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AP_HAL_AVR: Implement bulk SPI transaction

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This commit is contained in:
Pat Hickey 2012-12-17 17:07:06 -08:00 committed by Andrew Tridgell
parent d2f7402243
commit 4fe889c9c5
4 changed files with 92 additions and 9 deletions
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27
libraries/AP_HAL_AVR/SPIDevice_SPI0.cpp
View File

@ -36,7 +36,7 @@ AP_HAL::Semaphore* AVRSPI0DeviceDriver::get_semaphore() {
return &_semaphore;
}
void AVRSPI0DeviceDriver::cs_assert() {
inline 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);
@ -49,11 +49,11 @@ void AVRSPI0DeviceDriver::cs_assert() {
_cs_pin->write(0);
}
void AVRSPI0DeviceDriver::cs_release() {
inline void AVRSPI0DeviceDriver::_cs_release() {
_cs_pin->write(1);
}
uint8_t AVRSPI0DeviceDriver::transfer(uint8_t data) {
inline uint8_t AVRSPI0DeviceDriver::_transfer(uint8_t data) {
if (spi0_transferflag) {
hal.scheduler->panic(PSTR("PANIC: SPI0 transfer collision"));
}
@ -69,4 +69,25 @@ uint8_t AVRSPI0DeviceDriver::transfer(uint8_t data) {
return read_spdr;
}
void AVRSPI0DeviceDriver::transaction(const uint8_t *tx, uint8_t *rx,
uint16_t len) {
_cs_assert();
for (uint16_t i = 0; i < len; i++) {
rx[i] = _transfer(tx[i]);
}
_cs_release();
}
void AVRSPI0DeviceDriver::cs_assert() {
_cs_assert();
}
void AVRSPI0DeviceDriver::cs_release() {
_cs_release();
}
uint8_t AVRSPI0DeviceDriver::transfer(uint8_t data) {
return _transfer(data);
}
#endif

27
libraries/AP_HAL_AVR/SPIDevice_SPI2.cpp
View File

@ -38,7 +38,7 @@ AP_HAL::Semaphore* AVRSPI2DeviceDriver::get_semaphore() {
return &_semaphore;
}
void AVRSPI2DeviceDriver::cs_assert() {
inline void AVRSPI2DeviceDriver::_cs_assert() {
/* set the device UCSRnC configuration bits.
* only sets data order, clock phase, and clock polarity bits (lowest
* three bits) */
@ -50,11 +50,11 @@ void AVRSPI2DeviceDriver::cs_assert() {
_cs_pin->write(0);
}
void AVRSPI2DeviceDriver::cs_release() {
inline void AVRSPI2DeviceDriver::_cs_release() {
_cs_pin->write(1);
}
uint8_t AVRSPI2DeviceDriver::transfer(uint8_t data) {
inline uint8_t AVRSPI2DeviceDriver::_transfer(uint8_t data) {
/* Wait for empty transmit buffer */
while ( !( UCSR2A & _BV(UDRE2)) ) ;
@ -68,4 +68,25 @@ uint8_t AVRSPI2DeviceDriver::transfer(uint8_t data) {
return UDR2;
}
void AVRSPI2DeviceDriver::transaction(const uint8_t *tx, uint8_t *rx,
uint16_t len) {
_cs_assert();
for (uint16_t i = 0; i < len; i++) {
rx[i] = _transfer(tx[i]);
}
_cs_release();
}
void AVRSPI2DeviceDriver::cs_assert() {
_cs_assert();
}
void AVRSPI2DeviceDriver::cs_release() {
_cs_release();
}
uint8_t AVRSPI2DeviceDriver::transfer(uint8_t data) {
return _transfer(data);
}
#endif

27
libraries/AP_HAL_AVR/SPIDevice_SPI3.cpp
View File

@ -43,7 +43,7 @@ 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) */
@ -55,11 +55,11 @@ void AVRSPI3DeviceDriver::cs_assert() {
_cs_pin->write(0);
}
void AVRSPI3DeviceDriver::cs_release() {
void AVRSPI3DeviceDriver::_cs_release() {
_cs_pin->write(1);
}
uint8_t AVRSPI3DeviceDriver::transfer(uint8_t data) {
uint8_t AVRSPI3DeviceDriver::_transfer(uint8_t data) {
/* Wait for empty transmit buffer */
while ( !( UCSR3A & _BV(UDRE3)) ) ;
@ -73,4 +73,25 @@ uint8_t AVRSPI3DeviceDriver::transfer(uint8_t data) {
return UDR3;
}
void AVRSPI3DeviceDriver::transaction(const uint8_t *tx, uint8_t *rx,
uint16_t len) {
_cs_assert();
for (uint16_t i = 0; i < len; i++) {
rx[i] = _transfer(tx[i]);
}
_cs_release();
}
void AVRSPI3DeviceDriver::cs_assert() {
_cs_assert();
}
void AVRSPI3DeviceDriver::cs_release() {
_cs_release();
}
uint8_t AVRSPI3DeviceDriver::transfer(uint8_t data) {
return _transfer(data);
}
#endif

20
libraries/AP_HAL_AVR/SPIDevices.h
View File

@ -19,11 +19,18 @@ public:
void init();
AP_HAL::Semaphore* get_semaphore();
void transaction(const uint8_t *tx, uint8_t *rx, uint16_t len);
void cs_assert();
void cs_release();
uint8_t transfer(uint8_t data);
private:
void _cs_assert();
void _cs_release();
uint8_t _transfer(uint8_t data);
static AP_HAL_AVR::AVRSemaphore _semaphore;
AP_HAL_AVR::AVRDigitalSource *_cs_pin;
@ -46,11 +53,18 @@ public:
void init();
AP_HAL::Semaphore* get_semaphore();
void transaction(const uint8_t *tx, uint8_t *rx, uint16_t len);
void cs_assert();
void cs_release();
uint8_t transfer(uint8_t data);
private:
void _cs_assert();
void _cs_release();
uint8_t _transfer(uint8_t data);
static AP_HAL_AVR::AVRSemaphore _semaphore;
AP_HAL_AVR::AVRDigitalSource *_cs_pin;
@ -72,11 +86,17 @@ public:
void init();
AP_HAL::Semaphore* get_semaphore();
void transaction(const uint8_t *tx, uint8_t *rx, uint16_t len);
void cs_assert();
void cs_release();
uint8_t transfer(uint8_t data);
private:
void _cs_assert();
void _cs_release();
uint8_t _transfer(uint8_t data);
static AP_HAL_AVR::AVRSemaphore _semaphore;
AP_HAL_AVR::AVRDigitalSource *_cs_pin;