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HAL_Linux: setup for all 6 SPI devices for PXF cape

This commit is contained in:
Andrew Tridgell 2014-07-19 13:23:37 +10:00
parent 9b23921626
commit 03e8e5f2b9
3 changed files with 16 additions and 11 deletions
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14
libraries/AP_HAL_Linux/SPIDriver.cpp
View File

@ -23,12 +23,13 @@ extern const AP_HAL::HAL& hal;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES] = {
// different SPI tables per board subtype
LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, BBB_P9_42, 6*MHZ, 6*MHZ),
LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, BBB_P9_28, 500*1000, 20*MHZ),
LinuxSPIDeviceDriver(0, AP_HAL::SPIDevice_LSM9DS0_AM, SPI_MODE_3, 8, BBB_P9_17, 10*MHZ,10*MHZ),
LinuxSPIDeviceDriver(0, AP_HAL::SPIDevice_LSM9DS0_G, SPI_MODE_3, 8, BBB_P8_9, 10*MHZ,10*MHZ),
LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, BBB_P9_42, 6*MHZ, 6*MHZ),
LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, BBB_P9_28, 500*1000, 20*MHZ),
/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 20*MHZ),
LinuxSPIDeviceDriver(0, AP_HAL::SPIDevice_LSM9DS0, SPI_MODE_3, 8, BBB_P9_17, 10*MHZ,10*MHZ),
LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_Dataflash,SPI_MODE_0, 8, BBB_P8_12, 6*MHZ, 6*MHZ)
LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 20*MHZ),
LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_Dataflash, SPI_MODE_3, 8, BBB_P8_12, 6*MHZ, 6*MHZ),
};
#else
// empty device table
@ -137,7 +138,8 @@ void LinuxSPIDeviceManager::cs_assert(enum AP_HAL::SPIDevice type)
}
if (_device[i]._type != type) {
if (_device[i]._cs->read() != 1) {
hal.scheduler->panic("two CS enabled at once");
hal.console->printf("two CS enabled at once i=%u %u and %u\n",
(unsigned)i, (unsigned)type, (unsigned)_device[i]._type);
}
}
}

2
libraries/AP_HAL_Linux/SPIDriver.h
View File

@ -7,7 +7,7 @@
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
#define LINUX_SPI_NUM_BUSES 2
#define LINUX_SPI_DEVICE_NUM_DEVICES 5
#define LINUX_SPI_DEVICE_NUM_DEVICES 6
#else
#define LINUX_SPI_NUM_BUSES 0
#define LINUX_SPI_DEVICE_NUM_DEVICES 0

11
libraries/AP_HAL_Linux/examples/BusTest/BusTest.pde
View File

@ -24,9 +24,12 @@ static struct {
enum AP_HAL::SPIDevice dev;
uint8_t whoami_reg;
} whoami_list[] = {
{ "MPU9250", AP_HAL::SPIDevice_MPU9250, 0x75 | 0x80 },
{ "LSM9DSO", AP_HAL::SPIDevice_LSM9DS0, 0x0f | 0x80 },
{ "MPU6000", AP_HAL::SPIDevice_MPU6000, 0x75 | 0x80 },
{ "MS5611", AP_HAL::SPIDevice_MS5611, 0x00 | 0x80 },
{ "MPU9250", AP_HAL::SPIDevice_MPU9250, 0x75 | 0x80 },
{ "MPU6000", AP_HAL::SPIDevice_MPU6000, 0x75 | 0x80 },
{ "FRAM", AP_HAL::SPIDevice_Dataflash, 0x00 | 0x80 },
{ "LSM9DS0_AM", AP_HAL::SPIDevice_LSM9DS0_AM, 0x0F | 0x80 },
{ "LSM9DS0_G", AP_HAL::SPIDevice_LSM9DS0_G, 0x0F | 0x80 },
};
void loop(void)
@ -55,7 +58,7 @@ void loop(void)
hal.console->printf("WHO_AM_I for %s: 0x%02x\n", whoami_list[i].name, (unsigned)rx[1]);
spi_sem->give();
}
hal.scheduler->delay(2000);
hal.scheduler->delay(200);
}
AP_HAL_MAIN();