeviceManager::_device[] = {
    SPIDesc("mpu9250",    0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL,  1*MHZ, 11*MHZ),
    SPIDesc("ms5611",     0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL,  1*KHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
SPIDesc SPIDeviceManager::_device[] = {
    SPIDesc("mpu9250",    0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL,  1*MHZ, 11*MHZ),
    SPIDesc("ms5611",     0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL,  10*MHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
SPIDesc SPIDeviceManager::_device[] = {
    SPIDesc("mpu9250",    2, 0, SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 11*MHZ),
    SPIDesc("mpu9250ext", 1, 0, SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 11*MHZ),
    SPIDesc("ms5611",     2, 1, SPI_MODE_3, 8, SPI_CS_KERNEL,  10*MHZ,10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
SPIDesc SPIDeviceManager::_device[] = {
    SPIDesc("mpu9250",    2, 1, SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 11*MHZ),
    SPIDesc("bmp280",     2, 0, SPI_MODE_0, 8, SPI_CS_KERNEL,  10*MHZ,10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
SPIDesc SPIDeviceManager::_device[] = {
    /* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
    SPIDesc("mpu9250",    1, 0,  SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
    SPIDesc("ms5611",     1, 1,  SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
SPIDesc SPIDeviceManager::_device[] = {
    SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 11*MHZ),
    SPIDesc("ublox",   0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL, 5*MHZ, 5*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
SPIDesc SPIDeviceManager::_device[] = {
    SPIDesc("mpu9250", 0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL,  1*MHZ, 11*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
SPIDesc SPIDeviceManager::_device[] = {
    SPIDesc("bebop", 1, 0, SPI_MODE_0, 8, SPI_CS_KERNEL,  320*KHZ, 320*KHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
SPIDesc SPIDeviceManager::_device[] = {
    SPIDesc("aeroio", 1, 1, SPI_MODE_0, 8, SPI_CS_KERNEL,  10*MHZ, 10*MHZ),
    SPIDesc("bmi160", 3, 0, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
SPIDesc SPIDeviceManager::_device[] = {
    SPIDesc("mpu60x0",    0, 1, SPI_MODE_0, 8, SPI_CS_KERNEL,  1*MHZ, 11*MHZ),
    SPIDesc("mpu60x0ext",    0, 2, SPI_MODE_0, 8, SPI_CS_KERNEL,  1*MHZ, 11*MHZ),
    SPIDesc("ms5611",     0, 0, SPI_MODE_0, 8, SPI_CS_KERNEL,  10*MHZ,10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
SPIDesc SPIDeviceManager::_device[] = {
    SPIDesc("rst_g",    0, 0,  SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
    SPIDesc("lis3mdl",  0, 1,  SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
    SPIDesc("rst_a",    0, 2,  SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
    SPIDesc("ms5611",   0, 3,  SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 && \
    defined (HAL_BOARD_SUBTYPE_LINUX_OBAL_V1_MPU_9250_SPI)
SPIDesc SPIDeviceManager::_device[] = {
    SPIDesc("mpu9250",    0, 0, SPI_MODE_3, 8, SPI_CS_KERNEL,  1*MHZ, 10*MHZ),
};
#else
// empty device table
SPIDesc SPIDeviceManager::_device[] = {
    SPIDesc("**dummy**",    0, 0, SPI_MODE_3, 0, 0,  0 * MHZ, 0 * MHZ),
};
#define LINUX_SPI_DEVICE_NUM_DEVICES 1
#endif

#ifndef LINUX_SPI_DEVICE_NUM_DEVICES
#define LINUX_SPI_DEVICE_NUM_DEVICES ARRAY_SIZE(SPIDeviceManager::_device)
#endif

#define MAX_SUBDEVS 6

const uint8_t SPIDeviceManager::_n_device_desc = LINUX_SPI_DEVICE_NUM_DEVICES;


/* Private struct to maintain for each bus */
class SPIBus : public TimerPollable::WrapperCb {
public:
    SPIBus(uint16_t bus_);
    ~SPIBus();

    /*
     * TimerPollable::WrapperCb methods to take
     * and release semaphore while calling the callback
     */
    void start_cb() override;
    void end_cb() override;

    void open(uint16_t subdev);

    PollerThread thread;
    Semaphore sem;
    int fd[MAX_SUBDEVS];
    uint16_t bus;
    int16_t last_mode = -1;
    uint8_t ref;
};

SPIBus::SPIBus(uint16_t bus_)
    : bus(bus_)
{
    memset(fd, -1, sizeof(fd));
}

SPIBus::~SPIBus()
{
    for (unsigned i = 0; i < MAX_SUBDEVS; i++) {
        ::close(fd[i]);
    }
}

void SPIBus::start_cb()
{
    sem.take_blocking();
}

void SPIBus::end_cb()
{
    sem.give();
}


void SPIBus::open(uint16_t subdev)
{
    /* Already open by another device */
    if (fd[subdev] >= 0) {
        return;
    }

    char path[32];
    snprintf(path, sizeof(path), "/dev/spidev%u.%u", bus, subdev);
    fd[subdev] = ::open(path, O_RDWR | O_CLOEXEC);
    if (fd[subdev] < 0) {
        AP_HAL::panic("SPI: unable to open SPI bus %s: %s",
                      path, strerror(errno));
    }
}


SPIDevice::SPIDevice(SPIBus &bus, SPIDesc &device_desc)
    : _bus(bus)
    , _desc(device_desc)
{
    set_device_bus(_bus.bus);
    set_device_address(_desc.subdev);
    _speed = _desc.highspeed;

    if (_desc.cs_pin != SPI_CS_KERNEL) {
        _cs = hal.gpio->channel(_desc.cs_pin);
        if (!_cs) {
            AP_HAL::panic("Unable to instantiate cs pin");
        }

        _cs->mode(HAL_GPIO_OUTPUT);

        // do not hold the SPI bus initially
        _cs_release();
    }
}

SPIDevice::~SPIDevice()
{
    // Unregister itself from the SPIDeviceManager
    SPIDeviceManager::from(hal.spi)->_unregister(_bus);
}

bool SPIDevice::set_speed(AP_HAL::Device::Speed speed)
{
    switch (speed) {
    case AP_HAL::Device::SPEED_HIGH:
        _speed = _desc.highspeed;
        break;
    case AP_HAL::Device::SPEED_LOW:
        _speed = _desc.lowspeed;
        break;
    }

    return true;
}

bool SPIDevice::transfer(const uint8_t *send, uint32_t send_len,
                         uint8_t *recv, uint32_t recv_len)
{
    struct spi_ioc_transfer msgs[2] = { };
    unsigned nmsgs = 0;
    int fd = _bus.fd[_desc.subdev];

    if (send && send_len != 0) {
        msgs[nmsgs].tx_buf = (uint64_t) send;
        msgs[nmsgs].rx_buf = 0;
        msgs[nmsgs].len = send_len;
        msgs[nmsgs].speed_hz = _speed;
        msgs[nmsgs].delay_usecs = 0;
        msgs[nmsgs].bits_per_word = _desc.bits_per_word;
        msgs[nmsgs].cs_change = 0;
        nmsgs++;
    }

    if (recv && recv_len != 0) {
        msgs[nmsgs].tx_buf = 0;
        msgs[nmsgs].rx_buf = (uint64_t) recv;
        msgs[nmsgs].len = recv_len;
        msgs[nmsgs].speed_hz = _speed;
        msgs[nmsgs].delay_usecs = 0;
        msgs[nmsgs].bits_per_word = _desc.bits_per_word;
        msgs[nmsgs].cs_change = 0;
        nmsgs++;
    }

    if (!nmsgs) {
        return false;
    }

#if DEBUG
    if (_desc.mode == _bus.last_mode) {
        /*
          the mode in the kernel is not tied to the file descriptor,
          so there is a chance some other process has changed it since
          we last used the bus. We want to report when this happens so
          the user has a chance of figuring out when there is
          conflicted use of the SPI bus. Unfortunately this costs us
          an extra syscall per transfer.
         */
        uint8_t current_mode;
        if (ioctl(fd, SPI_IOC_RD_MODE, &current_mode) < 0) {
            hal.console->printf("SPIDevice: error on getting mode fd=%d (%s)\n",
                                fd, strerror(errno));
            _bus.last_mode = -1;
        } else if (current_mode != _bus.last_mode) {
            hal.console->printf("SPIDevice: bus mode conflict fd=%d mode=%u/%u\n",
                                fd, (unsigned)_bus.last_mode, (unsigned)current_mode);
            _bus.last_mode = -1;
        }
    }
#endif

    int r;
    if (_desc.mode != _bus.last_mode) {
        r = ioctl(fd, SPI_IOC_WR_MODE, &_desc.mode);
        if (r < 0) {
            hal.console->printf("SPIDevice: error on setting mode fd=%d (%s)\n",
                                fd, strerror(errno));
            return false;
        }
        _bus.last_mode = _desc.mode;
    }

    _cs_assert();
    r = ioctl(fd, SPI_IOC_MESSAGE(nmsgs), &msgs);
    _cs_release();

    if (r == -1) {
        hal.console->printf("SPIDevice: error transferring data fd=%d (%s)\n",
                            fd, strerror(errno));
        return false;
    }

    return true;
}

bool SPIDevice::transfer_fullduplex(const uint8_t *send, uint8_t *recv,
                                    uint32_t len)
{
    struct spi_ioc_transfer msgs[1] = { };
    int fd = _bus.fd[_desc.subdev];

    if (!send || !recv || len == 0) {
        return false;
    }

    msgs[0].tx_buf = (uint64_t) send;
    msgs[0].rx_buf = (uint64_t) recv;
    msgs[0].len = len;
    msgs[0].speed_hz = _speed;
    msgs[0].delay_usecs = 0;
    msgs[0].bits_per_word = _desc.bits_per_word;
    msgs[0].cs_change = 0;

    int r = ioctl(fd, SPI_IOC_WR_MODE, &_desc.mode);
    if (r < 0) {
        hal.console->printf("SPIDevice: error on setting mode fd=%d (%s)\n",
                            fd, strerror(errno));
        return false;
    }

    _cs_assert();
    r = ioctl(fd, SPI_IOC_MESSAGE(1), &msgs);
    _cs_release();

    if (r == -1) {
        hal.console->printf("SPIDevice: error transferring data fd=%d (%s)\n",
                            fd, strerror(errno));
        return false;
    }

    return true;
}


void SPIDevice::_cs_assert()
{
    if (_desc.cs_pin == SPI_CS_KERNEL) {
        return;
    }

    _cs->write(0);
}

void SPIDevice::_cs_release()
{
    if (_desc.cs_pin == SPI_CS_KERNEL) {
        return;
    }

    _cs->write(1);
}

AP_HAL::Semaphore *SPIDevice::get_semaphore()
{
    return &_bus.sem;
}

AP_HAL::Device::PeriodicHandle SPIDevice::register_periodic_callback(
    uint32_t period_usec, AP_HAL::Device::PeriodicCb cb)
{
    TimerPollable *p = _bus.thread.add_timer(cb, &_bus, period_usec);
    if (!p) {
        AP_HAL::panic("Could not create periodic callback");
    }

    if (!_bus.thread.is_started()) {
        char name[16];
        snprintf(name, sizeof(name), "ap-spi-%u", _bus.bus);

        _bus.thread.set_stack_size(AP_LINUX_SENSORS_STACK_SIZE);
        _bus.thread.start(name, AP_LINUX_SENSORS_SCHED_POLICY,
                          AP_LINUX_SENSORS_SCHED_PRIO);
    }

    return static_cast<AP_HAL::Device::PeriodicHandle>(p);
}

bool SPIDevice::adjust_periodic_callback(
    AP_HAL::Device::PeriodicHandle h, uint32_t period_usec)
{
    return _bus.thread.adjust_timer(static_cast<TimerPollable*>(h), period_usec);
}


AP_HAL::OwnPtr<AP_HAL::SPIDevice>
SPIDeviceManager::get_device(const char *name)
{
    SPIDesc *desc = nullptr;

    /* Find the bus description in the table */
    for (uint8_t i = 0; i < _n_device_desc; i++) {
        if (!strcmp(_device[i].name, name)) {
            desc = &_device[i];
            break;
        }
    }

    if (!desc) {
        return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(nullptr);
    }

    /* Find if bus already exists */
    for (uint8_t i = 0, n = _buses.size(); i < n; i++) {
        if (_buses[i]->bus == desc->bus) {
            return _create_device(*_buses[i], *desc);
        }
    }

    /* Bus not found for this device, create a new one */
    AP_HAL::OwnPtr<SPIBus> b{new SPIBus(desc->bus)};
    if (!b) {
        return nullptr;
    }

    auto dev = _create_device(*b, *desc);
    if (!dev) {
        return nullptr;
    }

    _buses.push_back(b.leak());

    return dev;
}

uint8_t SPIDeviceManager::get_count()
{
   return _n_device_desc;
}

const char* SPIDeviceManager::get_device_name(uint8_t idx)
{
    return _device[idx].name;
}

/* Create a new device increasing the bus reference */
AP_HAL::OwnPtr<AP_HAL::SPIDevice>
SPIDeviceManager::_create_device(SPIBus &b, SPIDesc &desc) const
{
    // Ensure bus is open
    b.open(desc.subdev);

    auto dev = AP_HAL::OwnPtr<AP_HAL::SPIDevice>(new SPIDevice(b, desc));
    if (!dev) {
        return nullptr;
    }

    b.ref++;

    return dev;
}

void SPIDeviceManager::_unregister(SPIBus &b)
{
    if (b.ref == 0 || --b.ref > 0) {
        return;
    }

    for (auto it = _buses.begin(); it != _buses.end(); it++) {
        if ((*it)->bus == b.bus) {
            _buses.erase(it);
            delete &b;
            break;
        }
    }
}

void SPIDeviceManager::teardown()
{
    for (auto it = _buses.begin(); it != _buses.end(); it++) {
        /* Try to stop thread - it may not even be started yet */
        (*it)->thread.stop();
    }

    for (auto it = _buses.begin(); it != _buses.end(); it++) {
        /* Try to join thread - failing is normal if thread was not started */
        (*it)->thread.join();
    }
}

}