ardupilot/libraries/AP_HAL_SMACCM/SPIDriver.cpp

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/*
* SPIDriver.cpp --- AP_HAL_SMACCM SPI driver.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*/
#include <AP_HAL_Boards.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SMACCM
#include "SPIDriver.h"
#include <FreeRTOS.h>
#include <hwf4/spi.h>
using namespace SMACCM;
extern const AP_HAL::HAL& hal;
//////////////////////////////////////////////////////////////////////
// SPI Device Driver
SMACCMSPIDeviceDriver::SMACCMSPIDeviceDriver(spi_bus *bus, spi_device *device)
: _bus(bus), _device(device)
{
}
void SMACCMSPIDeviceDriver::init()
{
_semaphore.init();
}
AP_HAL::Semaphore* SMACCMSPIDeviceDriver::get_semaphore()
{
return &_semaphore;
}
void SMACCMSPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
{
if (spi_transfer(_bus, _device, 1000, tx, rx, len) < 0) {
hal.scheduler->panic("PANIC: SPI transaction timeout.");
}
}
// XXX these methods are not implemented
void SMACCMSPIDeviceDriver::cs_assert()
{
}
void SMACCMSPIDeviceDriver::cs_release()
{
}
uint8_t SMACCMSPIDeviceDriver::transfer (uint8_t data)
{
return 0;
}
void SMACCMSPIDeviceDriver::transfer (const uint8_t *data, uint16_t len)
{
}
//////////////////////////////////////////////////////////////////////
// SPI Device Instances
// SPIDevice_Dataflash (I2C device in PX4FMU)
// SPIDevice_ADS7844 (not present in PX4FMU)
// SPIDevice_MS5611 (I2C device in PX4FMU)
// SPIDevice_MPU6000 (on SPI1)
static spi_device g_mpu6000_spi_dev = {
pin_b0, // chip_select
false, // chip_select_active
SPI_BAUD_DIV_128, // baud XXX check frequency
SPI_CLOCK_POLARITY_LOW, // clock_polarity
SPI_CLOCK_PHASE_1, // clock_phase
SPI_BIT_ORDER_MSB_FIRST // bit_order
};
static SMACCMSPIDeviceDriver g_mpu6000_dev(spi1, &g_mpu6000_spi_dev);
// SPIDevice_ADNS3080_SPI0 (not present in PX4FMU)
// SPIDevice_ADNS3080_SPI3 (not present in PX4FMU)
//////////////////////////////////////////////////////////////////////
// SPI Device Manager
SMACCMSPIDeviceManager::SMACCMSPIDeviceManager()
{
}
// Initialize all SPI busses and devices.
void SMACCMSPIDeviceManager::init(void *)
{
spi_init(spi1);
spi_device_init(&g_mpu6000_spi_dev);
g_mpu6000_dev.init();
}
AP_HAL::SPIDeviceDriver* SMACCMSPIDeviceManager::device(AP_HAL::SPIDevice dev)
{
switch (dev) {
case AP_HAL::SPIDevice_MPU6000:
return &g_mpu6000_dev;
default:
return NULL;
}
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SMACCM