ardupilot/libraries/AP_HAL_AVR/SPIDeviceManager_APM2.cpp

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#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
#include <avr/io.h>
#include <AP_HAL.h>
#include "SPIDriver.h"
#include "SPIDevices.h"
#include "utility/pins_arduino_mega.h"
using namespace AP_HAL_AVR;
extern const AP_HAL::HAL& hal;
void APM2SPIDeviceManager::init(void* machtnichts) {
/* Note that the order of the init() of the MS5611 and MPU6k is
* critical for the APM2. If you initialise in the wrong order
* then the MS5611 doesn't initialise itself correctly. This
* indicates an electrical fault in the APM2 which needs to be
* investigated. Meanwhile, initialising the MPU6k CS pin before
* the MS5611 CS pin works around the problem
*/
#define SPI0_SPCR_8MHz 0
#define SPI0_SPSR_8MHz _BV(SPI2X)
#define SPI0_SPCR_500kHz _BV(SPR1)
#define SPI0_SPSR_500kHz _BV(SPI2X)
/* mpu6k cs is on Arduino pin 53, PORTB0 */
AVRDigitalSource* mpu6k_cs = new AVRDigitalSource(_BV(0), PB);
/* mpu6k: run clock at 8MHz in high speed mode and 512kHz for low
* speed */
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_mpu6k = new AVRSPI0DeviceDriver(mpu6k_cs, SPI0_SPCR_500kHz, SPI0_SPCR_8MHz, SPI0_SPSR_8MHz);
_mpu6k->init();
/* ms5611 cs is on Arduino pin 40, PORTG1 */
AVRDigitalSource* ms5611_cs = new AVRDigitalSource(_BV(1), PG);
/* ms5611: run clock at 8MHz */
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_ms5611 = new AVRSPI0DeviceDriver(ms5611_cs, SPI0_SPCR_500kHz, SPI0_SPCR_8MHz, SPI0_SPSR_8MHz);
_ms5611->init();
/* optflow cs is on Arduino pin A3, PORTF3 */
AVRDigitalSource* optflow_cs = new AVRDigitalSource(_BV(3), PF);
/* optflow: divide clock by 8 to 2Mhz
* spcr gets bit SPR0, spsr gets bit SPI2X */
_optflow_spi0 = new AVRSPI0DeviceDriver(optflow_cs, _BV(SPR0), _BV(SPR0), _BV(SPI2X));
_optflow_spi0->init();
/* Dataflash CS is on Arduino pin 28, PORTA6 */
AVRDigitalSource* df_cs = new AVRDigitalSource(_BV(6), PA);
/* dataflash uses mode 0 and a clock of 8mhz
* ucsr3c = 0
* ubrr3 = 0 */
_dataflash = new AVRSPI3DeviceDriver(df_cs, 0, 0);
_dataflash->init();
/* XXX need correct mode and baud */
_optflow_spi3 = new AVRSPI3DeviceDriver(optflow_cs, 0, 0);
_optflow_spi3->init();
}
AP_HAL::SPIDeviceDriver* APM2SPIDeviceManager::device(enum AP_HAL::SPIDevice d)
{
switch (d) {
case AP_HAL::SPIDevice_Dataflash:
return _dataflash;
case AP_HAL::SPIDevice_MS5611:
return _ms5611;
case AP_HAL::SPIDevice_MPU6000:
return _mpu6k;
case AP_HAL::SPIDevice_ADNS3080_SPI0:
return _optflow_spi0;
case AP_HAL::SPIDevice_ADNS3080_SPI3:
return _optflow_spi3;
default:
return NULL;
};
}
#endif