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DataFlash: modified to use AP_Semaphore for SPI3 bus when required.

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Also fixed test sketch which seemed broken.
This commit is contained in:
rmackay9 2012-10-04 22:46:35 +09:00
parent 9ef95d59ba
commit d754804135
3 changed files with 30 additions and 3 deletions
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18
libraries/DataFlash/DataFlash_APM2.cpp
View File

@ -37,8 +37,7 @@ extern "C" {
#include <inttypes.h> #include <inttypes.h>
#include <avr/interrupt.h> #include <avr/interrupt.h>
} }
//#include <FastSerial.h> #include <FastSerial.h>
//#include <AP_Common.h>
#if defined(ARDUINO) && ARDUINO >= 100 #if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h" #include "Arduino.h"
@ -46,6 +45,7 @@ extern "C" {
#include "WConstants.h" #include "WConstants.h"
#endif #endif
#include <AP_Semaphore.h> // for removing conflict with optical flow sensor on SPI3 bus
#include "DataFlash_APM2.h" #include "DataFlash_APM2.h"
/* /*
* #define ENABLE_FASTSERIAL_DEBUG * #define ENABLE_FASTSERIAL_DEBUG
@ -93,6 +93,13 @@ extern "C" {
// *** INTERNAL FUNCTIONS *** // *** INTERNAL FUNCTIONS ***
unsigned char DataFlash_APM2::SPI_transfer(unsigned char data) unsigned char DataFlash_APM2::SPI_transfer(unsigned char data)
{ {
unsigned char retval;
// get spi3 semaphore if required. if failed to get semaphore then just quietly fail
if( !AP_Semaphore_spi3.get(this) ) {
return 0;
}
/* Wait for empty transmit buffer */ /* Wait for empty transmit buffer */
while ( !( UCSR3A & (1<<UDRE3)) ) ; while ( !( UCSR3A & (1<<UDRE3)) ) ;
/* Put data into buffer, sends the data */ /* Put data into buffer, sends the data */
@ -100,7 +107,12 @@ unsigned char DataFlash_APM2::SPI_transfer(unsigned char data)
/* Wait for data to be received */ /* Wait for data to be received */
while ( !(UCSR3A & (1<<RXC3)) ) ; while ( !(UCSR3A & (1<<RXC3)) ) ;
/* Get and return received data from buffer */ /* Get and return received data from buffer */
return UDR3; retval = UDR3;
// release spi3 semaphore
AP_Semaphore_spi3.release(this);
return retval;
} }
// disable device // disable device

1
libraries/DataFlash/DataFlash_APM2.h
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@ -4,6 +4,7 @@
#ifndef __DATAFLASH_APM2_H__ #ifndef __DATAFLASH_APM2_H__
#define __DATAFLASH_APM2_H__ #define __DATAFLASH_APM2_H__
#include <AP_Semaphore.h> // for removing conflict with dataflash on SPI3 bus
#include "DataFlash.h" #include "DataFlash.h"
class DataFlash_APM2 : public DataFlash_Class class DataFlash_APM2 : public DataFlash_Class

14
libraries/DataFlash/examples/DataFlash_test/DataFlash_test.pde
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@ -4,9 +4,23 @@
*/ */
// Libraries // Libraries
#include <FastSerial.h>
#include <AP_Common.h>
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <SPI.h> // Arduino SPI lib #include <SPI.h> // Arduino SPI lib
#include <AP_Semaphore.h> // for removing conflict with dataflash on SPI3 bus
#include <DataFlash.h> #include <DataFlash.h>
////////////////////////////////////////////////////////////////////////////////
// Serial ports
////////////////////////////////////////////////////////////////////////////////
//
// Note that FastSerial port buffers are allocated at ::begin time,
// so there is not much of a penalty to defining ports that we don't
// use.
//
FastSerialPort0(Serial); // FTDI/console
#define HEAD_BYTE1 0xA3 #define HEAD_BYTE1 0xA3
#define HEAD_BYTE2 0x95 #define HEAD_BYTE2 0x95