mirror of https://github.com/ArduPilot/ardupilot
HAL_Linux: setup for all 6 SPI devices for PXF cape
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9b23921626
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@ -23,12 +23,13 @@ extern const AP_HAL::HAL& hal;
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
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LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[LINUX_SPI_DEVICE_NUM_DEVICES] = {
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// different SPI tables per board subtype
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LinuxSPIDeviceDriver(0, AP_HAL::SPIDevice_LSM9DS0_AM, SPI_MODE_3, 8, BBB_P9_17, 10*MHZ,10*MHZ),
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LinuxSPIDeviceDriver(0, AP_HAL::SPIDevice_LSM9DS0_G, SPI_MODE_3, 8, BBB_P8_9, 10*MHZ,10*MHZ),
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LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, BBB_P9_42, 6*MHZ, 6*MHZ),
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LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, BBB_P9_28, 500*1000, 20*MHZ),
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/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
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LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 20*MHZ),
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LinuxSPIDeviceDriver(0, AP_HAL::SPIDevice_LSM9DS0, SPI_MODE_3, 8, BBB_P9_17, 10*MHZ,10*MHZ),
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LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_Dataflash,SPI_MODE_0, 8, BBB_P8_12, 6*MHZ, 6*MHZ)
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LinuxSPIDeviceDriver(1, AP_HAL::SPIDevice_Dataflash, SPI_MODE_3, 8, BBB_P8_12, 6*MHZ, 6*MHZ),
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};
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#else
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// empty device table
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@ -137,7 +138,8 @@ void LinuxSPIDeviceManager::cs_assert(enum AP_HAL::SPIDevice type)
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}
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if (_device[i]._type != type) {
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if (_device[i]._cs->read() != 1) {
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hal.scheduler->panic("two CS enabled at once");
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hal.console->printf("two CS enabled at once i=%u %u and %u\n",
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(unsigned)i, (unsigned)type, (unsigned)_device[i]._type);
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}
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}
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}
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@ -7,7 +7,7 @@
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
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#define LINUX_SPI_NUM_BUSES 2
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#define LINUX_SPI_DEVICE_NUM_DEVICES 5
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#define LINUX_SPI_DEVICE_NUM_DEVICES 6
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#else
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#define LINUX_SPI_NUM_BUSES 0
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#define LINUX_SPI_DEVICE_NUM_DEVICES 0
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@ -24,9 +24,12 @@ static struct {
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enum AP_HAL::SPIDevice dev;
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uint8_t whoami_reg;
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} whoami_list[] = {
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{ "MS5611", AP_HAL::SPIDevice_MS5611, 0x00 | 0x80 },
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{ "MPU9250", AP_HAL::SPIDevice_MPU9250, 0x75 | 0x80 },
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{ "LSM9DSO", AP_HAL::SPIDevice_LSM9DS0, 0x0f | 0x80 },
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{ "MPU6000", AP_HAL::SPIDevice_MPU6000, 0x75 | 0x80 },
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{ "FRAM", AP_HAL::SPIDevice_Dataflash, 0x00 | 0x80 },
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{ "LSM9DS0_AM", AP_HAL::SPIDevice_LSM9DS0_AM, 0x0F | 0x80 },
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{ "LSM9DS0_G", AP_HAL::SPIDevice_LSM9DS0_G, 0x0F | 0x80 },
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};
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void loop(void)
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@ -55,7 +58,7 @@ void loop(void)
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hal.console->printf("WHO_AM_I for %s: 0x%02x\n", whoami_list[i].name, (unsigned)rx[1]);
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spi_sem->give();
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}
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hal.scheduler->delay(2000);
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hal.scheduler->delay(200);
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}
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AP_HAL_MAIN();
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