Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

HAL_AVR: fixed SPI bus speed switching 

this fixes a bug in changing the bus speed between devices
This commit is contained in:
Andrew Tridgell 2013-10-11 19:33:47 +11:00 committed by Randy Mackay
parent d2bda8c235
commit 34770fe6bf
3 changed files with 12 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/AP_HAL_AVR/SPIDevice_SPI0.cpp
View File

@ -36,24 +36,27 @@ AP_HAL::Semaphore* AVRSPI0DeviceDriver::get_semaphore() {
return &_semaphore;
}
inline void AVRSPI0DeviceDriver::_cs_assert() {
void AVRSPI0DeviceDriver::_cs_assert()
{
const uint8_t valid_spcr_mask =
(_BV(CPOL) | _BV(CPHA) | _BV(SPR1) | _BV(SPR0));
uint8_t new_spcr = SPCR | (_spcr & valid_spcr_mask);
uint8_t new_spcr = (SPCR & ~valid_spcr_mask) | (_spcr & valid_spcr_mask);
SPCR = new_spcr;
const uint8_t valid_spsr_mask = _BV(SPI2X);
uint8_t new_spsr = SPSR | (_spsr & valid_spsr_mask);
uint8_t new_spsr = (SPSR & ~valid_spsr_mask) | (_spsr & valid_spsr_mask);
SPSR = new_spsr;
_cs_pin->write(0);
}
inline void AVRSPI0DeviceDriver::_cs_release() {
void AVRSPI0DeviceDriver::_cs_release()
{
_cs_pin->write(1);
}
inline uint8_t AVRSPI0DeviceDriver::_transfer(uint8_t data) {
uint8_t AVRSPI0DeviceDriver::_transfer(uint8_t data)
{
if (spi0_transferflag) {
hal.scheduler->panic(PSTR("PANIC: SPI0 transfer collision"));
}

2
libraries/AP_HAL_AVR/SPIDevice_SPI2.cpp
View File

@ -43,7 +43,7 @@ inline void AVRSPI2DeviceDriver::_cs_assert() {
/* set the device UCSRnC configuration bits.
* only sets data order, clock phase, and clock polarity bits (lowest
* three bits) */
const uint8_t new_ucsr2c = UCSR2C | (_ucsr2c & (0x07));
const uint8_t new_ucsr2c = (UCSR2C & ~0x07) | (_ucsr2c & (0x07));
UCSR2C = new_ucsr2c;
/* set the device baud rate */
UBRR2 = _ubrr2;

5
libraries/AP_HAL_AVR/SPIDevice_SPI3.cpp
View File

@ -44,11 +44,12 @@ AP_HAL::Semaphore* AVRSPI3DeviceDriver::get_semaphore() {
return &_semaphore;
}
void AVRSPI3DeviceDriver::_cs_assert() {
void AVRSPI3DeviceDriver::_cs_assert()
{
/* set the device UCSRnC configuration bits.
* only sets data order, clock phase, and clock polarity bits (lowest
* three bits) */
const uint8_t new_ucsr3c = UCSR3C | (_ucsr3c & (0x07));
const uint8_t new_ucsr3c = (UCSR3C & ~0x07) | (_ucsr3c & (0x07));
UCSR3C = new_ucsr3c;
/* set the device baud rate */
UBRR3 = _ubrr3;