ardupilot/libraries/AP_HAL_Linux/SPIDriver.cpp

132 lines
2.6 KiB
C++

#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "SPIDriver.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
#include <stdint.h>
#include <sys/ioctl.h>
#include <linux/spi/spidev.h>
using namespace Linux;
LinuxSPIDeviceDriver::LinuxSPIDeviceDriver(const char *spipath, uint8_t mode, uint8_t bitsPerWord, uint32_t speed) :
_spipath(spipath),
_fd(-1),
_mode(mode),
_bitsPerWord(bitsPerWord),
_speed(speed)
{}
void LinuxSPIDeviceDriver::init()
{
_fd = open(_spipath, O_RDWR);
if (_fd == -1) {
return;
}
int ret;
ret = ioctl(_fd, SPI_IOC_WR_MODE, &_mode);
if (ret == -1) {
goto failed;
}
ret = ioctl(_fd, SPI_IOC_RD_MODE, &_mode);
if (ret == -1) {
goto failed;
}
ret = ioctl(_fd, SPI_IOC_WR_BITS_PER_WORD, &_bitsPerWord);
if (ret == -1) {
goto failed;
}
ret = ioctl(_fd, SPI_IOC_RD_BITS_PER_WORD, &_bitsPerWord);
if (ret == -1) {
goto failed;
}
ret = ioctl(_fd, SPI_IOC_WR_MAX_SPEED_HZ, &_speed);
if (ret == -1) {
goto failed;
}
ret = ioctl(_fd, SPI_IOC_RD_MAX_SPEED_HZ, &_speed);
if (ret == -1) {
goto failed;
}
return;
failed:
close(_fd);
_fd = -1;
}
AP_HAL::Semaphore* LinuxSPIDeviceDriver::get_semaphore()
{
return &_semaphore;
}
void LinuxSPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
{
struct spi_ioc_transfer spi[1];
spi[0].tx_buf = (uint64_t)tx;
spi[0].rx_buf = (uint64_t)rx;
spi[0].len = len;
spi[0].delay_usecs = 0;
spi[0].speed_hz = _speed;
spi[0].bits_per_word = _bitsPerWord;
spi[0].cs_change = 0;
ioctl(_fd, SPI_IOC_MESSAGE(1), &spi);
}
void LinuxSPIDeviceDriver::cs_assert()
{
}
void LinuxSPIDeviceDriver::cs_release()
{
}
uint8_t LinuxSPIDeviceDriver::transfer(uint8_t data)
{
uint8_t v = 0;
transaction(&data, &v, 1);
return v;
}
void LinuxSPIDeviceDriver::transfer(const uint8_t *data, uint16_t len)
{
transaction(data, NULL, len);
}
LinuxSPIDeviceManager::LinuxSPIDeviceManager() :
_device_cs0("/dev/spidev0.0", SPI_MODE_0, 8, 2600000),
_device_cs1("/dev/spidev0.1", SPI_MODE_0, 8, 1000000)
{}
void LinuxSPIDeviceManager::init(void *)
{
_device_cs0.init();
_device_cs1.init();
}
/*
return a SPIDeviceDriver for a particular device
*/
AP_HAL::SPIDeviceDriver* LinuxSPIDeviceManager::device(enum AP_HAL::SPIDevice dev)
{
switch (dev) {
case AP_HAL::SPIDevice_ADS7844:
return &_device_cs0;
}
return NULL;
}
#endif // CONFIG_HAL_BOARD